From 06e7d2df05780981a7bbc7d5d30b77b8342007c6 Mon Sep 17 00:00:00 2001
From: Paul Winpenny <plw1g21@soton.ac.uk>
Date: Thu, 19 Dec 2024 19:48:43 +0000
Subject: [PATCH] Thus_Dec_19
---
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new file mode 100644
index 00000000..675dcbe2
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+#elif defined(__PGI)
+# define COMPILER_ID "PGI"
+# define COMPILER_VERSION_MAJOR DEC(__PGIC__)
+# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__)
+# if defined(__PGIC_PATCHLEVEL__)
+# define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__)
+# endif
+
+#elif defined(__clang__) && defined(__cray__)
+# define COMPILER_ID "CrayClang"
+# define COMPILER_VERSION_MAJOR DEC(__cray_major__)
+# define COMPILER_VERSION_MINOR DEC(__cray_minor__)
+# define COMPILER_VERSION_PATCH DEC(__cray_patchlevel__)
+# define COMPILER_VERSION_INTERNAL_STR __clang_version__
+
+
+#elif defined(_CRAYC)
+# define COMPILER_ID "Cray"
+# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR)
+# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR)
+
+#elif defined(__TI_COMPILER_VERSION__)
+# define COMPILER_ID "TI"
+ /* __TI_COMPILER_VERSION__ = VVVRRRPPP */
+# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000)
+# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000 % 1000)
+# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__ % 1000)
+
+#elif defined(__CLANG_FUJITSU)
+# define COMPILER_ID "FujitsuClang"
+# define COMPILER_VERSION_MAJOR DEC(__FCC_major__)
+# define COMPILER_VERSION_MINOR DEC(__FCC_minor__)
+# define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__)
+# define COMPILER_VERSION_INTERNAL_STR __clang_version__
+
+
+#elif defined(__FUJITSU)
+# define COMPILER_ID "Fujitsu"
+# if defined(__FCC_version__)
+# define COMPILER_VERSION __FCC_version__
+# elif defined(__FCC_major__)
+# define COMPILER_VERSION_MAJOR DEC(__FCC_major__)
+# define COMPILER_VERSION_MINOR DEC(__FCC_minor__)
+# define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__)
+# endif
+# if defined(__fcc_version)
+# define COMPILER_VERSION_INTERNAL DEC(__fcc_version)
+# elif defined(__FCC_VERSION)
+# define COMPILER_VERSION_INTERNAL DEC(__FCC_VERSION)
+# endif
+
+
+#elif defined(__ghs__)
+# define COMPILER_ID "GHS"
+/* __GHS_VERSION_NUMBER = VVVVRP */
+# ifdef __GHS_VERSION_NUMBER
+# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100)
+# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER % 10)
+# endif
+
+#elif defined(__TASKING__)
+# define COMPILER_ID "Tasking"
+ # define COMPILER_VERSION_MAJOR DEC(__VERSION__/1000)
+ # define COMPILER_VERSION_MINOR DEC(__VERSION__ % 100)
+# define COMPILER_VERSION_INTERNAL DEC(__VERSION__)
+
+#elif defined(__ORANGEC__)
+# define COMPILER_ID "OrangeC"
+# define COMPILER_VERSION_MAJOR DEC(__ORANGEC_MAJOR__)
+# define COMPILER_VERSION_MINOR DEC(__ORANGEC_MINOR__)
+# define COMPILER_VERSION_PATCH DEC(__ORANGEC_PATCHLEVEL__)
+
+#elif defined(__TINYC__)
+# define COMPILER_ID "TinyCC"
+
+#elif defined(__BCC__)
+# define COMPILER_ID "Bruce"
+
+#elif defined(__SCO_VERSION__)
+# define COMPILER_ID "SCO"
+
+#elif defined(__ARMCC_VERSION) && !defined(__clang__)
+# define COMPILER_ID "ARMCC"
+#if __ARMCC_VERSION >= 1000000
+ /* __ARMCC_VERSION = VRRPPPP */
+ # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000)
+ # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100)
+ # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000)
+#else
+ /* __ARMCC_VERSION = VRPPPP */
+ # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000)
+ # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10)
+ # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000)
+#endif
+
+
+#elif defined(__clang__) && defined(__apple_build_version__)
+# define COMPILER_ID "AppleClang"
+# if defined(_MSC_VER)
+# define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+ /* _MSC_VER = VVRR */
+# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__)
+
+#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION)
+# define COMPILER_ID "ARMClang"
+ # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000)
+ # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100)
+ # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION/100 % 100)
+# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION)
+
+#elif defined(__clang__)
+# define COMPILER_ID "Clang"
+# if defined(_MSC_VER)
+# define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+ /* _MSC_VER = VVRR */
+# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+
+#elif defined(__LCC__) && (defined(__GNUC__) || defined(__GNUG__) || defined(__MCST__))
+# define COMPILER_ID "LCC"
+# define COMPILER_VERSION_MAJOR DEC(__LCC__ / 100)
+# define COMPILER_VERSION_MINOR DEC(__LCC__ % 100)
+# if defined(__LCC_MINOR__)
+# define COMPILER_VERSION_PATCH DEC(__LCC_MINOR__)
+# endif
+# if defined(__GNUC__) && defined(__GNUC_MINOR__)
+# define SIMULATE_ID "GNU"
+# define SIMULATE_VERSION_MAJOR DEC(__GNUC__)
+# define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__)
+# if defined(__GNUC_PATCHLEVEL__)
+# define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+# endif
+
+#elif defined(__GNUC__)
+# define COMPILER_ID "GNU"
+# define COMPILER_VERSION_MAJOR DEC(__GNUC__)
+# if defined(__GNUC_MINOR__)
+# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__)
+# endif
+# if defined(__GNUC_PATCHLEVEL__)
+# define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif defined(_MSC_VER)
+# define COMPILER_ID "MSVC"
+ /* _MSC_VER = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100)
+# if defined(_MSC_FULL_VER)
+# if _MSC_VER >= 1400
+ /* _MSC_FULL_VER = VVRRPPPPP */
+# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000)
+# else
+ /* _MSC_FULL_VER = VVRRPPPP */
+# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000)
+# endif
+# endif
+# if defined(_MSC_BUILD)
+# define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD)
+# endif
+
+#elif defined(_ADI_COMPILER)
+# define COMPILER_ID "ADSP"
+#if defined(__VERSIONNUM__)
+ /* __VERSIONNUM__ = 0xVVRRPPTT */
+# define COMPILER_VERSION_MAJOR DEC(__VERSIONNUM__ >> 24 & 0xFF)
+# define COMPILER_VERSION_MINOR DEC(__VERSIONNUM__ >> 16 & 0xFF)
+# define COMPILER_VERSION_PATCH DEC(__VERSIONNUM__ >> 8 & 0xFF)
+# define COMPILER_VERSION_TWEAK DEC(__VERSIONNUM__ & 0xFF)
+#endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# define COMPILER_ID "IAR"
+# if defined(__VER__) && defined(__ICCARM__)
+# define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000)
+# define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000)
+# define COMPILER_VERSION_PATCH DEC((__VER__) % 1000)
+# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__) || defined(__ICCSTM8__))
+# define COMPILER_VERSION_MAJOR DEC((__VER__) / 100)
+# define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100))
+# define COMPILER_VERSION_PATCH DEC(__SUBVERSION__)
+# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# endif
+
+#elif defined(__SDCC_VERSION_MAJOR) || defined(SDCC)
+# define COMPILER_ID "SDCC"
+# if defined(__SDCC_VERSION_MAJOR)
+# define COMPILER_VERSION_MAJOR DEC(__SDCC_VERSION_MAJOR)
+# define COMPILER_VERSION_MINOR DEC(__SDCC_VERSION_MINOR)
+# define COMPILER_VERSION_PATCH DEC(__SDCC_VERSION_PATCH)
+# else
+ /* SDCC = VRP */
+# define COMPILER_VERSION_MAJOR DEC(SDCC/100)
+# define COMPILER_VERSION_MINOR DEC(SDCC/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(SDCC % 10)
+# endif
+
+
+/* These compilers are either not known or too old to define an
+ identification macro. Try to identify the platform and guess that
+ it is the native compiler. */
+#elif defined(__hpux) || defined(__hpua)
+# define COMPILER_ID "HP"
+
+#else /* unknown compiler */
+# define COMPILER_ID ""
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+ getting matched. Store it in a pointer rather than an array
+ because some compilers will just produce instructions to fill the
+ array rather than assigning a pointer to a static array. */
+char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]";
+#ifdef SIMULATE_ID
+char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]";
+#endif
+
+#ifdef __QNXNTO__
+char const* qnxnto = "INFO" ":" "qnxnto[]";
+#endif
+
+#if defined(__CRAYXT_COMPUTE_LINUX_TARGET)
+char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]";
+#endif
+
+#define STRINGIFY_HELPER(X) #X
+#define STRINGIFY(X) STRINGIFY_HELPER(X)
+
+/* Identify known platforms by name. */
+#if defined(__linux) || defined(__linux__) || defined(linux)
+# define PLATFORM_ID "Linux"
+
+#elif defined(__MSYS__)
+# define PLATFORM_ID "MSYS"
+
+#elif defined(__CYGWIN__)
+# define PLATFORM_ID "Cygwin"
+
+#elif defined(__MINGW32__)
+# define PLATFORM_ID "MinGW"
+
+#elif defined(__APPLE__)
+# define PLATFORM_ID "Darwin"
+
+#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32)
+# define PLATFORM_ID "Windows"
+
+#elif defined(__FreeBSD__) || defined(__FreeBSD)
+# define PLATFORM_ID "FreeBSD"
+
+#elif defined(__NetBSD__) || defined(__NetBSD)
+# define PLATFORM_ID "NetBSD"
+
+#elif defined(__OpenBSD__) || defined(__OPENBSD)
+# define PLATFORM_ID "OpenBSD"
+
+#elif defined(__sun) || defined(sun)
+# define PLATFORM_ID "SunOS"
+
+#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__)
+# define PLATFORM_ID "AIX"
+
+#elif defined(__hpux) || defined(__hpux__)
+# define PLATFORM_ID "HP-UX"
+
+#elif defined(__HAIKU__)
+# define PLATFORM_ID "Haiku"
+
+#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS)
+# define PLATFORM_ID "BeOS"
+
+#elif defined(__QNX__) || defined(__QNXNTO__)
+# define PLATFORM_ID "QNX"
+
+#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__)
+# define PLATFORM_ID "Tru64"
+
+#elif defined(__riscos) || defined(__riscos__)
+# define PLATFORM_ID "RISCos"
+
+#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__)
+# define PLATFORM_ID "SINIX"
+
+#elif defined(__UNIX_SV__)
+# define PLATFORM_ID "UNIX_SV"
+
+#elif defined(__bsdos__)
+# define PLATFORM_ID "BSDOS"
+
+#elif defined(_MPRAS) || defined(MPRAS)
+# define PLATFORM_ID "MP-RAS"
+
+#elif defined(__osf) || defined(__osf__)
+# define PLATFORM_ID "OSF1"
+
+#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv)
+# define PLATFORM_ID "SCO_SV"
+
+#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX)
+# define PLATFORM_ID "ULTRIX"
+
+#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX)
+# define PLATFORM_ID "Xenix"
+
+#elif defined(__WATCOMC__)
+# if defined(__LINUX__)
+# define PLATFORM_ID "Linux"
+
+# elif defined(__DOS__)
+# define PLATFORM_ID "DOS"
+
+# elif defined(__OS2__)
+# define PLATFORM_ID "OS2"
+
+# elif defined(__WINDOWS__)
+# define PLATFORM_ID "Windows3x"
+
+# elif defined(__VXWORKS__)
+# define PLATFORM_ID "VxWorks"
+
+# else /* unknown platform */
+# define PLATFORM_ID
+# endif
+
+#elif defined(__INTEGRITY)
+# if defined(INT_178B)
+# define PLATFORM_ID "Integrity178"
+
+# else /* regular Integrity */
+# define PLATFORM_ID "Integrity"
+# endif
+
+# elif defined(_ADI_COMPILER)
+# define PLATFORM_ID "ADSP"
+
+#else /* unknown platform */
+# define PLATFORM_ID
+
+#endif
+
+/* For windows compilers MSVC and Intel we can determine
+ the architecture of the compiler being used. This is because
+ the compilers do not have flags that can change the architecture,
+ but rather depend on which compiler is being used
+*/
+#if defined(_WIN32) && defined(_MSC_VER)
+# if defined(_M_IA64)
+# define ARCHITECTURE_ID "IA64"
+
+# elif defined(_M_ARM64EC)
+# define ARCHITECTURE_ID "ARM64EC"
+
+# elif defined(_M_X64) || defined(_M_AMD64)
+# define ARCHITECTURE_ID "x64"
+
+# elif defined(_M_IX86)
+# define ARCHITECTURE_ID "X86"
+
+# elif defined(_M_ARM64)
+# define ARCHITECTURE_ID "ARM64"
+
+# elif defined(_M_ARM)
+# if _M_ARM == 4
+# define ARCHITECTURE_ID "ARMV4I"
+# elif _M_ARM == 5
+# define ARCHITECTURE_ID "ARMV5I"
+# else
+# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM)
+# endif
+
+# elif defined(_M_MIPS)
+# define ARCHITECTURE_ID "MIPS"
+
+# elif defined(_M_SH)
+# define ARCHITECTURE_ID "SHx"
+
+# else /* unknown architecture */
+# define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__WATCOMC__)
+# if defined(_M_I86)
+# define ARCHITECTURE_ID "I86"
+
+# elif defined(_M_IX86)
+# define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+# define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# if defined(__ICCARM__)
+# define ARCHITECTURE_ID "ARM"
+
+# elif defined(__ICCRX__)
+# define ARCHITECTURE_ID "RX"
+
+# elif defined(__ICCRH850__)
+# define ARCHITECTURE_ID "RH850"
+
+# elif defined(__ICCRL78__)
+# define ARCHITECTURE_ID "RL78"
+
+# elif defined(__ICCRISCV__)
+# define ARCHITECTURE_ID "RISCV"
+
+# elif defined(__ICCAVR__)
+# define ARCHITECTURE_ID "AVR"
+
+# elif defined(__ICC430__)
+# define ARCHITECTURE_ID "MSP430"
+
+# elif defined(__ICCV850__)
+# define ARCHITECTURE_ID "V850"
+
+# elif defined(__ICC8051__)
+# define ARCHITECTURE_ID "8051"
+
+# elif defined(__ICCSTM8__)
+# define ARCHITECTURE_ID "STM8"
+
+# else /* unknown architecture */
+# define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__ghs__)
+# if defined(__PPC64__)
+# define ARCHITECTURE_ID "PPC64"
+
+# elif defined(__ppc__)
+# define ARCHITECTURE_ID "PPC"
+
+# elif defined(__ARM__)
+# define ARCHITECTURE_ID "ARM"
+
+# elif defined(__x86_64__)
+# define ARCHITECTURE_ID "x64"
+
+# elif defined(__i386__)
+# define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+# define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__TI_COMPILER_VERSION__)
+# if defined(__TI_ARM__)
+# define ARCHITECTURE_ID "ARM"
+
+# elif defined(__MSP430__)
+# define ARCHITECTURE_ID "MSP430"
+
+# elif defined(__TMS320C28XX__)
+# define ARCHITECTURE_ID "TMS320C28x"
+
+# elif defined(__TMS320C6X__) || defined(_TMS320C6X)
+# define ARCHITECTURE_ID "TMS320C6x"
+
+# else /* unknown architecture */
+# define ARCHITECTURE_ID ""
+# endif
+
+# elif defined(__ADSPSHARC__)
+# define ARCHITECTURE_ID "SHARC"
+
+# elif defined(__ADSPBLACKFIN__)
+# define ARCHITECTURE_ID "Blackfin"
+
+#elif defined(__TASKING__)
+
+# if defined(__CTC__) || defined(__CPTC__)
+# define ARCHITECTURE_ID "TriCore"
+
+# elif defined(__CMCS__)
+# define ARCHITECTURE_ID "MCS"
+
+# elif defined(__CARM__)
+# define ARCHITECTURE_ID "ARM"
+
+# elif defined(__CARC__)
+# define ARCHITECTURE_ID "ARC"
+
+# elif defined(__C51__)
+# define ARCHITECTURE_ID "8051"
+
+# elif defined(__CPCP__)
+# define ARCHITECTURE_ID "PCP"
+
+# else
+# define ARCHITECTURE_ID ""
+# endif
+
+#else
+# define ARCHITECTURE_ID
+#endif
+
+/* Convert integer to decimal digit literals. */
+#define DEC(n) \
+ ('0' + (((n) / 10000000)%10)), \
+ ('0' + (((n) / 1000000)%10)), \
+ ('0' + (((n) / 100000)%10)), \
+ ('0' + (((n) / 10000)%10)), \
+ ('0' + (((n) / 1000)%10)), \
+ ('0' + (((n) / 100)%10)), \
+ ('0' + (((n) / 10)%10)), \
+ ('0' + ((n) % 10))
+
+/* Convert integer to hex digit literals. */
+#define HEX(n) \
+ ('0' + ((n)>>28 & 0xF)), \
+ ('0' + ((n)>>24 & 0xF)), \
+ ('0' + ((n)>>20 & 0xF)), \
+ ('0' + ((n)>>16 & 0xF)), \
+ ('0' + ((n)>>12 & 0xF)), \
+ ('0' + ((n)>>8 & 0xF)), \
+ ('0' + ((n)>>4 & 0xF)), \
+ ('0' + ((n) & 0xF))
+
+/* Construct a string literal encoding the version number. */
+#ifdef COMPILER_VERSION
+char const* info_version = "INFO" ":" "compiler_version[" COMPILER_VERSION "]";
+
+/* Construct a string literal encoding the version number components. */
+#elif defined(COMPILER_VERSION_MAJOR)
+char const info_version[] = {
+ 'I', 'N', 'F', 'O', ':',
+ 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[',
+ COMPILER_VERSION_MAJOR,
+# ifdef COMPILER_VERSION_MINOR
+ '.', COMPILER_VERSION_MINOR,
+# ifdef COMPILER_VERSION_PATCH
+ '.', COMPILER_VERSION_PATCH,
+# ifdef COMPILER_VERSION_TWEAK
+ '.', COMPILER_VERSION_TWEAK,
+# endif
+# endif
+# endif
+ ']','\0'};
+#endif
+
+/* Construct a string literal encoding the internal version number. */
+#ifdef COMPILER_VERSION_INTERNAL
+char const info_version_internal[] = {
+ 'I', 'N', 'F', 'O', ':',
+ 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_',
+ 'i','n','t','e','r','n','a','l','[',
+ COMPILER_VERSION_INTERNAL,']','\0'};
+#elif defined(COMPILER_VERSION_INTERNAL_STR)
+char const* info_version_internal = "INFO" ":" "compiler_version_internal[" COMPILER_VERSION_INTERNAL_STR "]";
+#endif
+
+/* Construct a string literal encoding the version number components. */
+#ifdef SIMULATE_VERSION_MAJOR
+char const info_simulate_version[] = {
+ 'I', 'N', 'F', 'O', ':',
+ 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[',
+ SIMULATE_VERSION_MAJOR,
+# ifdef SIMULATE_VERSION_MINOR
+ '.', SIMULATE_VERSION_MINOR,
+# ifdef SIMULATE_VERSION_PATCH
+ '.', SIMULATE_VERSION_PATCH,
+# ifdef SIMULATE_VERSION_TWEAK
+ '.', SIMULATE_VERSION_TWEAK,
+# endif
+# endif
+# endif
+ ']','\0'};
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+ getting matched. Store it in a pointer rather than an array
+ because some compilers will just produce instructions to fill the
+ array rather than assigning a pointer to a static array. */
+char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]";
+char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]";
+
+
+
+#if !defined(__STDC__) && !defined(__clang__)
+# if defined(_MSC_VER) || defined(__ibmxl__) || defined(__IBMC__)
+# define C_VERSION "90"
+# else
+# define C_VERSION
+# endif
+#elif __STDC_VERSION__ > 201710L
+# define C_VERSION "23"
+#elif __STDC_VERSION__ >= 201710L
+# define C_VERSION "17"
+#elif __STDC_VERSION__ >= 201000L
+# define C_VERSION "11"
+#elif __STDC_VERSION__ >= 199901L
+# define C_VERSION "99"
+#else
+# define C_VERSION "90"
+#endif
+const char* info_language_standard_default =
+ "INFO" ":" "standard_default[" C_VERSION "]";
+
+const char* info_language_extensions_default = "INFO" ":" "extensions_default["
+#if (defined(__clang__) || defined(__GNUC__) || defined(__xlC__) || \
+ defined(__TI_COMPILER_VERSION__)) && \
+ !defined(__STRICT_ANSI__)
+ "ON"
+#else
+ "OFF"
+#endif
+"]";
+
+/*--------------------------------------------------------------------------*/
+
+#ifdef ID_VOID_MAIN
+void main() {}
+#else
+# if defined(__CLASSIC_C__)
+int main(argc, argv) int argc; char *argv[];
+# else
+int main(int argc, char* argv[])
+# endif
+{
+ int require = 0;
+ require += info_compiler[argc];
+ require += info_platform[argc];
+ require += info_arch[argc];
+#ifdef COMPILER_VERSION_MAJOR
+ require += info_version[argc];
+#endif
+#ifdef COMPILER_VERSION_INTERNAL
+ require += info_version_internal[argc];
+#endif
+#ifdef SIMULATE_ID
+ require += info_simulate[argc];
+#endif
+#ifdef SIMULATE_VERSION_MAJOR
+ require += info_simulate_version[argc];
+#endif
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+ (void)argv;
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+}
+#endif
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+
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+# define COMPILER_VERSION_MINOR DEC(__NVCOMPILER_MINOR__)
+# if defined(__NVCOMPILER_PATCHLEVEL__)
+# define COMPILER_VERSION_PATCH DEC(__NVCOMPILER_PATCHLEVEL__)
+# endif
+
+#elif defined(__PGI)
+# define COMPILER_ID "PGI"
+# define COMPILER_VERSION_MAJOR DEC(__PGIC__)
+# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__)
+# if defined(__PGIC_PATCHLEVEL__)
+# define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__)
+# endif
+
+#elif defined(__clang__) && defined(__cray__)
+# define COMPILER_ID "CrayClang"
+# define COMPILER_VERSION_MAJOR DEC(__cray_major__)
+# define COMPILER_VERSION_MINOR DEC(__cray_minor__)
+# define COMPILER_VERSION_PATCH DEC(__cray_patchlevel__)
+# define COMPILER_VERSION_INTERNAL_STR __clang_version__
+
+
+#elif defined(_CRAYC)
+# define COMPILER_ID "Cray"
+# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR)
+# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR)
+
+#elif defined(__TI_COMPILER_VERSION__)
+# define COMPILER_ID "TI"
+ /* __TI_COMPILER_VERSION__ = VVVRRRPPP */
+# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000)
+# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000 % 1000)
+# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__ % 1000)
+
+#elif defined(__CLANG_FUJITSU)
+# define COMPILER_ID "FujitsuClang"
+# define COMPILER_VERSION_MAJOR DEC(__FCC_major__)
+# define COMPILER_VERSION_MINOR DEC(__FCC_minor__)
+# define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__)
+# define COMPILER_VERSION_INTERNAL_STR __clang_version__
+
+
+#elif defined(__FUJITSU)
+# define COMPILER_ID "Fujitsu"
+# if defined(__FCC_version__)
+# define COMPILER_VERSION __FCC_version__
+# elif defined(__FCC_major__)
+# define COMPILER_VERSION_MAJOR DEC(__FCC_major__)
+# define COMPILER_VERSION_MINOR DEC(__FCC_minor__)
+# define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__)
+# endif
+# if defined(__fcc_version)
+# define COMPILER_VERSION_INTERNAL DEC(__fcc_version)
+# elif defined(__FCC_VERSION)
+# define COMPILER_VERSION_INTERNAL DEC(__FCC_VERSION)
+# endif
+
+
+#elif defined(__ghs__)
+# define COMPILER_ID "GHS"
+/* __GHS_VERSION_NUMBER = VVVVRP */
+# ifdef __GHS_VERSION_NUMBER
+# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100)
+# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER % 10)
+# endif
+
+#elif defined(__TASKING__)
+# define COMPILER_ID "Tasking"
+ # define COMPILER_VERSION_MAJOR DEC(__VERSION__/1000)
+ # define COMPILER_VERSION_MINOR DEC(__VERSION__ % 100)
+# define COMPILER_VERSION_INTERNAL DEC(__VERSION__)
+
+#elif defined(__ORANGEC__)
+# define COMPILER_ID "OrangeC"
+# define COMPILER_VERSION_MAJOR DEC(__ORANGEC_MAJOR__)
+# define COMPILER_VERSION_MINOR DEC(__ORANGEC_MINOR__)
+# define COMPILER_VERSION_PATCH DEC(__ORANGEC_PATCHLEVEL__)
+
+#elif defined(__SCO_VERSION__)
+# define COMPILER_ID "SCO"
+
+#elif defined(__ARMCC_VERSION) && !defined(__clang__)
+# define COMPILER_ID "ARMCC"
+#if __ARMCC_VERSION >= 1000000
+ /* __ARMCC_VERSION = VRRPPPP */
+ # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000)
+ # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100)
+ # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000)
+#else
+ /* __ARMCC_VERSION = VRPPPP */
+ # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000)
+ # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10)
+ # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000)
+#endif
+
+
+#elif defined(__clang__) && defined(__apple_build_version__)
+# define COMPILER_ID "AppleClang"
+# if defined(_MSC_VER)
+# define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+ /* _MSC_VER = VVRR */
+# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__)
+
+#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION)
+# define COMPILER_ID "ARMClang"
+ # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000)
+ # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100)
+ # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION/100 % 100)
+# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION)
+
+#elif defined(__clang__)
+# define COMPILER_ID "Clang"
+# if defined(_MSC_VER)
+# define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+ /* _MSC_VER = VVRR */
+# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+
+#elif defined(__LCC__) && (defined(__GNUC__) || defined(__GNUG__) || defined(__MCST__))
+# define COMPILER_ID "LCC"
+# define COMPILER_VERSION_MAJOR DEC(__LCC__ / 100)
+# define COMPILER_VERSION_MINOR DEC(__LCC__ % 100)
+# if defined(__LCC_MINOR__)
+# define COMPILER_VERSION_PATCH DEC(__LCC_MINOR__)
+# endif
+# if defined(__GNUC__) && defined(__GNUC_MINOR__)
+# define SIMULATE_ID "GNU"
+# define SIMULATE_VERSION_MAJOR DEC(__GNUC__)
+# define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__)
+# if defined(__GNUC_PATCHLEVEL__)
+# define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+# endif
+
+#elif defined(__GNUC__) || defined(__GNUG__)
+# define COMPILER_ID "GNU"
+# if defined(__GNUC__)
+# define COMPILER_VERSION_MAJOR DEC(__GNUC__)
+# else
+# define COMPILER_VERSION_MAJOR DEC(__GNUG__)
+# endif
+# if defined(__GNUC_MINOR__)
+# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__)
+# endif
+# if defined(__GNUC_PATCHLEVEL__)
+# define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif defined(_MSC_VER)
+# define COMPILER_ID "MSVC"
+ /* _MSC_VER = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100)
+# if defined(_MSC_FULL_VER)
+# if _MSC_VER >= 1400
+ /* _MSC_FULL_VER = VVRRPPPPP */
+# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000)
+# else
+ /* _MSC_FULL_VER = VVRRPPPP */
+# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000)
+# endif
+# endif
+# if defined(_MSC_BUILD)
+# define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD)
+# endif
+
+#elif defined(_ADI_COMPILER)
+# define COMPILER_ID "ADSP"
+#if defined(__VERSIONNUM__)
+ /* __VERSIONNUM__ = 0xVVRRPPTT */
+# define COMPILER_VERSION_MAJOR DEC(__VERSIONNUM__ >> 24 & 0xFF)
+# define COMPILER_VERSION_MINOR DEC(__VERSIONNUM__ >> 16 & 0xFF)
+# define COMPILER_VERSION_PATCH DEC(__VERSIONNUM__ >> 8 & 0xFF)
+# define COMPILER_VERSION_TWEAK DEC(__VERSIONNUM__ & 0xFF)
+#endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# define COMPILER_ID "IAR"
+# if defined(__VER__) && defined(__ICCARM__)
+# define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000)
+# define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000)
+# define COMPILER_VERSION_PATCH DEC((__VER__) % 1000)
+# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__) || defined(__ICCSTM8__))
+# define COMPILER_VERSION_MAJOR DEC((__VER__) / 100)
+# define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100))
+# define COMPILER_VERSION_PATCH DEC(__SUBVERSION__)
+# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# endif
+
+
+/* These compilers are either not known or too old to define an
+ identification macro. Try to identify the platform and guess that
+ it is the native compiler. */
+#elif defined(__hpux) || defined(__hpua)
+# define COMPILER_ID "HP"
+
+#else /* unknown compiler */
+# define COMPILER_ID ""
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+ getting matched. Store it in a pointer rather than an array
+ because some compilers will just produce instructions to fill the
+ array rather than assigning a pointer to a static array. */
+char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]";
+#ifdef SIMULATE_ID
+char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]";
+#endif
+
+#ifdef __QNXNTO__
+char const* qnxnto = "INFO" ":" "qnxnto[]";
+#endif
+
+#if defined(__CRAYXT_COMPUTE_LINUX_TARGET)
+char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]";
+#endif
+
+#define STRINGIFY_HELPER(X) #X
+#define STRINGIFY(X) STRINGIFY_HELPER(X)
+
+/* Identify known platforms by name. */
+#if defined(__linux) || defined(__linux__) || defined(linux)
+# define PLATFORM_ID "Linux"
+
+#elif defined(__MSYS__)
+# define PLATFORM_ID "MSYS"
+
+#elif defined(__CYGWIN__)
+# define PLATFORM_ID "Cygwin"
+
+#elif defined(__MINGW32__)
+# define PLATFORM_ID "MinGW"
+
+#elif defined(__APPLE__)
+# define PLATFORM_ID "Darwin"
+
+#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32)
+# define PLATFORM_ID "Windows"
+
+#elif defined(__FreeBSD__) || defined(__FreeBSD)
+# define PLATFORM_ID "FreeBSD"
+
+#elif defined(__NetBSD__) || defined(__NetBSD)
+# define PLATFORM_ID "NetBSD"
+
+#elif defined(__OpenBSD__) || defined(__OPENBSD)
+# define PLATFORM_ID "OpenBSD"
+
+#elif defined(__sun) || defined(sun)
+# define PLATFORM_ID "SunOS"
+
+#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__)
+# define PLATFORM_ID "AIX"
+
+#elif defined(__hpux) || defined(__hpux__)
+# define PLATFORM_ID "HP-UX"
+
+#elif defined(__HAIKU__)
+# define PLATFORM_ID "Haiku"
+
+#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS)
+# define PLATFORM_ID "BeOS"
+
+#elif defined(__QNX__) || defined(__QNXNTO__)
+# define PLATFORM_ID "QNX"
+
+#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__)
+# define PLATFORM_ID "Tru64"
+
+#elif defined(__riscos) || defined(__riscos__)
+# define PLATFORM_ID "RISCos"
+
+#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__)
+# define PLATFORM_ID "SINIX"
+
+#elif defined(__UNIX_SV__)
+# define PLATFORM_ID "UNIX_SV"
+
+#elif defined(__bsdos__)
+# define PLATFORM_ID "BSDOS"
+
+#elif defined(_MPRAS) || defined(MPRAS)
+# define PLATFORM_ID "MP-RAS"
+
+#elif defined(__osf) || defined(__osf__)
+# define PLATFORM_ID "OSF1"
+
+#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv)
+# define PLATFORM_ID "SCO_SV"
+
+#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX)
+# define PLATFORM_ID "ULTRIX"
+
+#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX)
+# define PLATFORM_ID "Xenix"
+
+#elif defined(__WATCOMC__)
+# if defined(__LINUX__)
+# define PLATFORM_ID "Linux"
+
+# elif defined(__DOS__)
+# define PLATFORM_ID "DOS"
+
+# elif defined(__OS2__)
+# define PLATFORM_ID "OS2"
+
+# elif defined(__WINDOWS__)
+# define PLATFORM_ID "Windows3x"
+
+# elif defined(__VXWORKS__)
+# define PLATFORM_ID "VxWorks"
+
+# else /* unknown platform */
+# define PLATFORM_ID
+# endif
+
+#elif defined(__INTEGRITY)
+# if defined(INT_178B)
+# define PLATFORM_ID "Integrity178"
+
+# else /* regular Integrity */
+# define PLATFORM_ID "Integrity"
+# endif
+
+# elif defined(_ADI_COMPILER)
+# define PLATFORM_ID "ADSP"
+
+#else /* unknown platform */
+# define PLATFORM_ID
+
+#endif
+
+/* For windows compilers MSVC and Intel we can determine
+ the architecture of the compiler being used. This is because
+ the compilers do not have flags that can change the architecture,
+ but rather depend on which compiler is being used
+*/
+#if defined(_WIN32) && defined(_MSC_VER)
+# if defined(_M_IA64)
+# define ARCHITECTURE_ID "IA64"
+
+# elif defined(_M_ARM64EC)
+# define ARCHITECTURE_ID "ARM64EC"
+
+# elif defined(_M_X64) || defined(_M_AMD64)
+# define ARCHITECTURE_ID "x64"
+
+# elif defined(_M_IX86)
+# define ARCHITECTURE_ID "X86"
+
+# elif defined(_M_ARM64)
+# define ARCHITECTURE_ID "ARM64"
+
+# elif defined(_M_ARM)
+# if _M_ARM == 4
+# define ARCHITECTURE_ID "ARMV4I"
+# elif _M_ARM == 5
+# define ARCHITECTURE_ID "ARMV5I"
+# else
+# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM)
+# endif
+
+# elif defined(_M_MIPS)
+# define ARCHITECTURE_ID "MIPS"
+
+# elif defined(_M_SH)
+# define ARCHITECTURE_ID "SHx"
+
+# else /* unknown architecture */
+# define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__WATCOMC__)
+# if defined(_M_I86)
+# define ARCHITECTURE_ID "I86"
+
+# elif defined(_M_IX86)
+# define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+# define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# if defined(__ICCARM__)
+# define ARCHITECTURE_ID "ARM"
+
+# elif defined(__ICCRX__)
+# define ARCHITECTURE_ID "RX"
+
+# elif defined(__ICCRH850__)
+# define ARCHITECTURE_ID "RH850"
+
+# elif defined(__ICCRL78__)
+# define ARCHITECTURE_ID "RL78"
+
+# elif defined(__ICCRISCV__)
+# define ARCHITECTURE_ID "RISCV"
+
+# elif defined(__ICCAVR__)
+# define ARCHITECTURE_ID "AVR"
+
+# elif defined(__ICC430__)
+# define ARCHITECTURE_ID "MSP430"
+
+# elif defined(__ICCV850__)
+# define ARCHITECTURE_ID "V850"
+
+# elif defined(__ICC8051__)
+# define ARCHITECTURE_ID "8051"
+
+# elif defined(__ICCSTM8__)
+# define ARCHITECTURE_ID "STM8"
+
+# else /* unknown architecture */
+# define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__ghs__)
+# if defined(__PPC64__)
+# define ARCHITECTURE_ID "PPC64"
+
+# elif defined(__ppc__)
+# define ARCHITECTURE_ID "PPC"
+
+# elif defined(__ARM__)
+# define ARCHITECTURE_ID "ARM"
+
+# elif defined(__x86_64__)
+# define ARCHITECTURE_ID "x64"
+
+# elif defined(__i386__)
+# define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+# define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__TI_COMPILER_VERSION__)
+# if defined(__TI_ARM__)
+# define ARCHITECTURE_ID "ARM"
+
+# elif defined(__MSP430__)
+# define ARCHITECTURE_ID "MSP430"
+
+# elif defined(__TMS320C28XX__)
+# define ARCHITECTURE_ID "TMS320C28x"
+
+# elif defined(__TMS320C6X__) || defined(_TMS320C6X)
+# define ARCHITECTURE_ID "TMS320C6x"
+
+# else /* unknown architecture */
+# define ARCHITECTURE_ID ""
+# endif
+
+# elif defined(__ADSPSHARC__)
+# define ARCHITECTURE_ID "SHARC"
+
+# elif defined(__ADSPBLACKFIN__)
+# define ARCHITECTURE_ID "Blackfin"
+
+#elif defined(__TASKING__)
+
+# if defined(__CTC__) || defined(__CPTC__)
+# define ARCHITECTURE_ID "TriCore"
+
+# elif defined(__CMCS__)
+# define ARCHITECTURE_ID "MCS"
+
+# elif defined(__CARM__)
+# define ARCHITECTURE_ID "ARM"
+
+# elif defined(__CARC__)
+# define ARCHITECTURE_ID "ARC"
+
+# elif defined(__C51__)
+# define ARCHITECTURE_ID "8051"
+
+# elif defined(__CPCP__)
+# define ARCHITECTURE_ID "PCP"
+
+# else
+# define ARCHITECTURE_ID ""
+# endif
+
+#else
+# define ARCHITECTURE_ID
+#endif
+
+/* Convert integer to decimal digit literals. */
+#define DEC(n) \
+ ('0' + (((n) / 10000000)%10)), \
+ ('0' + (((n) / 1000000)%10)), \
+ ('0' + (((n) / 100000)%10)), \
+ ('0' + (((n) / 10000)%10)), \
+ ('0' + (((n) / 1000)%10)), \
+ ('0' + (((n) / 100)%10)), \
+ ('0' + (((n) / 10)%10)), \
+ ('0' + ((n) % 10))
+
+/* Convert integer to hex digit literals. */
+#define HEX(n) \
+ ('0' + ((n)>>28 & 0xF)), \
+ ('0' + ((n)>>24 & 0xF)), \
+ ('0' + ((n)>>20 & 0xF)), \
+ ('0' + ((n)>>16 & 0xF)), \
+ ('0' + ((n)>>12 & 0xF)), \
+ ('0' + ((n)>>8 & 0xF)), \
+ ('0' + ((n)>>4 & 0xF)), \
+ ('0' + ((n) & 0xF))
+
+/* Construct a string literal encoding the version number. */
+#ifdef COMPILER_VERSION
+char const* info_version = "INFO" ":" "compiler_version[" COMPILER_VERSION "]";
+
+/* Construct a string literal encoding the version number components. */
+#elif defined(COMPILER_VERSION_MAJOR)
+char const info_version[] = {
+ 'I', 'N', 'F', 'O', ':',
+ 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[',
+ COMPILER_VERSION_MAJOR,
+# ifdef COMPILER_VERSION_MINOR
+ '.', COMPILER_VERSION_MINOR,
+# ifdef COMPILER_VERSION_PATCH
+ '.', COMPILER_VERSION_PATCH,
+# ifdef COMPILER_VERSION_TWEAK
+ '.', COMPILER_VERSION_TWEAK,
+# endif
+# endif
+# endif
+ ']','\0'};
+#endif
+
+/* Construct a string literal encoding the internal version number. */
+#ifdef COMPILER_VERSION_INTERNAL
+char const info_version_internal[] = {
+ 'I', 'N', 'F', 'O', ':',
+ 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_',
+ 'i','n','t','e','r','n','a','l','[',
+ COMPILER_VERSION_INTERNAL,']','\0'};
+#elif defined(COMPILER_VERSION_INTERNAL_STR)
+char const* info_version_internal = "INFO" ":" "compiler_version_internal[" COMPILER_VERSION_INTERNAL_STR "]";
+#endif
+
+/* Construct a string literal encoding the version number components. */
+#ifdef SIMULATE_VERSION_MAJOR
+char const info_simulate_version[] = {
+ 'I', 'N', 'F', 'O', ':',
+ 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[',
+ SIMULATE_VERSION_MAJOR,
+# ifdef SIMULATE_VERSION_MINOR
+ '.', SIMULATE_VERSION_MINOR,
+# ifdef SIMULATE_VERSION_PATCH
+ '.', SIMULATE_VERSION_PATCH,
+# ifdef SIMULATE_VERSION_TWEAK
+ '.', SIMULATE_VERSION_TWEAK,
+# endif
+# endif
+# endif
+ ']','\0'};
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+ getting matched. Store it in a pointer rather than an array
+ because some compilers will just produce instructions to fill the
+ array rather than assigning a pointer to a static array. */
+char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]";
+char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]";
+
+
+
+#if defined(__INTEL_COMPILER) && defined(_MSVC_LANG) && _MSVC_LANG < 201403L
+# if defined(__INTEL_CXX11_MODE__)
+# if defined(__cpp_aggregate_nsdmi)
+# define CXX_STD 201402L
+# else
+# define CXX_STD 201103L
+# endif
+# else
+# define CXX_STD 199711L
+# endif
+#elif defined(_MSC_VER) && defined(_MSVC_LANG)
+# define CXX_STD _MSVC_LANG
+#else
+# define CXX_STD __cplusplus
+#endif
+
+const char* info_language_standard_default = "INFO" ":" "standard_default["
+#if CXX_STD > 202002L
+ "23"
+#elif CXX_STD > 201703L
+ "20"
+#elif CXX_STD >= 201703L
+ "17"
+#elif CXX_STD >= 201402L
+ "14"
+#elif CXX_STD >= 201103L
+ "11"
+#else
+ "98"
+#endif
+"]";
+
+const char* info_language_extensions_default = "INFO" ":" "extensions_default["
+#if (defined(__clang__) || defined(__GNUC__) || defined(__xlC__) || \
+ defined(__TI_COMPILER_VERSION__)) && \
+ !defined(__STRICT_ANSI__)
+ "ON"
+#else
+ "OFF"
+#endif
+"]";
+
+/*--------------------------------------------------------------------------*/
+
+int main(int argc, char* argv[])
+{
+ int require = 0;
+ require += info_compiler[argc];
+ require += info_platform[argc];
+ require += info_arch[argc];
+#ifdef COMPILER_VERSION_MAJOR
+ require += info_version[argc];
+#endif
+#ifdef COMPILER_VERSION_INTERNAL
+ require += info_version_internal[argc];
+#endif
+#ifdef SIMULATE_ID
+ require += info_simulate[argc];
+#endif
+#ifdef SIMULATE_VERSION_MAJOR
+ require += info_simulate_version[argc];
+#endif
+#if defined(__CRAYXT_COMPUTE_LINUX_TARGET)
+ require += info_cray[argc];
+#endif
+ require += info_language_standard_default[argc];
+ require += info_language_extensions_default[argc];
+ (void)argv;
+ return require;
+}
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+ /opt/ros/jazzy/include/builtin_interfaces/builtin_interfaces/msg/time.hpp \
+ /opt/ros/jazzy/include/libstatistics_collector/libstatistics_collector/collector/collector.hpp \
+ /opt/ros/jazzy/include/libstatistics_collector/libstatistics_collector/collector/generate_statistics_message.hpp \
+ /opt/ros/jazzy/include/libstatistics_collector/libstatistics_collector/collector/metric_details_interface.hpp \
+ /opt/ros/jazzy/include/libstatistics_collector/libstatistics_collector/moving_average_statistics/moving_average.hpp \
+ /opt/ros/jazzy/include/libstatistics_collector/libstatistics_collector/moving_average_statistics/types.hpp \
+ /opt/ros/jazzy/include/libstatistics_collector/libstatistics_collector/topic_statistics_collector/constants.hpp \
+ /opt/ros/jazzy/include/libstatistics_collector/libstatistics_collector/topic_statistics_collector/received_message_age.hpp \
+ /opt/ros/jazzy/include/libstatistics_collector/libstatistics_collector/topic_statistics_collector/received_message_period.hpp \
+ /opt/ros/jazzy/include/libstatistics_collector/libstatistics_collector/topic_statistics_collector/topic_statistics_collector.hpp \
+ /opt/ros/jazzy/include/libstatistics_collector/libstatistics_collector/visibility_control.hpp \
+ /opt/ros/jazzy/include/rcl/rcl/allocator.h \
+ /opt/ros/jazzy/include/rcl/rcl/arguments.h \
+ /opt/ros/jazzy/include/rcl/rcl/client.h \
+ /opt/ros/jazzy/include/rcl/rcl/context.h \
+ /opt/ros/jazzy/include/rcl/rcl/domain_id.h \
+ /opt/ros/jazzy/include/rcl/rcl/error_handling.h \
+ /opt/ros/jazzy/include/rcl/rcl/event.h \
+ /opt/ros/jazzy/include/rcl/rcl/event_callback.h \
+ /opt/ros/jazzy/include/rcl/rcl/graph.h \
+ /opt/ros/jazzy/include/rcl/rcl/guard_condition.h \
+ /opt/ros/jazzy/include/rcl/rcl/init_options.h \
+ /opt/ros/jazzy/include/rcl/rcl/log_level.h \
+ /opt/ros/jazzy/include/rcl/rcl/logging_rosout.h \
+ /opt/ros/jazzy/include/rcl/rcl/macros.h \
+ /opt/ros/jazzy/include/rcl/rcl/network_flow_endpoints.h \
+ /opt/ros/jazzy/include/rcl/rcl/node.h \
+ /opt/ros/jazzy/include/rcl/rcl/node_options.h \
+ /opt/ros/jazzy/include/rcl/rcl/publisher.h \
+ /opt/ros/jazzy/include/rcl/rcl/service.h \
+ /opt/ros/jazzy/include/rcl/rcl/service_introspection.h \
+ /opt/ros/jazzy/include/rcl/rcl/subscription.h \
+ /opt/ros/jazzy/include/rcl/rcl/time.h \
+ /opt/ros/jazzy/include/rcl/rcl/timer.h \
+ /opt/ros/jazzy/include/rcl/rcl/types.h \
+ /opt/ros/jazzy/include/rcl/rcl/visibility_control.h \
+ /opt/ros/jazzy/include/rcl/rcl/wait.h \
+ /opt/ros/jazzy/include/rcl_interfaces/rcl_interfaces/msg/detail/floating_point_range__struct.hpp \
+ /opt/ros/jazzy/include/rcl_interfaces/rcl_interfaces/msg/detail/floating_point_range__traits.hpp \
+ /opt/ros/jazzy/include/rcl_interfaces/rcl_interfaces/msg/detail/integer_range__struct.hpp \
+ /opt/ros/jazzy/include/rcl_interfaces/rcl_interfaces/msg/detail/integer_range__traits.hpp \
+ /opt/ros/jazzy/include/rcl_interfaces/rcl_interfaces/msg/detail/list_parameters_result__builder.hpp \
+ /opt/ros/jazzy/include/rcl_interfaces/rcl_interfaces/msg/detail/list_parameters_result__struct.hpp \
+ /opt/ros/jazzy/include/rcl_interfaces/rcl_interfaces/msg/detail/list_parameters_result__traits.hpp \
+ /opt/ros/jazzy/include/rcl_interfaces/rcl_interfaces/msg/detail/list_parameters_result__type_support.hpp \
+ /opt/ros/jazzy/include/rcl_interfaces/rcl_interfaces/msg/detail/parameter__builder.hpp \
+ /opt/ros/jazzy/include/rcl_interfaces/rcl_interfaces/msg/detail/parameter__struct.hpp \
+ /opt/ros/jazzy/include/rcl_interfaces/rcl_interfaces/msg/detail/parameter__traits.hpp \
+ /opt/ros/jazzy/include/rcl_interfaces/rcl_interfaces/msg/detail/parameter__type_support.hpp \
+ /opt/ros/jazzy/include/rcl_interfaces/rcl_interfaces/msg/detail/parameter_descriptor__builder.hpp \
+ /opt/ros/jazzy/include/rcl_interfaces/rcl_interfaces/msg/detail/parameter_descriptor__struct.hpp \
+ /opt/ros/jazzy/include/rcl_interfaces/rcl_interfaces/msg/detail/parameter_descriptor__traits.hpp \
+ /opt/ros/jazzy/include/rcl_interfaces/rcl_interfaces/msg/detail/parameter_descriptor__type_support.hpp \
+ /opt/ros/jazzy/include/rcl_interfaces/rcl_interfaces/msg/detail/parameter_event__builder.hpp \
+ /opt/ros/jazzy/include/rcl_interfaces/rcl_interfaces/msg/detail/parameter_event__struct.hpp \
+ /opt/ros/jazzy/include/rcl_interfaces/rcl_interfaces/msg/detail/parameter_event__traits.hpp \
+ /opt/ros/jazzy/include/rcl_interfaces/rcl_interfaces/msg/detail/parameter_event__type_support.hpp \
+ /opt/ros/jazzy/include/rcl_interfaces/rcl_interfaces/msg/detail/parameter_type__builder.hpp \
+ /opt/ros/jazzy/include/rcl_interfaces/rcl_interfaces/msg/detail/parameter_type__struct.hpp \
+ /opt/ros/jazzy/include/rcl_interfaces/rcl_interfaces/msg/detail/parameter_type__traits.hpp \
+ /opt/ros/jazzy/include/rcl_interfaces/rcl_interfaces/msg/detail/parameter_type__type_support.hpp \
+ /opt/ros/jazzy/include/rcl_interfaces/rcl_interfaces/msg/detail/parameter_value__builder.hpp \
+ /opt/ros/jazzy/include/rcl_interfaces/rcl_interfaces/msg/detail/parameter_value__struct.hpp \
+ /opt/ros/jazzy/include/rcl_interfaces/rcl_interfaces/msg/detail/parameter_value__traits.hpp \
+ /opt/ros/jazzy/include/rcl_interfaces/rcl_interfaces/msg/detail/parameter_value__type_support.hpp \
+ /opt/ros/jazzy/include/rcl_interfaces/rcl_interfaces/msg/detail/set_parameters_result__builder.hpp \
+ /opt/ros/jazzy/include/rcl_interfaces/rcl_interfaces/msg/detail/set_parameters_result__struct.hpp \
+ /opt/ros/jazzy/include/rcl_interfaces/rcl_interfaces/msg/detail/set_parameters_result__traits.hpp \
+ /opt/ros/jazzy/include/rcl_interfaces/rcl_interfaces/msg/detail/set_parameters_result__type_support.hpp \
+ /opt/ros/jazzy/include/rcl_interfaces/rcl_interfaces/msg/list_parameters_result.hpp \
+ /opt/ros/jazzy/include/rcl_interfaces/rcl_interfaces/msg/parameter.hpp \
+ /opt/ros/jazzy/include/rcl_interfaces/rcl_interfaces/msg/parameter_descriptor.hpp \
+ /opt/ros/jazzy/include/rcl_interfaces/rcl_interfaces/msg/parameter_event.hpp \
+ /opt/ros/jazzy/include/rcl_interfaces/rcl_interfaces/msg/parameter_type.hpp \
+ /opt/ros/jazzy/include/rcl_interfaces/rcl_interfaces/msg/parameter_value.hpp \
+ /opt/ros/jazzy/include/rcl_interfaces/rcl_interfaces/msg/rosidl_generator_cpp__visibility_control.hpp \
+ /opt/ros/jazzy/include/rcl_interfaces/rcl_interfaces/msg/set_parameters_result.hpp \
+ /opt/ros/jazzy/include/rcl_interfaces/rcl_interfaces/srv/describe_parameters.hpp \
+ /opt/ros/jazzy/include/rcl_interfaces/rcl_interfaces/srv/detail/describe_parameters__builder.hpp \
+ /opt/ros/jazzy/include/rcl_interfaces/rcl_interfaces/srv/detail/describe_parameters__struct.hpp \
+ /opt/ros/jazzy/include/rcl_interfaces/rcl_interfaces/srv/detail/describe_parameters__traits.hpp \
+ /opt/ros/jazzy/include/rcl_interfaces/rcl_interfaces/srv/detail/describe_parameters__type_support.hpp \
+ /opt/ros/jazzy/include/rcl_interfaces/rcl_interfaces/srv/detail/get_parameter_types__builder.hpp \
+ /opt/ros/jazzy/include/rcl_interfaces/rcl_interfaces/srv/detail/get_parameter_types__struct.hpp \
+ /opt/ros/jazzy/include/rcl_interfaces/rcl_interfaces/srv/detail/get_parameter_types__traits.hpp \
+ /opt/ros/jazzy/include/rcl_interfaces/rcl_interfaces/srv/detail/get_parameter_types__type_support.hpp \
+ /opt/ros/jazzy/include/rcl_interfaces/rcl_interfaces/srv/detail/get_parameters__builder.hpp \
+ /opt/ros/jazzy/include/rcl_interfaces/rcl_interfaces/srv/detail/get_parameters__struct.hpp \
+ /opt/ros/jazzy/include/rcl_interfaces/rcl_interfaces/srv/detail/get_parameters__traits.hpp \
+ /opt/ros/jazzy/include/rcl_interfaces/rcl_interfaces/srv/detail/get_parameters__type_support.hpp \
+ /opt/ros/jazzy/include/rcl_interfaces/rcl_interfaces/srv/detail/list_parameters__builder.hpp \
+ /opt/ros/jazzy/include/rcl_interfaces/rcl_interfaces/srv/detail/list_parameters__struct.hpp \
+ /opt/ros/jazzy/include/rcl_interfaces/rcl_interfaces/srv/detail/list_parameters__traits.hpp \
+ /opt/ros/jazzy/include/rcl_interfaces/rcl_interfaces/srv/detail/list_parameters__type_support.hpp \
+ /opt/ros/jazzy/include/rcl_interfaces/rcl_interfaces/srv/detail/set_parameters__builder.hpp \
+ /opt/ros/jazzy/include/rcl_interfaces/rcl_interfaces/srv/detail/set_parameters__struct.hpp \
+ /opt/ros/jazzy/include/rcl_interfaces/rcl_interfaces/srv/detail/set_parameters__traits.hpp \
+ /opt/ros/jazzy/include/rcl_interfaces/rcl_interfaces/srv/detail/set_parameters__type_support.hpp \
+ /opt/ros/jazzy/include/rcl_interfaces/rcl_interfaces/srv/detail/set_parameters_atomically__builder.hpp \
+ /opt/ros/jazzy/include/rcl_interfaces/rcl_interfaces/srv/detail/set_parameters_atomically__struct.hpp \
+ /opt/ros/jazzy/include/rcl_interfaces/rcl_interfaces/srv/detail/set_parameters_atomically__traits.hpp \
+ /opt/ros/jazzy/include/rcl_interfaces/rcl_interfaces/srv/detail/set_parameters_atomically__type_support.hpp \
+ /opt/ros/jazzy/include/rcl_interfaces/rcl_interfaces/srv/get_parameter_types.hpp \
+ /opt/ros/jazzy/include/rcl_interfaces/rcl_interfaces/srv/get_parameters.hpp \
+ /opt/ros/jazzy/include/rcl_interfaces/rcl_interfaces/srv/list_parameters.hpp \
+ /opt/ros/jazzy/include/rcl_interfaces/rcl_interfaces/srv/set_parameters.hpp \
+ /opt/ros/jazzy/include/rcl_interfaces/rcl_interfaces/srv/set_parameters_atomically.hpp \
+ /opt/ros/jazzy/include/rcl_yaml_param_parser/rcl_yaml_param_parser/parser.h \
+ /opt/ros/jazzy/include/rcl_yaml_param_parser/rcl_yaml_param_parser/types.h \
+ /opt/ros/jazzy/include/rcl_yaml_param_parser/rcl_yaml_param_parser/visibility_control.h \
+ /opt/ros/jazzy/include/rclcpp/rclcpp/allocator/allocator_common.hpp \
+ /opt/ros/jazzy/include/rclcpp/rclcpp/allocator/allocator_deleter.hpp \
+ /opt/ros/jazzy/include/rclcpp/rclcpp/any_executable.hpp \
+ /opt/ros/jazzy/include/rclcpp/rclcpp/any_service_callback.hpp \
+ /opt/ros/jazzy/include/rclcpp/rclcpp/any_subscription_callback.hpp \
+ /opt/ros/jazzy/include/rclcpp/rclcpp/callback_group.hpp \
+ /opt/ros/jazzy/include/rclcpp/rclcpp/client.hpp \
+ /opt/ros/jazzy/include/rclcpp/rclcpp/clock.hpp \
+ /opt/ros/jazzy/include/rclcpp/rclcpp/context.hpp \
+ /opt/ros/jazzy/include/rclcpp/rclcpp/contexts/default_context.hpp \
+ /opt/ros/jazzy/include/rclcpp/rclcpp/copy_all_parameter_values.hpp \
+ /opt/ros/jazzy/include/rclcpp/rclcpp/create_client.hpp \
+ /opt/ros/jazzy/include/rclcpp/rclcpp/create_generic_publisher.hpp \
+ /opt/ros/jazzy/include/rclcpp/rclcpp/create_generic_subscription.hpp \
+ /opt/ros/jazzy/include/rclcpp/rclcpp/create_publisher.hpp \
+ /opt/ros/jazzy/include/rclcpp/rclcpp/create_service.hpp \
+ /opt/ros/jazzy/include/rclcpp/rclcpp/create_subscription.hpp \
+ /opt/ros/jazzy/include/rclcpp/rclcpp/create_timer.hpp \
+ /opt/ros/jazzy/include/rclcpp/rclcpp/detail/add_guard_condition_to_rcl_wait_set.hpp \
+ /opt/ros/jazzy/include/rclcpp/rclcpp/detail/cpp_callback_trampoline.hpp \
+ /opt/ros/jazzy/include/rclcpp/rclcpp/detail/qos_parameters.hpp \
+ /opt/ros/jazzy/include/rclcpp/rclcpp/detail/resolve_enable_topic_statistics.hpp \
+ /opt/ros/jazzy/include/rclcpp/rclcpp/detail/resolve_intra_process_buffer_type.hpp \
+ /opt/ros/jazzy/include/rclcpp/rclcpp/detail/resolve_use_intra_process.hpp \
+ /opt/ros/jazzy/include/rclcpp/rclcpp/detail/rmw_implementation_specific_payload.hpp \
+ /opt/ros/jazzy/include/rclcpp/rclcpp/detail/rmw_implementation_specific_publisher_payload.hpp \
+ /opt/ros/jazzy/include/rclcpp/rclcpp/detail/rmw_implementation_specific_subscription_payload.hpp \
+ /opt/ros/jazzy/include/rclcpp/rclcpp/detail/subscription_callback_type_helper.hpp \
+ /opt/ros/jazzy/include/rclcpp/rclcpp/duration.hpp \
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+ /opt/ros/jazzy/include/rclcpp/rclcpp/dynamic_typesupport/dynamic_message_type.hpp \
+ /opt/ros/jazzy/include/rclcpp/rclcpp/dynamic_typesupport/dynamic_serialization_support.hpp \
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+ /opt/ros/jazzy/include/rclcpp/rclcpp/executors/executor_entities_collection.hpp \
+ /opt/ros/jazzy/include/rclcpp/rclcpp/executors/executor_entities_collector.hpp \
+ /opt/ros/jazzy/include/rclcpp/rclcpp/executors/executor_notify_waitable.hpp \
+ /opt/ros/jazzy/include/rclcpp/rclcpp/executors/multi_threaded_executor.hpp \
+ /opt/ros/jazzy/include/rclcpp/rclcpp/executors/single_threaded_executor.hpp \
+ /opt/ros/jazzy/include/rclcpp/rclcpp/executors/static_single_threaded_executor.hpp \
+ /opt/ros/jazzy/include/rclcpp/rclcpp/expand_topic_or_service_name.hpp \
+ /opt/ros/jazzy/include/rclcpp/rclcpp/experimental/buffers/buffer_implementation_base.hpp \
+ /opt/ros/jazzy/include/rclcpp/rclcpp/experimental/buffers/intra_process_buffer.hpp \
+ /opt/ros/jazzy/include/rclcpp/rclcpp/experimental/buffers/ring_buffer_implementation.hpp \
+ /opt/ros/jazzy/include/rclcpp/rclcpp/experimental/create_intra_process_buffer.hpp \
+ /opt/ros/jazzy/include/rclcpp/rclcpp/experimental/executors/events_executor/events_executor.hpp \
+ /opt/ros/jazzy/include/rclcpp/rclcpp/experimental/executors/events_executor/events_executor_event_types.hpp \
+ /opt/ros/jazzy/include/rclcpp/rclcpp/experimental/executors/events_executor/events_queue.hpp \
+ /opt/ros/jazzy/include/rclcpp/rclcpp/experimental/executors/events_executor/simple_events_queue.hpp \
+ /opt/ros/jazzy/include/rclcpp/rclcpp/experimental/intra_process_manager.hpp \
+ /opt/ros/jazzy/include/rclcpp/rclcpp/experimental/ros_message_intra_process_buffer.hpp \
+ /opt/ros/jazzy/include/rclcpp/rclcpp/experimental/subscription_intra_process.hpp \
+ /opt/ros/jazzy/include/rclcpp/rclcpp/experimental/subscription_intra_process_base.hpp \
+ /opt/ros/jazzy/include/rclcpp/rclcpp/experimental/subscription_intra_process_buffer.hpp \
+ /opt/ros/jazzy/include/rclcpp/rclcpp/experimental/timers_manager.hpp \
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+ /opt/ros/jazzy/include/rclcpp/rclcpp/future_return_code.hpp \
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+ /opt/ros/jazzy/include/rclcpp/rclcpp/guard_condition.hpp \
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+ /opt/ros/jazzy/include/rclcpp/rclcpp/intra_process_setting.hpp \
+ /opt/ros/jazzy/include/rclcpp/rclcpp/is_ros_compatible_type.hpp \
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+ /opt/ros/jazzy/include/rclcpp/rclcpp/node_interfaces/get_node_clock_interface.hpp \
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+ /opt/ros/jazzy/include/rclcpp/rclcpp/node_interfaces/get_node_timers_interface.hpp \
+ /opt/ros/jazzy/include/rclcpp/rclcpp/node_interfaces/get_node_topics_interface.hpp \
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+ /opt/ros/jazzy/include/rclcpp/rclcpp/node_interfaces/node_clock_interface.hpp \
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+ /opt/ros/jazzy/include/rclcpp/rclcpp/node_interfaces/node_time_source_interface.hpp \
+ /opt/ros/jazzy/include/rclcpp/rclcpp/node_interfaces/node_timers_interface.hpp \
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+ /opt/ros/jazzy/include/rclcpp/rclcpp/node_interfaces/node_topics_interface.hpp \
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+ /opt/ros/jazzy/include/rclcpp/rclcpp/subscription_content_filter_options.hpp \
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+ /opt/ros/jazzy/include/rclcpp/rclcpp/subscription_traits.hpp \
+ /opt/ros/jazzy/include/rclcpp/rclcpp/subscription_wait_set_mask.hpp \
+ /opt/ros/jazzy/include/rclcpp/rclcpp/time.hpp \
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+ /opt/ros/jazzy/include/rclcpp/rclcpp/wait_set_policies/sequential_synchronization.hpp \
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new file mode 100644
index 00000000..89d222fe
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new file mode 100644
index 00000000..34723f19
--- /dev/null
+++ b/robobin_final/build/sllidar_ros2/CMakeFiles/sllidar_node.dir/sdk/src/arch/linux/net_serial.cpp.o.d
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diff --git a/robobin_final/build/sllidar_ros2/CMakeFiles/sllidar_node.dir/sdk/src/arch/linux/net_socket.cpp.o b/robobin_final/build/sllidar_ros2/CMakeFiles/sllidar_node.dir/sdk/src/arch/linux/net_socket.cpp.o
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diff --git a/robobin_final/build/sllidar_ros2/CMakeFiles/sllidar_node.dir/sdk/src/arch/linux/net_socket.cpp.o.d b/robobin_final/build/sllidar_ros2/CMakeFiles/sllidar_node.dir/sdk/src/arch/linux/net_socket.cpp.o.d
new file mode 100644
index 00000000..6a4a437c
--- /dev/null
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diff --git a/robobin_final/build/sllidar_ros2/CMakeFiles/sllidar_node.dir/sdk/src/dataunpacker/dataunpacker.cpp.o b/robobin_final/build/sllidar_ros2/CMakeFiles/sllidar_node.dir/sdk/src/dataunpacker/dataunpacker.cpp.o
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new file mode 100644
index 00000000..61c4d3bb
--- /dev/null
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new file mode 100644
index 00000000..777badff
--- /dev/null
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index 0000000000000000000000000000000000000000..d2ae306fc922e1c89cd4a73c0444f5f2db692494
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index 00000000..e656cad5
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new file mode 100644
index 00000000..0023f773
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+ $(MAKE) $(MAKESILENT) -f CMakeFiles/sllidar_node.dir/build.make CMakeFiles/sllidar_node.dir/sdk/src/sl_tcp_channel.cpp.s
+.PHONY : sdk/src/sl_tcp_channel.cpp.s
+
+sdk/src/sl_udp_channel.o: sdk/src/sl_udp_channel.cpp.o
+.PHONY : sdk/src/sl_udp_channel.o
+
+# target to build an object file
+sdk/src/sl_udp_channel.cpp.o:
+ $(MAKE) $(MAKESILENT) -f CMakeFiles/sllidar_node.dir/build.make CMakeFiles/sllidar_node.dir/sdk/src/sl_udp_channel.cpp.o
+.PHONY : sdk/src/sl_udp_channel.cpp.o
+
+sdk/src/sl_udp_channel.i: sdk/src/sl_udp_channel.cpp.i
+.PHONY : sdk/src/sl_udp_channel.i
+
+# target to preprocess a source file
+sdk/src/sl_udp_channel.cpp.i:
+ $(MAKE) $(MAKESILENT) -f CMakeFiles/sllidar_node.dir/build.make CMakeFiles/sllidar_node.dir/sdk/src/sl_udp_channel.cpp.i
+.PHONY : sdk/src/sl_udp_channel.cpp.i
+
+sdk/src/sl_udp_channel.s: sdk/src/sl_udp_channel.cpp.s
+.PHONY : sdk/src/sl_udp_channel.s
+
+# target to generate assembly for a file
+sdk/src/sl_udp_channel.cpp.s:
+ $(MAKE) $(MAKESILENT) -f CMakeFiles/sllidar_node.dir/build.make CMakeFiles/sllidar_node.dir/sdk/src/sl_udp_channel.cpp.s
+.PHONY : sdk/src/sl_udp_channel.cpp.s
+
+src/sllidar_client.o: src/sllidar_client.cpp.o
+.PHONY : src/sllidar_client.o
+
+# target to build an object file
+src/sllidar_client.cpp.o:
+ $(MAKE) $(MAKESILENT) -f CMakeFiles/sllidar_client.dir/build.make CMakeFiles/sllidar_client.dir/src/sllidar_client.cpp.o
+.PHONY : src/sllidar_client.cpp.o
+
+src/sllidar_client.i: src/sllidar_client.cpp.i
+.PHONY : src/sllidar_client.i
+
+# target to preprocess a source file
+src/sllidar_client.cpp.i:
+ $(MAKE) $(MAKESILENT) -f CMakeFiles/sllidar_client.dir/build.make CMakeFiles/sllidar_client.dir/src/sllidar_client.cpp.i
+.PHONY : src/sllidar_client.cpp.i
+
+src/sllidar_client.s: src/sllidar_client.cpp.s
+.PHONY : src/sllidar_client.s
+
+# target to generate assembly for a file
+src/sllidar_client.cpp.s:
+ $(MAKE) $(MAKESILENT) -f CMakeFiles/sllidar_client.dir/build.make CMakeFiles/sllidar_client.dir/src/sllidar_client.cpp.s
+.PHONY : src/sllidar_client.cpp.s
+
+src/sllidar_node.o: src/sllidar_node.cpp.o
+.PHONY : src/sllidar_node.o
+
+# target to build an object file
+src/sllidar_node.cpp.o:
+ $(MAKE) $(MAKESILENT) -f CMakeFiles/sllidar_node.dir/build.make CMakeFiles/sllidar_node.dir/src/sllidar_node.cpp.o
+.PHONY : src/sllidar_node.cpp.o
+
+src/sllidar_node.i: src/sllidar_node.cpp.i
+.PHONY : src/sllidar_node.i
+
+# target to preprocess a source file
+src/sllidar_node.cpp.i:
+ $(MAKE) $(MAKESILENT) -f CMakeFiles/sllidar_node.dir/build.make CMakeFiles/sllidar_node.dir/src/sllidar_node.cpp.i
+.PHONY : src/sllidar_node.cpp.i
+
+src/sllidar_node.s: src/sllidar_node.cpp.s
+.PHONY : src/sllidar_node.s
+
+# target to generate assembly for a file
+src/sllidar_node.cpp.s:
+ $(MAKE) $(MAKESILENT) -f CMakeFiles/sllidar_node.dir/build.make CMakeFiles/sllidar_node.dir/src/sllidar_node.cpp.s
+.PHONY : src/sllidar_node.cpp.s
+
+# Help Target
+help:
+ @echo "The following are some of the valid targets for this Makefile:"
+ @echo "... all (the default if no target is provided)"
+ @echo "... clean"
+ @echo "... depend"
+ @echo "... edit_cache"
+ @echo "... install"
+ @echo "... install/local"
+ @echo "... install/strip"
+ @echo "... list_install_components"
+ @echo "... rebuild_cache"
+ @echo "... test"
+ @echo "... sllidar_ros2_uninstall"
+ @echo "... uninstall"
+ @echo "... sllidar_client"
+ @echo "... sllidar_node"
+ @echo "... sdk/src/arch/linux/net_serial.o"
+ @echo "... sdk/src/arch/linux/net_serial.i"
+ @echo "... sdk/src/arch/linux/net_serial.s"
+ @echo "... sdk/src/arch/linux/net_socket.o"
+ @echo "... sdk/src/arch/linux/net_socket.i"
+ @echo "... sdk/src/arch/linux/net_socket.s"
+ @echo "... sdk/src/arch/linux/timer.o"
+ @echo "... sdk/src/arch/linux/timer.i"
+ @echo "... sdk/src/arch/linux/timer.s"
+ @echo "... sdk/src/dataunpacker/dataunpacker.o"
+ @echo "... sdk/src/dataunpacker/dataunpacker.i"
+ @echo "... sdk/src/dataunpacker/dataunpacker.s"
+ @echo "... sdk/src/dataunpacker/unpacker/handler_capsules.o"
+ @echo "... sdk/src/dataunpacker/unpacker/handler_capsules.i"
+ @echo "... sdk/src/dataunpacker/unpacker/handler_capsules.s"
+ @echo "... sdk/src/dataunpacker/unpacker/handler_hqnode.o"
+ @echo "... sdk/src/dataunpacker/unpacker/handler_hqnode.i"
+ @echo "... sdk/src/dataunpacker/unpacker/handler_hqnode.s"
+ @echo "... sdk/src/dataunpacker/unpacker/handler_normalnode.o"
+ @echo "... sdk/src/dataunpacker/unpacker/handler_normalnode.i"
+ @echo "... sdk/src/dataunpacker/unpacker/handler_normalnode.s"
+ @echo "... sdk/src/hal/thread.o"
+ @echo "... sdk/src/hal/thread.i"
+ @echo "... sdk/src/hal/thread.s"
+ @echo "... sdk/src/rplidar_driver.o"
+ @echo "... sdk/src/rplidar_driver.i"
+ @echo "... sdk/src/rplidar_driver.s"
+ @echo "... sdk/src/sl_async_transceiver.o"
+ @echo "... sdk/src/sl_async_transceiver.i"
+ @echo "... sdk/src/sl_async_transceiver.s"
+ @echo "... sdk/src/sl_crc.o"
+ @echo "... sdk/src/sl_crc.i"
+ @echo "... sdk/src/sl_crc.s"
+ @echo "... sdk/src/sl_lidar_driver.o"
+ @echo "... sdk/src/sl_lidar_driver.i"
+ @echo "... sdk/src/sl_lidar_driver.s"
+ @echo "... sdk/src/sl_lidarprotocol_codec.o"
+ @echo "... sdk/src/sl_lidarprotocol_codec.i"
+ @echo "... sdk/src/sl_lidarprotocol_codec.s"
+ @echo "... sdk/src/sl_serial_channel.o"
+ @echo "... sdk/src/sl_serial_channel.i"
+ @echo "... sdk/src/sl_serial_channel.s"
+ @echo "... sdk/src/sl_tcp_channel.o"
+ @echo "... sdk/src/sl_tcp_channel.i"
+ @echo "... sdk/src/sl_tcp_channel.s"
+ @echo "... sdk/src/sl_udp_channel.o"
+ @echo "... sdk/src/sl_udp_channel.i"
+ @echo "... sdk/src/sl_udp_channel.s"
+ @echo "... src/sllidar_client.o"
+ @echo "... src/sllidar_client.i"
+ @echo "... src/sllidar_client.s"
+ @echo "... src/sllidar_node.o"
+ @echo "... src/sllidar_node.i"
+ @echo "... src/sllidar_node.s"
+.PHONY : help
+
+
+
+#=============================================================================
+# Special targets to cleanup operation of make.
+
+# Special rule to run CMake to check the build system integrity.
+# No rule that depends on this can have commands that come from listfiles
+# because they might be regenerated.
+cmake_check_build_system:
+ $(CMAKE_COMMAND) -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0
+.PHONY : cmake_check_build_system
+
diff --git a/robobin_final/build/sllidar_ros2/ament_cmake_core/package.cmake b/robobin_final/build/sllidar_ros2/ament_cmake_core/package.cmake
new file mode 100644
index 00000000..42847b07
--- /dev/null
+++ b/robobin_final/build/sllidar_ros2/ament_cmake_core/package.cmake
@@ -0,0 +1,14 @@
+set(_AMENT_PACKAGE_NAME "sllidar_ros2")
+set(sllidar_ros2_VERSION "1.0.1")
+set(sllidar_ros2_MAINTAINER "Slamtec ROS Maintainer <ros@slamtec.com>")
+set(sllidar_ros2_BUILD_DEPENDS "rclcpp" "std_srvs" "sensor_msgs")
+set(sllidar_ros2_BUILDTOOL_DEPENDS "ament_cmake")
+set(sllidar_ros2_BUILD_EXPORT_DEPENDS "rclcpp" "std_srvs" "sensor_msgs")
+set(sllidar_ros2_BUILDTOOL_EXPORT_DEPENDS )
+set(sllidar_ros2_EXEC_DEPENDS "rclcpp" "std_srvs" "sensor_msgs")
+set(sllidar_ros2_TEST_DEPENDS )
+set(sllidar_ros2_GROUP_DEPENDS )
+set(sllidar_ros2_MEMBER_OF_GROUPS )
+set(sllidar_ros2_DEPRECATED "")
+set(sllidar_ros2_EXPORT_TAGS)
+list(APPEND sllidar_ros2_EXPORT_TAGS "<build_type>ament_cmake</build_type>")
diff --git a/robobin_final/build/sllidar_ros2/ament_cmake_core/sllidar_ros2Config-version.cmake b/robobin_final/build/sllidar_ros2/ament_cmake_core/sllidar_ros2Config-version.cmake
new file mode 100644
index 00000000..735415c1
--- /dev/null
+++ b/robobin_final/build/sllidar_ros2/ament_cmake_core/sllidar_ros2Config-version.cmake
@@ -0,0 +1,14 @@
+# generated from ament/cmake/core/templates/nameConfig-version.cmake.in
+set(PACKAGE_VERSION "1.0.1")
+
+set(PACKAGE_VERSION_EXACT False)
+set(PACKAGE_VERSION_COMPATIBLE False)
+
+if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}")
+ set(PACKAGE_VERSION_EXACT True)
+ set(PACKAGE_VERSION_COMPATIBLE True)
+endif()
+
+if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}")
+ set(PACKAGE_VERSION_COMPATIBLE True)
+endif()
diff --git a/robobin_final/build/sllidar_ros2/ament_cmake_core/sllidar_ros2Config.cmake b/robobin_final/build/sllidar_ros2/ament_cmake_core/sllidar_ros2Config.cmake
new file mode 100644
index 00000000..8910c329
--- /dev/null
+++ b/robobin_final/build/sllidar_ros2/ament_cmake_core/sllidar_ros2Config.cmake
@@ -0,0 +1,42 @@
+# generated from ament/cmake/core/templates/nameConfig.cmake.in
+
+# prevent multiple inclusion
+if(_sllidar_ros2_CONFIG_INCLUDED)
+ # ensure to keep the found flag the same
+ if(NOT DEFINED sllidar_ros2_FOUND)
+ # explicitly set it to FALSE, otherwise CMake will set it to TRUE
+ set(sllidar_ros2_FOUND FALSE)
+ elseif(NOT sllidar_ros2_FOUND)
+ # use separate condition to avoid uninitialized variable warning
+ set(sllidar_ros2_FOUND FALSE)
+ endif()
+ return()
+endif()
+set(_sllidar_ros2_CONFIG_INCLUDED TRUE)
+
+# output package information
+if(NOT sllidar_ros2_FIND_QUIETLY)
+ message(STATUS "Found sllidar_ros2: 1.0.1 (${sllidar_ros2_DIR})")
+endif()
+
+# warn when using a deprecated package
+if(NOT "" STREQUAL "")
+ set(_msg "Package 'sllidar_ros2' is deprecated")
+ # append custom deprecation text if available
+ if(NOT "" STREQUAL "TRUE")
+ set(_msg "${_msg} ()")
+ endif()
+ # optionally quiet the deprecation message
+ if(NOT sllidar_ros2_DEPRECATED_QUIET)
+ message(DEPRECATION "${_msg}")
+ endif()
+endif()
+
+# flag package as ament-based to distinguish it after being find_package()-ed
+set(sllidar_ros2_FOUND_AMENT_PACKAGE TRUE)
+
+# include all config extra files
+set(_extras "ament_cmake_export_dependencies-extras.cmake;ament_cmake_export_include_directories-extras.cmake")
+foreach(_extra ${_extras})
+ include("${sllidar_ros2_DIR}/${_extra}")
+endforeach()
diff --git a/robobin_final/build/sllidar_ros2/ament_cmake_core/stamps/ament_cmake_export_dependencies-extras.cmake.stamp b/robobin_final/build/sllidar_ros2/ament_cmake_core/stamps/ament_cmake_export_dependencies-extras.cmake.stamp
new file mode 100644
index 00000000..3620d4b8
--- /dev/null
+++ b/robobin_final/build/sllidar_ros2/ament_cmake_core/stamps/ament_cmake_export_dependencies-extras.cmake.stamp
@@ -0,0 +1,92 @@
+# generated from ament_cmake_export_dependencies/cmake/ament_cmake_export_dependencies-extras.cmake.in
+
+set(_exported_dependencies "rclcpp;std_msgs;sensor_msgs")
+
+find_package(ament_cmake_libraries QUIET REQUIRED)
+
+# find_package() all dependencies
+# and append their DEFINITIONS INCLUDE_DIRS, LIBRARIES, and LINK_FLAGS
+# variables to sllidar_ros2_DEFINITIONS, sllidar_ros2_INCLUDE_DIRS,
+# sllidar_ros2_LIBRARIES, and sllidar_ros2_LINK_FLAGS.
+# Additionally collect the direct dependency names in
+# sllidar_ros2_DEPENDENCIES as well as the recursive dependency names
+# in sllidar_ros2_RECURSIVE_DEPENDENCIES.
+if(NOT _exported_dependencies STREQUAL "")
+ find_package(ament_cmake_core QUIET REQUIRED)
+ set(sllidar_ros2_DEPENDENCIES ${_exported_dependencies})
+ set(sllidar_ros2_RECURSIVE_DEPENDENCIES ${_exported_dependencies})
+ set(_libraries)
+ foreach(_dep ${_exported_dependencies})
+ if(NOT ${_dep}_FOUND)
+ find_package("${_dep}" QUIET REQUIRED)
+ endif()
+ # if a package provides modern CMake interface targets use them
+ # exclusively assuming the classic CMake variables only exist for
+ # backward compatibility
+ set(use_modern_cmake FALSE)
+ if(NOT "${${_dep}_TARGETS}" STREQUAL "")
+ foreach(_target ${${_dep}_TARGETS})
+ # only use actual targets
+ # in case a package uses this variable for other content
+ if(TARGET "${_target}")
+ get_target_property(_include_dirs ${_target} INTERFACE_INCLUDE_DIRECTORIES)
+ if(_include_dirs)
+ list_append_unique(sllidar_ros2_INCLUDE_DIRS "${_include_dirs}")
+ endif()
+
+ get_target_property(_imported_configurations ${_target} IMPORTED_CONFIGURATIONS)
+ if(_imported_configurations)
+ string(TOUPPER "${_imported_configurations}" _imported_configurations)
+ if(DEBUG_CONFIGURATIONS)
+ string(TOUPPER "${DEBUG_CONFIGURATIONS}" _debug_configurations_uppercase)
+ else()
+ set(_debug_configurations_uppercase "DEBUG")
+ endif()
+ foreach(_imported_config ${_imported_configurations})
+ get_target_property(_imported_implib ${_target} IMPORTED_IMPLIB_${_imported_config})
+ if(_imported_implib)
+ set(_imported_implib_config "optimized")
+ if(${_imported_config} IN_LIST _debug_configurations_uppercase)
+ set(_imported_implib_config "debug")
+ endif()
+ list(APPEND _libraries ${_imported_implib_config} ${_imported_implib})
+ else()
+ get_target_property(_imported_location ${_target} IMPORTED_LOCATION_${_imported_config})
+ if(_imported_location)
+ list(APPEND _libraries "${_imported_location}")
+ endif()
+ endif()
+ endforeach()
+ endif()
+
+ get_target_property(_link_libraries ${_target} INTERFACE_LINK_LIBRARIES)
+ if(_link_libraries)
+ list(APPEND _libraries "${_link_libraries}")
+ endif()
+ set(use_modern_cmake TRUE)
+ endif()
+ endforeach()
+ endif()
+ if(NOT use_modern_cmake)
+ if(${_dep}_DEFINITIONS)
+ list_append_unique(sllidar_ros2_DEFINITIONS "${${_dep}_DEFINITIONS}")
+ endif()
+ if(${_dep}_INCLUDE_DIRS)
+ list_append_unique(sllidar_ros2_INCLUDE_DIRS "${${_dep}_INCLUDE_DIRS}")
+ endif()
+ if(${_dep}_LIBRARIES)
+ list(APPEND _libraries "${${_dep}_LIBRARIES}")
+ endif()
+ if(${_dep}_LINK_FLAGS)
+ list_append_unique(sllidar_ros2_LINK_FLAGS "${${_dep}_LINK_FLAGS}")
+ endif()
+ if(${_dep}_RECURSIVE_DEPENDENCIES)
+ list_append_unique(sllidar_ros2_RECURSIVE_DEPENDENCIES "${${_dep}_RECURSIVE_DEPENDENCIES}")
+ endif()
+ endif()
+ if(_libraries)
+ ament_libraries_deduplicate(_libraries "${_libraries}")
+ list(APPEND sllidar_ros2_LIBRARIES "${_libraries}")
+ endif()
+ endforeach()
+endif()
diff --git a/robobin_final/build/sllidar_ros2/ament_cmake_core/stamps/ament_cmake_export_include_directories-extras.cmake.stamp b/robobin_final/build/sllidar_ros2/ament_cmake_core/stamps/ament_cmake_export_include_directories-extras.cmake.stamp
new file mode 100644
index 00000000..d4d1a3b1
--- /dev/null
+++ b/robobin_final/build/sllidar_ros2/ament_cmake_core/stamps/ament_cmake_export_include_directories-extras.cmake.stamp
@@ -0,0 +1,16 @@
+# generated from ament_cmake_export_include_directories/cmake/ament_cmake_export_include_directories-extras.cmake.in
+
+set(_exported_include_dirs "${sllidar_ros2_DIR}/../../../include")
+
+# append include directories to sllidar_ros2_INCLUDE_DIRS
+# warn about not existing paths
+if(NOT _exported_include_dirs STREQUAL "")
+ find_package(ament_cmake_core QUIET REQUIRED)
+ foreach(_exported_include_dir ${_exported_include_dirs})
+ if(NOT IS_DIRECTORY "${_exported_include_dir}")
+ message(WARNING "Package 'sllidar_ros2' exports the include directory '${_exported_include_dir}' which doesn't exist")
+ endif()
+ normalize_path(_exported_include_dir "${_exported_include_dir}")
+ list(APPEND sllidar_ros2_INCLUDE_DIRS "${_exported_include_dir}")
+ endforeach()
+endif()
diff --git a/robobin_final/build/sllidar_ros2/ament_cmake_core/stamps/ament_prefix_path.sh.stamp b/robobin_final/build/sllidar_ros2/ament_cmake_core/stamps/ament_prefix_path.sh.stamp
new file mode 100644
index 00000000..02e441b7
--- /dev/null
+++ b/robobin_final/build/sllidar_ros2/ament_cmake_core/stamps/ament_prefix_path.sh.stamp
@@ -0,0 +1,4 @@
+# copied from
+# ament_cmake_core/cmake/environment_hooks/environment/ament_prefix_path.sh
+
+ament_prepend_unique_value AMENT_PREFIX_PATH "$AMENT_CURRENT_PREFIX"
diff --git a/robobin_final/build/sllidar_ros2/ament_cmake_core/stamps/nameConfig-version.cmake.in.stamp b/robobin_final/build/sllidar_ros2/ament_cmake_core/stamps/nameConfig-version.cmake.in.stamp
new file mode 100644
index 00000000..ee49c9f1
--- /dev/null
+++ b/robobin_final/build/sllidar_ros2/ament_cmake_core/stamps/nameConfig-version.cmake.in.stamp
@@ -0,0 +1,14 @@
+# generated from ament/cmake/core/templates/nameConfig-version.cmake.in
+set(PACKAGE_VERSION "@PACKAGE_VERSION@")
+
+set(PACKAGE_VERSION_EXACT False)
+set(PACKAGE_VERSION_COMPATIBLE False)
+
+if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}")
+ set(PACKAGE_VERSION_EXACT True)
+ set(PACKAGE_VERSION_COMPATIBLE True)
+endif()
+
+if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}")
+ set(PACKAGE_VERSION_COMPATIBLE True)
+endif()
diff --git a/robobin_final/build/sllidar_ros2/ament_cmake_core/stamps/nameConfig.cmake.in.stamp b/robobin_final/build/sllidar_ros2/ament_cmake_core/stamps/nameConfig.cmake.in.stamp
new file mode 100644
index 00000000..32b72b45
--- /dev/null
+++ b/robobin_final/build/sllidar_ros2/ament_cmake_core/stamps/nameConfig.cmake.in.stamp
@@ -0,0 +1,42 @@
+# generated from ament/cmake/core/templates/nameConfig.cmake.in
+
+# prevent multiple inclusion
+if(_@PROJECT_NAME@_CONFIG_INCLUDED)
+ # ensure to keep the found flag the same
+ if(NOT DEFINED @PROJECT_NAME@_FOUND)
+ # explicitly set it to FALSE, otherwise CMake will set it to TRUE
+ set(@PROJECT_NAME@_FOUND FALSE)
+ elseif(NOT @PROJECT_NAME@_FOUND)
+ # use separate condition to avoid uninitialized variable warning
+ set(@PROJECT_NAME@_FOUND FALSE)
+ endif()
+ return()
+endif()
+set(_@PROJECT_NAME@_CONFIG_INCLUDED TRUE)
+
+# output package information
+if(NOT @PROJECT_NAME@_FIND_QUIETLY)
+ message(STATUS "Found @PROJECT_NAME@: @PACKAGE_VERSION@ (${@PROJECT_NAME@_DIR})")
+endif()
+
+# warn when using a deprecated package
+if(NOT "@PACKAGE_DEPRECATED@" STREQUAL "")
+ set(_msg "Package '@PROJECT_NAME@' is deprecated")
+ # append custom deprecation text if available
+ if(NOT "@PACKAGE_DEPRECATED@" STREQUAL "TRUE")
+ set(_msg "${_msg} (@PACKAGE_DEPRECATED@)")
+ endif()
+ # optionally quiet the deprecation message
+ if(NOT @PROJECT_NAME@_DEPRECATED_QUIET)
+ message(DEPRECATION "${_msg}")
+ endif()
+endif()
+
+# flag package as ament-based to distinguish it after being find_package()-ed
+set(@PROJECT_NAME@_FOUND_AMENT_PACKAGE TRUE)
+
+# include all config extra files
+set(_extras "@PACKAGE_CONFIG_EXTRA_FILES@")
+foreach(_extra ${_extras})
+ include("${@PROJECT_NAME@_DIR}/${_extra}")
+endforeach()
diff --git a/robobin_final/build/sllidar_ros2/ament_cmake_core/stamps/package.xml.stamp b/robobin_final/build/sllidar_ros2/ament_cmake_core/stamps/package.xml.stamp
new file mode 100644
index 00000000..c90ef4d7
--- /dev/null
+++ b/robobin_final/build/sllidar_ros2/ament_cmake_core/stamps/package.xml.stamp
@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+ <name>sllidar_ros2</name>
+ <version>1.0.1</version>
+ <description>
+ The rplidar ros2 package, support rplidar A2/A1 and A3/S1
+ </description>
+ <maintainer email="ros@slamtec.com">Slamtec ROS Maintainer</maintainer>
+ <license>BSD</license>
+ <buildtool_depend>ament_cmake</buildtool_depend>
+ <depend>rclcpp</depend>
+ <depend>std_srvs</depend>
+ <depend>sensor_msgs</depend>
+ <export>
+ <build_type>ament_cmake</build_type>
+ </export>
+</package>
diff --git a/robobin_final/build/sllidar_ros2/ament_cmake_core/stamps/package_xml_2_cmake.py.stamp b/robobin_final/build/sllidar_ros2/ament_cmake_core/stamps/package_xml_2_cmake.py.stamp
new file mode 100644
index 00000000..8be98943
--- /dev/null
+++ b/robobin_final/build/sllidar_ros2/ament_cmake_core/stamps/package_xml_2_cmake.py.stamp
@@ -0,0 +1,150 @@
+#!/usr/bin/env python3
+
+# Copyright 2014-2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import argparse
+from collections import OrderedDict
+import os
+import sys
+
+from catkin_pkg.package import parse_package_string
+
+
+def main(argv=sys.argv[1:]):
+ """
+ Extract the information from package.xml and make them accessible to CMake.
+
+ Parse the given package.xml file and
+ print CMake code defining several variables containing the content.
+ """
+ parser = argparse.ArgumentParser(
+ description='Parse package.xml file and print CMake code defining '
+ 'several variables',
+ )
+ parser.add_argument(
+ 'package_xml',
+ type=argparse.FileType('r', encoding='utf-8'),
+ help='The path to a package.xml file',
+ )
+ parser.add_argument(
+ 'outfile',
+ nargs='?',
+ help='The filename where the output should be written to',
+ )
+ args = parser.parse_args(argv)
+
+ try:
+ package = parse_package_string(
+ args.package_xml.read(), filename=args.package_xml.name)
+ except Exception as e:
+ print("Error parsing '%s':" % args.package_xml.name, file=sys.stderr)
+ raise e
+ finally:
+ args.package_xml.close()
+
+ lines = generate_cmake_code(package)
+ if args.outfile:
+ with open(args.outfile, 'w', encoding='utf-8') as f:
+ for line in lines:
+ f.write('%s\n' % line)
+ else:
+ for line in lines:
+ print(line)
+
+
+def get_dependency_values(key, depends):
+ dependencies = []
+
+ # Filter the dependencies, checking for any condition attributes
+ dependencies.append((key, ' '.join([
+ '"%s"' % str(d) for d in depends
+ if d.condition is None or d.evaluate_condition(os.environ)
+ ])))
+
+ for d in depends:
+ comparisons = [
+ 'version_lt',
+ 'version_lte',
+ 'version_eq',
+ 'version_gte',
+ 'version_gt']
+ for comp in comparisons:
+ value = getattr(d, comp, None)
+ if value is not None:
+ dependencies.append(('%s_%s_%s' % (key, str(d), comp.upper()),
+ '"%s"' % value))
+ return dependencies
+
+
+def generate_cmake_code(package):
+ """
+ Return a list of CMake set() commands containing the manifest information.
+
+ :param package: catkin_pkg.package.Package
+ :returns: list of str
+ """
+ variables = []
+ variables.append(('VERSION', '"%s"' % package.version))
+
+ variables.append((
+ 'MAINTAINER',
+ '"%s"' % (', '.join([str(m) for m in package.maintainers]))))
+
+ variables.extend(get_dependency_values('BUILD_DEPENDS',
+ package.build_depends))
+ variables.extend(get_dependency_values('BUILDTOOL_DEPENDS',
+ package.buildtool_depends))
+ variables.extend(get_dependency_values('BUILD_EXPORT_DEPENDS',
+ package.build_export_depends))
+ variables.extend(get_dependency_values('BUILDTOOL_EXPORT_DEPENDS',
+ package.buildtool_export_depends))
+ variables.extend(get_dependency_values('EXEC_DEPENDS',
+ package.exec_depends))
+ variables.extend(get_dependency_values('TEST_DEPENDS',
+ package.test_depends))
+ variables.extend(get_dependency_values('GROUP_DEPENDS',
+ package.group_depends))
+ variables.extend(get_dependency_values('MEMBER_OF_GROUPS',
+ package.member_of_groups))
+
+ deprecated = [e.content for e in package.exports
+ if e.tagname == 'deprecated']
+ variables.append(('DEPRECATED',
+ '"%s"' % ((deprecated[0] if deprecated[0] else 'TRUE')
+ if deprecated
+ else '')))
+
+ lines = []
+ lines.append('set(_AMENT_PACKAGE_NAME "%s")' % package.name)
+ for (k, v) in variables:
+ lines.append('set(%s_%s %s)' % (package.name, k, v))
+
+ lines.append('set(%s_EXPORT_TAGS)' % package.name)
+ replaces = OrderedDict()
+ replaces['${prefix}/'] = ''
+ replaces['\\'] = '\\\\' # escape backslashes
+ replaces['"'] = '\\"' # prevent double quotes to end the CMake string
+ replaces[';'] = '\\;' # prevent semicolons to be interpreted as list separators
+ for export in package.exports:
+ export = str(export)
+ for k, v in replaces.items():
+ export = export.replace(k, v)
+ lines.append('list(APPEND %s_EXPORT_TAGS "%s")' % (package.name, export))
+
+ return lines
+
+
+if __name__ == '__main__':
+ main()
diff --git a/robobin_final/build/sllidar_ros2/ament_cmake_core/stamps/path.sh.stamp b/robobin_final/build/sllidar_ros2/ament_cmake_core/stamps/path.sh.stamp
new file mode 100644
index 00000000..e59b749a
--- /dev/null
+++ b/robobin_final/build/sllidar_ros2/ament_cmake_core/stamps/path.sh.stamp
@@ -0,0 +1,5 @@
+# copied from ament_cmake_core/cmake/environment_hooks/environment/path.sh
+
+if [ -d "$AMENT_CURRENT_PREFIX/bin" ]; then
+ ament_prepend_unique_value PATH "$AMENT_CURRENT_PREFIX/bin"
+fi
diff --git a/robobin_final/build/sllidar_ros2/ament_cmake_core/stamps/templates_2_cmake.py.stamp b/robobin_final/build/sllidar_ros2/ament_cmake_core/stamps/templates_2_cmake.py.stamp
new file mode 100644
index 00000000..fb2fb479
--- /dev/null
+++ b/robobin_final/build/sllidar_ros2/ament_cmake_core/stamps/templates_2_cmake.py.stamp
@@ -0,0 +1,112 @@
+#!/usr/bin/env python3
+
+# Copyright 2014-2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import argparse
+import os
+import sys
+
+from ament_package.templates import get_environment_hook_template_path
+from ament_package.templates import get_package_level_template_names
+from ament_package.templates import get_package_level_template_path
+from ament_package.templates import get_prefix_level_template_names
+from ament_package.templates import get_prefix_level_template_path
+
+IS_WINDOWS = os.name == 'nt'
+
+
+def main(argv=sys.argv[1:]):
+ """
+ Extract the information about templates provided by ament_package.
+
+ Call the API provided by ament_package and
+ print CMake code defining several variables containing information about
+ the available templates.
+ """
+ parser = argparse.ArgumentParser(
+ description='Extract information about templates provided by '
+ 'ament_package and print CMake code defining several '
+ 'variables',
+ )
+ parser.add_argument(
+ 'outfile',
+ nargs='?',
+ help='The filename where the output should be written to',
+ )
+ args = parser.parse_args(argv)
+
+ lines = generate_cmake_code()
+ if args.outfile:
+ basepath = os.path.dirname(args.outfile)
+ if not os.path.exists(basepath):
+ os.makedirs(basepath)
+ with open(args.outfile, 'w') as f:
+ for line in lines:
+ f.write('%s\n' % line)
+ else:
+ for line in lines:
+ print(line)
+
+
+def generate_cmake_code():
+ """
+ Return a list of CMake set() commands containing the template information.
+
+ :returns: list of str
+ """
+ variables = []
+
+ if not IS_WINDOWS:
+ variables.append((
+ 'ENVIRONMENT_HOOK_LIBRARY_PATH',
+ '"%s"' % get_environment_hook_template_path('library_path.sh')))
+ else:
+ variables.append(('ENVIRONMENT_HOOK_LIBRARY_PATH', ''))
+
+ ext = '.bat.in' if IS_WINDOWS else '.sh.in'
+ variables.append((
+ 'ENVIRONMENT_HOOK_PYTHONPATH',
+ '"%s"' % get_environment_hook_template_path('pythonpath' + ext)))
+
+ templates = []
+ for name in get_package_level_template_names():
+ templates.append('"%s"' % get_package_level_template_path(name))
+ variables.append((
+ 'PACKAGE_LEVEL',
+ templates))
+
+ templates = []
+ for name in get_prefix_level_template_names():
+ templates.append('"%s"' % get_prefix_level_template_path(name))
+ variables.append((
+ 'PREFIX_LEVEL',
+ templates))
+
+ lines = []
+ for (k, v) in variables:
+ if isinstance(v, list):
+ lines.append('set(ament_cmake_package_templates_%s "")' % k)
+ for vv in v:
+ lines.append('list(APPEND ament_cmake_package_templates_%s %s)'
+ % (k, vv))
+ else:
+ lines.append('set(ament_cmake_package_templates_%s %s)' % (k, v))
+ # Ensure backslashes are replaced with forward slashes because CMake cannot
+ # parse files with backslashes in it.
+ return [line.replace('\\', '/') for line in lines]
+
+
+if __name__ == '__main__':
+ main()
diff --git a/robobin_final/build/sllidar_ros2/ament_cmake_environment_hooks/ament_prefix_path.dsv b/robobin_final/build/sllidar_ros2/ament_cmake_environment_hooks/ament_prefix_path.dsv
new file mode 100644
index 00000000..79d4c95b
--- /dev/null
+++ b/robobin_final/build/sllidar_ros2/ament_cmake_environment_hooks/ament_prefix_path.dsv
@@ -0,0 +1 @@
+prepend-non-duplicate;AMENT_PREFIX_PATH;
diff --git a/robobin_final/build/sllidar_ros2/ament_cmake_environment_hooks/local_setup.bash b/robobin_final/build/sllidar_ros2/ament_cmake_environment_hooks/local_setup.bash
new file mode 100644
index 00000000..49782f24
--- /dev/null
+++ b/robobin_final/build/sllidar_ros2/ament_cmake_environment_hooks/local_setup.bash
@@ -0,0 +1,46 @@
+# generated from ament_package/template/package_level/local_setup.bash.in
+
+# source local_setup.sh from same directory as this file
+_this_path=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" && pwd)
+# provide AMENT_CURRENT_PREFIX to shell script
+AMENT_CURRENT_PREFIX=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`/../.." && pwd)
+# store AMENT_CURRENT_PREFIX to restore it before each environment hook
+_package_local_setup_AMENT_CURRENT_PREFIX=$AMENT_CURRENT_PREFIX
+
+# trace output
+if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then
+ echo "# . \"$_this_path/local_setup.sh\""
+fi
+. "$_this_path/local_setup.sh"
+unset _this_path
+
+# unset AMENT_ENVIRONMENT_HOOKS
+# if not appending to them for return
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
+ unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+# restore AMENT_CURRENT_PREFIX before evaluating the environment hooks
+AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
+# list all environment hooks of this package
+
+# source all shell-specific environment hooks of this package
+# if not returning them
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
+ _package_local_setup_IFS=$IFS
+ IFS=":"
+ for _hook in $AMENT_ENVIRONMENT_HOOKS; do
+ # restore AMENT_CURRENT_PREFIX for each environment hook
+ AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
+ # restore IFS before sourcing other files
+ IFS=$_package_local_setup_IFS
+ . "$_hook"
+ done
+ unset _hook
+ IFS=$_package_local_setup_IFS
+ unset _package_local_setup_IFS
+ unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+unset _package_local_setup_AMENT_CURRENT_PREFIX
+unset AMENT_CURRENT_PREFIX
diff --git a/robobin_final/build/sllidar_ros2/ament_cmake_environment_hooks/local_setup.dsv b/robobin_final/build/sllidar_ros2/ament_cmake_environment_hooks/local_setup.dsv
new file mode 100644
index 00000000..dd834f74
--- /dev/null
+++ b/robobin_final/build/sllidar_ros2/ament_cmake_environment_hooks/local_setup.dsv
@@ -0,0 +1,2 @@
+source;share/sllidar_ros2/environment/ament_prefix_path.sh
+source;share/sllidar_ros2/environment/path.sh
diff --git a/robobin_final/build/sllidar_ros2/ament_cmake_environment_hooks/local_setup.sh b/robobin_final/build/sllidar_ros2/ament_cmake_environment_hooks/local_setup.sh
new file mode 100644
index 00000000..8a756368
--- /dev/null
+++ b/robobin_final/build/sllidar_ros2/ament_cmake_environment_hooks/local_setup.sh
@@ -0,0 +1,184 @@
+# generated from ament_package/template/package_level/local_setup.sh.in
+
+# since this file is sourced use either the provided AMENT_CURRENT_PREFIX
+# or fall back to the destination set at configure time
+: ${AMENT_CURRENT_PREFIX:="/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2"}
+if [ ! -d "$AMENT_CURRENT_PREFIX" ]; then
+ if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+ echo "The compile time prefix path '$AMENT_CURRENT_PREFIX' doesn't " \
+ "exist. Consider sourcing a different extension than '.sh'." 1>&2
+ else
+ AMENT_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+ fi
+fi
+
+# function to append values to environment variables
+# using colons as separators and avoiding leading separators
+ament_append_value() {
+ # arguments
+ _listname="$1"
+ _value="$2"
+ #echo "listname $_listname"
+ #eval echo "list value \$$_listname"
+ #echo "value $_value"
+
+ # avoid leading separator
+ eval _values=\"\$$_listname\"
+ if [ -z "$_values" ]; then
+ eval export $_listname=\"$_value\"
+ #eval echo "set list \$$_listname"
+ else
+ # field separator must not be a colon
+ _ament_append_value_IFS=$IFS
+ unset IFS
+ eval export $_listname=\"\$$_listname:$_value\"
+ #eval echo "append list \$$_listname"
+ IFS=$_ament_append_value_IFS
+ unset _ament_append_value_IFS
+ fi
+ unset _values
+
+ unset _value
+ unset _listname
+}
+
+# function to append non-duplicate values to environment variables
+# using colons as separators and avoiding leading separators
+ament_append_unique_value() {
+ # arguments
+ _listname=$1
+ _value=$2
+ #echo "listname $_listname"
+ #eval echo "list value \$$_listname"
+ #echo "value $_value"
+
+ # check if the list contains the value
+ eval _values=\$$_listname
+ _duplicate=
+ _ament_append_unique_value_IFS=$IFS
+ IFS=":"
+ if [ "$AMENT_SHELL" = "zsh" ]; then
+ ament_zsh_to_array _values
+ fi
+ for _item in $_values; do
+ # ignore empty strings
+ if [ -z "$_item" ]; then
+ continue
+ fi
+ if [ $_item = $_value ]; then
+ _duplicate=1
+ fi
+ done
+ unset _item
+
+ # append only non-duplicates
+ if [ -z "$_duplicate" ]; then
+ # avoid leading separator
+ if [ -z "$_values" ]; then
+ eval $_listname=\"$_value\"
+ #eval echo "set list \$$_listname"
+ else
+ # field separator must not be a colon
+ unset IFS
+ eval $_listname=\"\$$_listname:$_value\"
+ #eval echo "append list \$$_listname"
+ fi
+ fi
+ IFS=$_ament_append_unique_value_IFS
+ unset _ament_append_unique_value_IFS
+ unset _duplicate
+ unset _values
+
+ unset _value
+ unset _listname
+}
+
+# function to prepend non-duplicate values to environment variables
+# using colons as separators and avoiding trailing separators
+ament_prepend_unique_value() {
+ # arguments
+ _listname="$1"
+ _value="$2"
+ #echo "listname $_listname"
+ #eval echo "list value \$$_listname"
+ #echo "value $_value"
+
+ # check if the list contains the value
+ eval _values=\"\$$_listname\"
+ _duplicate=
+ _ament_prepend_unique_value_IFS=$IFS
+ IFS=":"
+ if [ "$AMENT_SHELL" = "zsh" ]; then
+ ament_zsh_to_array _values
+ fi
+ for _item in $_values; do
+ # ignore empty strings
+ if [ -z "$_item" ]; then
+ continue
+ fi
+ if [ "$_item" = "$_value" ]; then
+ _duplicate=1
+ fi
+ done
+ unset _item
+
+ # prepend only non-duplicates
+ if [ -z "$_duplicate" ]; then
+ # avoid trailing separator
+ if [ -z "$_values" ]; then
+ eval export $_listname=\"$_value\"
+ #eval echo "set list \$$_listname"
+ else
+ # field separator must not be a colon
+ unset IFS
+ eval export $_listname=\"$_value:\$$_listname\"
+ #eval echo "prepend list \$$_listname"
+ fi
+ fi
+ IFS=$_ament_prepend_unique_value_IFS
+ unset _ament_prepend_unique_value_IFS
+ unset _duplicate
+ unset _values
+
+ unset _value
+ unset _listname
+}
+
+# unset AMENT_ENVIRONMENT_HOOKS
+# if not appending to them for return
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
+ unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+# list all environment hooks of this package
+ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/sllidar_ros2/environment/ament_prefix_path.sh"
+ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/sllidar_ros2/environment/path.sh"
+
+# source all shell-specific environment hooks of this package
+# if not returning them
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
+ _package_local_setup_IFS=$IFS
+ IFS=":"
+ if [ "$AMENT_SHELL" = "zsh" ]; then
+ ament_zsh_to_array AMENT_ENVIRONMENT_HOOKS
+ fi
+ for _hook in $AMENT_ENVIRONMENT_HOOKS; do
+ if [ -f "$_hook" ]; then
+ # restore IFS before sourcing other files
+ IFS=$_package_local_setup_IFS
+ # trace output
+ if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then
+ echo "# . \"$_hook\""
+ fi
+ . "$_hook"
+ fi
+ done
+ unset _hook
+ IFS=$_package_local_setup_IFS
+ unset _package_local_setup_IFS
+ unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+# reset AMENT_CURRENT_PREFIX after each package
+# allowing to source multiple package-level setup files
+unset AMENT_CURRENT_PREFIX
diff --git a/robobin_final/build/sllidar_ros2/ament_cmake_environment_hooks/local_setup.zsh b/robobin_final/build/sllidar_ros2/ament_cmake_environment_hooks/local_setup.zsh
new file mode 100644
index 00000000..fe161be5
--- /dev/null
+++ b/robobin_final/build/sllidar_ros2/ament_cmake_environment_hooks/local_setup.zsh
@@ -0,0 +1,59 @@
+# generated from ament_package/template/package_level/local_setup.zsh.in
+
+AMENT_SHELL=zsh
+
+# source local_setup.sh from same directory as this file
+_this_path=$(builtin cd -q "`dirname "${(%):-%N}"`" > /dev/null && pwd)
+# provide AMENT_CURRENT_PREFIX to shell script
+AMENT_CURRENT_PREFIX=$(builtin cd -q "`dirname "${(%):-%N}"`/../.." > /dev/null && pwd)
+# store AMENT_CURRENT_PREFIX to restore it before each environment hook
+_package_local_setup_AMENT_CURRENT_PREFIX=$AMENT_CURRENT_PREFIX
+
+# function to convert array-like strings into arrays
+# to wordaround SH_WORD_SPLIT not being set
+ament_zsh_to_array() {
+ local _listname=$1
+ local _dollar="$"
+ local _split="{="
+ local _to_array="(\"$_dollar$_split$_listname}\")"
+ eval $_listname=$_to_array
+}
+
+# trace output
+if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then
+ echo "# . \"$_this_path/local_setup.sh\""
+fi
+# the package-level local_setup file unsets AMENT_CURRENT_PREFIX
+. "$_this_path/local_setup.sh"
+unset _this_path
+
+# unset AMENT_ENVIRONMENT_HOOKS
+# if not appending to them for return
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
+ unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+# restore AMENT_CURRENT_PREFIX before evaluating the environment hooks
+AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
+# list all environment hooks of this package
+
+# source all shell-specific environment hooks of this package
+# if not returning them
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
+ _package_local_setup_IFS=$IFS
+ IFS=":"
+ for _hook in $AMENT_ENVIRONMENT_HOOKS; do
+ # restore AMENT_CURRENT_PREFIX for each environment hook
+ AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
+ # restore IFS before sourcing other files
+ IFS=$_package_local_setup_IFS
+ . "$_hook"
+ done
+ unset _hook
+ IFS=$_package_local_setup_IFS
+ unset _package_local_setup_IFS
+ unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+unset _package_local_setup_AMENT_CURRENT_PREFIX
+unset AMENT_CURRENT_PREFIX
diff --git a/robobin_final/build/sllidar_ros2/ament_cmake_environment_hooks/package.dsv b/robobin_final/build/sllidar_ros2/ament_cmake_environment_hooks/package.dsv
new file mode 100644
index 00000000..c47d09a2
--- /dev/null
+++ b/robobin_final/build/sllidar_ros2/ament_cmake_environment_hooks/package.dsv
@@ -0,0 +1,4 @@
+source;share/sllidar_ros2/local_setup.bash
+source;share/sllidar_ros2/local_setup.dsv
+source;share/sllidar_ros2/local_setup.sh
+source;share/sllidar_ros2/local_setup.zsh
diff --git a/robobin_final/build/sllidar_ros2/ament_cmake_environment_hooks/path.dsv b/robobin_final/build/sllidar_ros2/ament_cmake_environment_hooks/path.dsv
new file mode 100644
index 00000000..b94426af
--- /dev/null
+++ b/robobin_final/build/sllidar_ros2/ament_cmake_environment_hooks/path.dsv
@@ -0,0 +1 @@
+prepend-non-duplicate-if-exists;PATH;bin
diff --git a/robobin_final/build/sllidar_ros2/ament_cmake_export_dependencies/ament_cmake_export_dependencies-extras.cmake b/robobin_final/build/sllidar_ros2/ament_cmake_export_dependencies/ament_cmake_export_dependencies-extras.cmake
new file mode 100644
index 00000000..3620d4b8
--- /dev/null
+++ b/robobin_final/build/sllidar_ros2/ament_cmake_export_dependencies/ament_cmake_export_dependencies-extras.cmake
@@ -0,0 +1,92 @@
+# generated from ament_cmake_export_dependencies/cmake/ament_cmake_export_dependencies-extras.cmake.in
+
+set(_exported_dependencies "rclcpp;std_msgs;sensor_msgs")
+
+find_package(ament_cmake_libraries QUIET REQUIRED)
+
+# find_package() all dependencies
+# and append their DEFINITIONS INCLUDE_DIRS, LIBRARIES, and LINK_FLAGS
+# variables to sllidar_ros2_DEFINITIONS, sllidar_ros2_INCLUDE_DIRS,
+# sllidar_ros2_LIBRARIES, and sllidar_ros2_LINK_FLAGS.
+# Additionally collect the direct dependency names in
+# sllidar_ros2_DEPENDENCIES as well as the recursive dependency names
+# in sllidar_ros2_RECURSIVE_DEPENDENCIES.
+if(NOT _exported_dependencies STREQUAL "")
+ find_package(ament_cmake_core QUIET REQUIRED)
+ set(sllidar_ros2_DEPENDENCIES ${_exported_dependencies})
+ set(sllidar_ros2_RECURSIVE_DEPENDENCIES ${_exported_dependencies})
+ set(_libraries)
+ foreach(_dep ${_exported_dependencies})
+ if(NOT ${_dep}_FOUND)
+ find_package("${_dep}" QUIET REQUIRED)
+ endif()
+ # if a package provides modern CMake interface targets use them
+ # exclusively assuming the classic CMake variables only exist for
+ # backward compatibility
+ set(use_modern_cmake FALSE)
+ if(NOT "${${_dep}_TARGETS}" STREQUAL "")
+ foreach(_target ${${_dep}_TARGETS})
+ # only use actual targets
+ # in case a package uses this variable for other content
+ if(TARGET "${_target}")
+ get_target_property(_include_dirs ${_target} INTERFACE_INCLUDE_DIRECTORIES)
+ if(_include_dirs)
+ list_append_unique(sllidar_ros2_INCLUDE_DIRS "${_include_dirs}")
+ endif()
+
+ get_target_property(_imported_configurations ${_target} IMPORTED_CONFIGURATIONS)
+ if(_imported_configurations)
+ string(TOUPPER "${_imported_configurations}" _imported_configurations)
+ if(DEBUG_CONFIGURATIONS)
+ string(TOUPPER "${DEBUG_CONFIGURATIONS}" _debug_configurations_uppercase)
+ else()
+ set(_debug_configurations_uppercase "DEBUG")
+ endif()
+ foreach(_imported_config ${_imported_configurations})
+ get_target_property(_imported_implib ${_target} IMPORTED_IMPLIB_${_imported_config})
+ if(_imported_implib)
+ set(_imported_implib_config "optimized")
+ if(${_imported_config} IN_LIST _debug_configurations_uppercase)
+ set(_imported_implib_config "debug")
+ endif()
+ list(APPEND _libraries ${_imported_implib_config} ${_imported_implib})
+ else()
+ get_target_property(_imported_location ${_target} IMPORTED_LOCATION_${_imported_config})
+ if(_imported_location)
+ list(APPEND _libraries "${_imported_location}")
+ endif()
+ endif()
+ endforeach()
+ endif()
+
+ get_target_property(_link_libraries ${_target} INTERFACE_LINK_LIBRARIES)
+ if(_link_libraries)
+ list(APPEND _libraries "${_link_libraries}")
+ endif()
+ set(use_modern_cmake TRUE)
+ endif()
+ endforeach()
+ endif()
+ if(NOT use_modern_cmake)
+ if(${_dep}_DEFINITIONS)
+ list_append_unique(sllidar_ros2_DEFINITIONS "${${_dep}_DEFINITIONS}")
+ endif()
+ if(${_dep}_INCLUDE_DIRS)
+ list_append_unique(sllidar_ros2_INCLUDE_DIRS "${${_dep}_INCLUDE_DIRS}")
+ endif()
+ if(${_dep}_LIBRARIES)
+ list(APPEND _libraries "${${_dep}_LIBRARIES}")
+ endif()
+ if(${_dep}_LINK_FLAGS)
+ list_append_unique(sllidar_ros2_LINK_FLAGS "${${_dep}_LINK_FLAGS}")
+ endif()
+ if(${_dep}_RECURSIVE_DEPENDENCIES)
+ list_append_unique(sllidar_ros2_RECURSIVE_DEPENDENCIES "${${_dep}_RECURSIVE_DEPENDENCIES}")
+ endif()
+ endif()
+ if(_libraries)
+ ament_libraries_deduplicate(_libraries "${_libraries}")
+ list(APPEND sllidar_ros2_LIBRARIES "${_libraries}")
+ endif()
+ endforeach()
+endif()
diff --git a/robobin_final/build/sllidar_ros2/ament_cmake_export_include_directories/ament_cmake_export_include_directories-extras.cmake b/robobin_final/build/sllidar_ros2/ament_cmake_export_include_directories/ament_cmake_export_include_directories-extras.cmake
new file mode 100644
index 00000000..d4d1a3b1
--- /dev/null
+++ b/robobin_final/build/sllidar_ros2/ament_cmake_export_include_directories/ament_cmake_export_include_directories-extras.cmake
@@ -0,0 +1,16 @@
+# generated from ament_cmake_export_include_directories/cmake/ament_cmake_export_include_directories-extras.cmake.in
+
+set(_exported_include_dirs "${sllidar_ros2_DIR}/../../../include")
+
+# append include directories to sllidar_ros2_INCLUDE_DIRS
+# warn about not existing paths
+if(NOT _exported_include_dirs STREQUAL "")
+ find_package(ament_cmake_core QUIET REQUIRED)
+ foreach(_exported_include_dir ${_exported_include_dirs})
+ if(NOT IS_DIRECTORY "${_exported_include_dir}")
+ message(WARNING "Package 'sllidar_ros2' exports the include directory '${_exported_include_dir}' which doesn't exist")
+ endif()
+ normalize_path(_exported_include_dir "${_exported_include_dir}")
+ list(APPEND sllidar_ros2_INCLUDE_DIRS "${_exported_include_dir}")
+ endforeach()
+endif()
diff --git a/robobin_final/build/sllidar_ros2/ament_cmake_index/share/ament_index/resource_index/package_run_dependencies/sllidar_ros2 b/robobin_final/build/sllidar_ros2/ament_cmake_index/share/ament_index/resource_index/package_run_dependencies/sllidar_ros2
new file mode 100644
index 00000000..06357de2
--- /dev/null
+++ b/robobin_final/build/sllidar_ros2/ament_cmake_index/share/ament_index/resource_index/package_run_dependencies/sllidar_ros2
@@ -0,0 +1 @@
+rclcpp;std_srvs;sensor_msgs
\ No newline at end of file
diff --git a/robobin_final/build/sllidar_ros2/ament_cmake_index/share/ament_index/resource_index/packages/sllidar_ros2 b/robobin_final/build/sllidar_ros2/ament_cmake_index/share/ament_index/resource_index/packages/sllidar_ros2
new file mode 100644
index 00000000..e69de29b
diff --git a/robobin_final/build/sllidar_ros2/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/sllidar_ros2 b/robobin_final/build/sllidar_ros2/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/sllidar_ros2
new file mode 100644
index 00000000..56430f3d
--- /dev/null
+++ b/robobin_final/build/sllidar_ros2/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/sllidar_ros2
@@ -0,0 +1 @@
+/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot:/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2:/home/robobin/Robobin_Project/ros2/robobin_main/install/testing:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_localization_ekf:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_description:/home/robobin/Robobin_Project/ros2/robobin_main/install/odometry_publisher:/opt/ros/jazzy
\ No newline at end of file
diff --git a/robobin_final/build/sllidar_ros2/ament_cmake_package_templates/templates.cmake b/robobin_final/build/sllidar_ros2/ament_cmake_package_templates/templates.cmake
new file mode 100644
index 00000000..93bb0b43
--- /dev/null
+++ b/robobin_final/build/sllidar_ros2/ament_cmake_package_templates/templates.cmake
@@ -0,0 +1,14 @@
+set(ament_cmake_package_templates_ENVIRONMENT_HOOK_LIBRARY_PATH "/opt/ros/jazzy/lib/python3.12/site-packages/ament_package/template/environment_hook/library_path.sh")
+set(ament_cmake_package_templates_ENVIRONMENT_HOOK_PYTHONPATH "/opt/ros/jazzy/lib/python3.12/site-packages/ament_package/template/environment_hook/pythonpath.sh.in")
+set(ament_cmake_package_templates_PACKAGE_LEVEL "")
+list(APPEND ament_cmake_package_templates_PACKAGE_LEVEL "/opt/ros/jazzy/lib/python3.12/site-packages/ament_package/template/package_level/local_setup.bash.in")
+list(APPEND ament_cmake_package_templates_PACKAGE_LEVEL "/opt/ros/jazzy/lib/python3.12/site-packages/ament_package/template/package_level/local_setup.sh.in")
+list(APPEND ament_cmake_package_templates_PACKAGE_LEVEL "/opt/ros/jazzy/lib/python3.12/site-packages/ament_package/template/package_level/local_setup.zsh.in")
+set(ament_cmake_package_templates_PREFIX_LEVEL "")
+list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/jazzy/lib/python3.12/site-packages/ament_package/template/prefix_level/local_setup.bash")
+list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/jazzy/lib/python3.12/site-packages/ament_package/template/prefix_level/local_setup.sh.in")
+list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/jazzy/lib/python3.12/site-packages/ament_package/template/prefix_level/local_setup.zsh")
+list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/jazzy/lib/python3.12/site-packages/ament_package/template/prefix_level/setup.bash")
+list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/jazzy/lib/python3.12/site-packages/ament_package/template/prefix_level/setup.sh.in")
+list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/jazzy/lib/python3.12/site-packages/ament_package/template/prefix_level/setup.zsh")
+list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/jazzy/lib/python3.12/site-packages/ament_package/template/prefix_level/_local_setup_util.py")
diff --git a/robobin_final/build/sllidar_ros2/ament_cmake_symlink_install/ament_cmake_symlink_install.cmake b/robobin_final/build/sllidar_ros2/ament_cmake_symlink_install/ament_cmake_symlink_install.cmake
new file mode 100644
index 00000000..e5937258
--- /dev/null
+++ b/robobin_final/build/sllidar_ros2/ament_cmake_symlink_install/ament_cmake_symlink_install.cmake
@@ -0,0 +1,365 @@
+# 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 "/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/${ARG_DESTINATION}")
+ endif()
+ if(NOT EXISTS "${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()
+
+ # 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 "/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/${ARG_DESTINATION}")
+ endif()
+ if(NOT EXISTS "${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 "/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/${ARG_DESTINATION}")
+ endif()
+ if(NOT EXISTS "${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 "/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/${destination}")
+ endif()
+ if(NOT EXISTS "${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 '${absolute_file}'")
+ endif()
+endfunction()
+
+# end of template
+
+message(STATUS "Execute custom install script")
+
+# begin of custom install code
+
+# install(DIRECTORY "launch" "rviz" "DESTINATION" "share/sllidar_ros2")
+ament_cmake_symlink_install_directory("/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2" DIRECTORY "launch" "rviz" "DESTINATION" "share/sllidar_ros2")
+
+# install("TARGETS" "sllidar_node" "sllidar_client" "RUNTIME_DESTINATION" "lib/sllidar_ros2")
+include("/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2/ament_cmake_symlink_install_targets_0_${CMAKE_INSTALL_CONFIG_NAME}.cmake")
+
+# install(FILES "/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2/ament_cmake_index/share/ament_index/resource_index/package_run_dependencies/sllidar_ros2" "DESTINATION" "share/ament_index/resource_index/package_run_dependencies")
+ament_cmake_symlink_install_files("/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2" FILES "/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2/ament_cmake_index/share/ament_index/resource_index/package_run_dependencies/sllidar_ros2" "DESTINATION" "share/ament_index/resource_index/package_run_dependencies")
+
+# install(FILES "/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/sllidar_ros2" "DESTINATION" "share/ament_index/resource_index/parent_prefix_path")
+ament_cmake_symlink_install_files("/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2" FILES "/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/sllidar_ros2" "DESTINATION" "share/ament_index/resource_index/parent_prefix_path")
+
+# install(FILES "/opt/ros/jazzy/share/ament_cmake_core/cmake/environment_hooks/environment/ament_prefix_path.sh" "DESTINATION" "share/sllidar_ros2/environment")
+ament_cmake_symlink_install_files("/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2" FILES "/opt/ros/jazzy/share/ament_cmake_core/cmake/environment_hooks/environment/ament_prefix_path.sh" "DESTINATION" "share/sllidar_ros2/environment")
+
+# install(FILES "/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2/ament_cmake_environment_hooks/ament_prefix_path.dsv" "DESTINATION" "share/sllidar_ros2/environment")
+ament_cmake_symlink_install_files("/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2" FILES "/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2/ament_cmake_environment_hooks/ament_prefix_path.dsv" "DESTINATION" "share/sllidar_ros2/environment")
+
+# install(FILES "/opt/ros/jazzy/share/ament_cmake_core/cmake/environment_hooks/environment/path.sh" "DESTINATION" "share/sllidar_ros2/environment")
+ament_cmake_symlink_install_files("/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2" FILES "/opt/ros/jazzy/share/ament_cmake_core/cmake/environment_hooks/environment/path.sh" "DESTINATION" "share/sllidar_ros2/environment")
+
+# install(FILES "/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2/ament_cmake_environment_hooks/path.dsv" "DESTINATION" "share/sllidar_ros2/environment")
+ament_cmake_symlink_install_files("/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2" FILES "/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2/ament_cmake_environment_hooks/path.dsv" "DESTINATION" "share/sllidar_ros2/environment")
+
+# install(FILES "/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2/ament_cmake_environment_hooks/local_setup.bash" "DESTINATION" "share/sllidar_ros2")
+ament_cmake_symlink_install_files("/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2" FILES "/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2/ament_cmake_environment_hooks/local_setup.bash" "DESTINATION" "share/sllidar_ros2")
+
+# install(FILES "/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2/ament_cmake_environment_hooks/local_setup.sh" "DESTINATION" "share/sllidar_ros2")
+ament_cmake_symlink_install_files("/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2" FILES "/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2/ament_cmake_environment_hooks/local_setup.sh" "DESTINATION" "share/sllidar_ros2")
+
+# install(FILES "/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2/ament_cmake_environment_hooks/local_setup.zsh" "DESTINATION" "share/sllidar_ros2")
+ament_cmake_symlink_install_files("/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2" FILES "/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2/ament_cmake_environment_hooks/local_setup.zsh" "DESTINATION" "share/sllidar_ros2")
+
+# install(FILES "/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2/ament_cmake_environment_hooks/local_setup.dsv" "DESTINATION" "share/sllidar_ros2")
+ament_cmake_symlink_install_files("/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2" FILES "/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2/ament_cmake_environment_hooks/local_setup.dsv" "DESTINATION" "share/sllidar_ros2")
+
+# install(FILES "/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2/ament_cmake_environment_hooks/package.dsv" "DESTINATION" "share/sllidar_ros2")
+ament_cmake_symlink_install_files("/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2" FILES "/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2/ament_cmake_environment_hooks/package.dsv" "DESTINATION" "share/sllidar_ros2")
+
+# install(FILES "/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2/ament_cmake_index/share/ament_index/resource_index/packages/sllidar_ros2" "DESTINATION" "share/ament_index/resource_index/packages")
+ament_cmake_symlink_install_files("/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2" FILES "/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2/ament_cmake_index/share/ament_index/resource_index/packages/sllidar_ros2" "DESTINATION" "share/ament_index/resource_index/packages")
+
+# install(FILES "/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2/ament_cmake_export_dependencies/ament_cmake_export_dependencies-extras.cmake" "DESTINATION" "share/sllidar_ros2/cmake")
+ament_cmake_symlink_install_files("/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2" FILES "/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2/ament_cmake_export_dependencies/ament_cmake_export_dependencies-extras.cmake" "DESTINATION" "share/sllidar_ros2/cmake")
+
+# install(FILES "/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2/ament_cmake_export_include_directories/ament_cmake_export_include_directories-extras.cmake" "DESTINATION" "share/sllidar_ros2/cmake")
+ament_cmake_symlink_install_files("/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2" FILES "/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2/ament_cmake_export_include_directories/ament_cmake_export_include_directories-extras.cmake" "DESTINATION" "share/sllidar_ros2/cmake")
+
+# install(FILES "/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2/ament_cmake_core/sllidar_ros2Config.cmake" "/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2/ament_cmake_core/sllidar_ros2Config-version.cmake" "DESTINATION" "share/sllidar_ros2/cmake")
+ament_cmake_symlink_install_files("/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2" FILES "/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2/ament_cmake_core/sllidar_ros2Config.cmake" "/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2/ament_cmake_core/sllidar_ros2Config-version.cmake" "DESTINATION" "share/sllidar_ros2/cmake")
+
+# install(FILES "/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/package.xml" "DESTINATION" "share/sllidar_ros2")
+ament_cmake_symlink_install_files("/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2" FILES "/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/package.xml" "DESTINATION" "share/sllidar_ros2")
diff --git a/robobin_final/build/sllidar_ros2/ament_cmake_symlink_install/ament_cmake_symlink_install_uninstall_script.cmake b/robobin_final/build/sllidar_ros2/ament_cmake_symlink_install/ament_cmake_symlink_install_uninstall_script.cmake
new file mode 100644
index 00000000..2d7cfa51
--- /dev/null
+++ b/robobin_final/build/sllidar_ros2/ament_cmake_symlink_install/ament_cmake_symlink_install_uninstall_script.cmake
@@ -0,0 +1,23 @@
+# generated from
+# ament_cmake_core/cmake/symlink_install/ament_cmake_symlink_install_uninstall_script.cmake.in
+
+set(install_manifest "/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2/symlink_install_manifest.txt")
+if(NOT EXISTS "${install_manifest}")
+ message(FATAL_ERROR "Cannot find symlink install manifest: ${install_manifest}")
+endif()
+
+file(READ "${install_manifest}" installed_files)
+string(REGEX REPLACE "\n" ";" installed_files "${installed_files}")
+foreach(installed_file ${installed_files})
+ if(EXISTS "${installed_file}" OR IS_SYMLINK "${installed_file}")
+ message(STATUS "Uninstalling: ${installed_file}")
+ file(REMOVE "${installed_file}")
+ if(EXISTS "${installed_file}" OR IS_SYMLINK "${installed_file}")
+ message(FATAL_ERROR "Failed to remove '${installed_file}'")
+ endif()
+
+ # remove empty parent folders
+ get_filename_component(parent_path "${installed_file}" PATH)
+ ament_cmake_uninstall_target_remove_empty_directories("${parent_path}")
+ endif()
+endforeach()
diff --git a/robobin_final/build/sllidar_ros2/ament_cmake_symlink_install_targets_0_.cmake b/robobin_final/build/sllidar_ros2/ament_cmake_symlink_install_targets_0_.cmake
new file mode 100644
index 00000000..cdf5be8e
--- /dev/null
+++ b/robobin_final/build/sllidar_ros2/ament_cmake_symlink_install_targets_0_.cmake
@@ -0,0 +1 @@
+ament_cmake_symlink_install_targets("TARGET_FILES" "/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2/sllidar_node" "/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2/sllidar_client" "TARGETS" "sllidar_node" "sllidar_client" "RUNTIME_DESTINATION" "lib/sllidar_ros2")
diff --git a/robobin_final/build/sllidar_ros2/ament_cmake_uninstall_target/ament_cmake_uninstall_target.cmake b/robobin_final/build/sllidar_ros2/ament_cmake_uninstall_target/ament_cmake_uninstall_target.cmake
new file mode 100644
index 00000000..7d406f0e
--- /dev/null
+++ b/robobin_final/build/sllidar_ros2/ament_cmake_uninstall_target/ament_cmake_uninstall_target.cmake
@@ -0,0 +1,60 @@
+# generated from
+# ament_cmake_core/cmake/uninstall_target/ament_cmake_uninstall_target.cmake.in
+
+function(ament_cmake_uninstall_target_remove_empty_directories path)
+ set(install_space "/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2")
+ if(install_space STREQUAL "")
+ message(FATAL_ERROR "The CMAKE_INSTALL_PREFIX variable must not be empty")
+ endif()
+
+ string(LENGTH "${install_space}" length)
+ string(SUBSTRING "${path}" 0 ${length} path_prefix)
+ if(NOT path_prefix STREQUAL install_space)
+ message(FATAL_ERROR "The path '${path}' must be within the install space '${install_space}'")
+ endif()
+ if(path STREQUAL install_space)
+ return()
+ endif()
+
+ # check if directory is empty
+ file(GLOB files "${path}/*")
+ list(LENGTH files length)
+ if(length EQUAL 0)
+ message(STATUS "Uninstalling: ${path}/")
+ execute_process(COMMAND "/usr/bin/cmake" "-E" "remove_directory" "${path}")
+ # recursively try to remove parent directories
+ get_filename_component(parent_path "${path}" PATH)
+ ament_cmake_uninstall_target_remove_empty_directories("${parent_path}")
+ endif()
+endfunction()
+
+# uninstall files installed using the standard install() function
+set(install_manifest "/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2/install_manifest.txt")
+if(NOT EXISTS "${install_manifest}")
+ message(FATAL_ERROR "Cannot find install manifest: ${install_manifest}")
+endif()
+
+file(READ "${install_manifest}" installed_files)
+string(REGEX REPLACE "\n" ";" installed_files "${installed_files}")
+foreach(installed_file ${installed_files})
+ if(EXISTS "${installed_file}" OR IS_SYMLINK "${installed_file}")
+ message(STATUS "Uninstalling: ${installed_file}")
+ file(REMOVE "${installed_file}")
+ if(EXISTS "${installed_file}" OR IS_SYMLINK "${installed_file}")
+ message(FATAL_ERROR "Failed to remove '${installed_file}'")
+ endif()
+
+ # remove empty parent folders
+ get_filename_component(parent_path "${installed_file}" PATH)
+ ament_cmake_uninstall_target_remove_empty_directories("${parent_path}")
+ endif()
+endforeach()
+
+# end of template
+
+message(STATUS "Execute custom uninstall script")
+
+# begin of custom uninstall code
+
+# uninstall files installed using the symlink install functions
+include("/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2/ament_cmake_symlink_install/ament_cmake_symlink_install_uninstall_script.cmake")
diff --git a/robobin_final/build/sllidar_ros2/cmake_args.last b/robobin_final/build/sllidar_ros2/cmake_args.last
new file mode 100644
index 00000000..7aacf903
--- /dev/null
+++ b/robobin_final/build/sllidar_ros2/cmake_args.last
@@ -0,0 +1 @@
+['-DAMENT_CMAKE_SYMLINK_INSTALL=1']
\ No newline at end of file
diff --git a/robobin_final/build/sllidar_ros2/cmake_install.cmake b/robobin_final/build/sllidar_ros2/cmake_install.cmake
new file mode 100644
index 00000000..6ebb1070
--- /dev/null
+++ b/robobin_final/build/sllidar_ros2/cmake_install.cmake
@@ -0,0 +1,58 @@
+# Install script for directory: /home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2
+
+# Set the install prefix
+if(NOT DEFINED CMAKE_INSTALL_PREFIX)
+ set(CMAKE_INSTALL_PREFIX "/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2")
+endif()
+string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
+
+# Set the install configuration name.
+if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
+ if(BUILD_TYPE)
+ string(REGEX REPLACE "^[^A-Za-z0-9_]+" ""
+ CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}")
+ else()
+ set(CMAKE_INSTALL_CONFIG_NAME "")
+ endif()
+ message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
+endif()
+
+# Set the component getting installed.
+if(NOT CMAKE_INSTALL_COMPONENT)
+ if(COMPONENT)
+ message(STATUS "Install component: \"${COMPONENT}\"")
+ set(CMAKE_INSTALL_COMPONENT "${COMPONENT}")
+ else()
+ set(CMAKE_INSTALL_COMPONENT)
+ endif()
+endif()
+
+# Install shared libraries without execute permission?
+if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
+ set(CMAKE_INSTALL_SO_NO_EXE "1")
+endif()
+
+# Is this installation the result of a crosscompile?
+if(NOT DEFINED CMAKE_CROSSCOMPILING)
+ set(CMAKE_CROSSCOMPILING "FALSE")
+endif()
+
+# Set default install directory permissions.
+if(NOT DEFINED CMAKE_OBJDUMP)
+ set(CMAKE_OBJDUMP "/usr/bin/objdump")
+endif()
+
+if(CMAKE_INSTALL_COMPONENT STREQUAL "Unspecified" OR NOT CMAKE_INSTALL_COMPONENT)
+ include("/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2/ament_cmake_symlink_install/ament_cmake_symlink_install.cmake")
+endif()
+
+if(CMAKE_INSTALL_COMPONENT)
+ set(CMAKE_INSTALL_MANIFEST "install_manifest_${CMAKE_INSTALL_COMPONENT}.txt")
+else()
+ set(CMAKE_INSTALL_MANIFEST "install_manifest.txt")
+endif()
+
+string(REPLACE ";" "\n" CMAKE_INSTALL_MANIFEST_CONTENT
+ "${CMAKE_INSTALL_MANIFEST_FILES}")
+file(WRITE "/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2/${CMAKE_INSTALL_MANIFEST}"
+ "${CMAKE_INSTALL_MANIFEST_CONTENT}")
diff --git a/robobin_final/build/sllidar_ros2/colcon_build.rc b/robobin_final/build/sllidar_ros2/colcon_build.rc
new file mode 100644
index 00000000..573541ac
--- /dev/null
+++ b/robobin_final/build/sllidar_ros2/colcon_build.rc
@@ -0,0 +1 @@
+0
diff --git a/robobin_final/build/sllidar_ros2/colcon_command_prefix_build.sh b/robobin_final/build/sllidar_ros2/colcon_command_prefix_build.sh
new file mode 100644
index 00000000..f9867d51
--- /dev/null
+++ b/robobin_final/build/sllidar_ros2/colcon_command_prefix_build.sh
@@ -0,0 +1 @@
+# generated from colcon_core/shell/template/command_prefix.sh.em
diff --git a/robobin_final/build/sllidar_ros2/colcon_command_prefix_build.sh.env b/robobin_final/build/sllidar_ros2/colcon_command_prefix_build.sh.env
new file mode 100644
index 00000000..bef86440
--- /dev/null
+++ b/robobin_final/build/sllidar_ros2/colcon_command_prefix_build.sh.env
@@ -0,0 +1,69 @@
+AMENT_PREFIX_PATH=/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot:/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2:/home/robobin/Robobin_Project/ros2/robobin_main/install/testing:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_localization_ekf:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_description:/home/robobin/Robobin_Project/ros2/robobin_main/install/odometry_publisher:/opt/ros/jazzy
+CMAKE_PREFIX_PATH=/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2:/opt/ros/jazzy/opt/sdformat_vendor:/opt/ros/jazzy/opt/gz_math_vendor:/opt/ros/jazzy/opt/gz_utils_vendor:/opt/ros/jazzy/opt/gz_tools_vendor:/opt/ros/jazzy/opt/gz_cmake_vendor
+COLCON=1
+COLCON_PREFIX_PATH=/home/robobin/Robobin_Project/ros2/robobin_final/install:/home/robobin/Robobin_Project/ros2/robobin_main/install
+COLORTERM=truecolor
+DBUS_SESSION_BUS_ADDRESS=unix:path=/run/user/1002/bus
+DEBUGINFOD_URLS=https://debuginfod.ubuntu.com
+DESKTOP_SESSION=ubuntu
+DISPLAY=:0
+GDMSESSION=ubuntu
+GIO_LAUNCHED_DESKTOP_FILE=/usr/share/applications/terminator.desktop
+GIO_LAUNCHED_DESKTOP_FILE_PID=2410
+GJS_DEBUG_OUTPUT=stderr
+GJS_DEBUG_TOPICS=JS ERROR;JS LOG
+GNOME_DESKTOP_SESSION_ID=this-is-deprecated
+GNOME_SETUP_DISPLAY=:1
+GNOME_SHELL_SESSION_MODE=ubuntu
+GSM_SKIP_SSH_AGENT_WORKAROUND=true
+GTK_MODULES=gail:atk-bridge
+GZ_CONFIG_PATH=/opt/ros/jazzy/opt/sdformat_vendor/share/gz
+HOME=/home/robobin
+IM_CONFIG_PHASE=1
+INVOCATION_ID=9a58d1d4c5c4406f86851b1f6d40074e
+JOURNAL_STREAM=8:14177
+LANG=en_US.UTF-8
+LC_ALL=en_US.UTF-8
+LD_LIBRARY_PATH=/opt/ros/jazzy/opt/sdformat_vendor/lib:/opt/ros/jazzy/opt/rviz_ogre_vendor/lib:/opt/ros/jazzy/lib/aarch64-linux-gnu:/opt/ros/jazzy/opt/gz_math_vendor/lib:/opt/ros/jazzy/opt/gz_utils_vendor/lib:/opt/ros/jazzy/opt/gz_tools_vendor/lib:/opt/ros/jazzy/opt/gz_cmake_vendor/lib:/opt/ros/jazzy/lib
+LESSCLOSE=/usr/bin/lesspipe %s %s
+LESSOPEN=| /usr/bin/lesspipe %s
+LOGNAME=robobin
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+MEMORY_PRESSURE_WATCH=/sys/fs/cgroup/user.slice/user-1002.slice/user@1002.service/session.slice/org.gnome.Shell@wayland.service/memory.pressure
+MEMORY_PRESSURE_WRITE=c29tZSAyMDAwMDAgMjAwMDAwMAA=
+PATH=/opt/ros/jazzy/opt/gz_tools_vendor/bin:/opt/ros/jazzy/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/snap/bin
+PWD=/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2
+PYTHONPATH=/home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot:/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages:/home/robobin/Robobin_Project/ros2/robobin_main/build/testing:/home/robobin/Robobin_Project/ros2/robobin_main/install/testing/lib/python3.12/site-packages:/home/robobin/Robobin_Project/ros2/robobin_main/build/robot_localization_ekf:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_localization_ekf/lib/python3.12/site-packages:/home/robobin/Robobin_Project/ros2/robobin_main/build/robot_description:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_description/lib/python3.12/site-packages:/home/robobin/Robobin_Project/ros2/robobin_main/build/odometry_publisher:/home/robobin/Robobin_Project/ros2/robobin_main/install/odometry_publisher/lib/python3.12/site-packages:/opt/ros/jazzy/lib/python3.12/site-packages
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+SHELL=/bin/bash
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+XDG_MENU_PREFIX=gnome-
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+XDG_SESSION_CLASS=user
+XDG_SESSION_DESKTOP=ubuntu
+XDG_SESSION_TYPE=wayland
+XMODIFIERS=@im=ibus
+_=/usr/bin/colcon
diff --git a/robobin_final/build/sllidar_ros2/install_manifest.txt b/robobin_final/build/sllidar_ros2/install_manifest.txt
new file mode 100644
index 00000000..e69de29b
diff --git a/robobin_final/build/sllidar_ros2/sllidar_client b/robobin_final/build/sllidar_ros2/sllidar_client
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diff --git a/robobin_final/build/sllidar_ros2/sllidar_node b/robobin_final/build/sllidar_ros2/sllidar_node
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diff --git a/robobin_final/build/sllidar_ros2/symlink_install_manifest.txt b/robobin_final/build/sllidar_ros2/symlink_install_manifest.txt
new file mode 100644
index 00000000..0d493177
--- /dev/null
+++ b/robobin_final/build/sllidar_ros2/symlink_install_manifest.txt
@@ -0,0 +1,44 @@
+/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_a1_launch.py
+/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_a2m12_launch .py
+/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_a2m7_launch.py
+/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_a2m8_launch.py
+/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_a3_launch.py
+/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_c1_launch.py
+/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_s1_launch.py
+/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_s1_tcp_launch.py
+/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_s2_launch.py
+/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_s2e_launch.py
+/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_s3_launch.py
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+/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_s1_launch.py
+/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_s1_tcp_launch.py
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+/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_s2e_launch.py
+/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_s3_launch.py
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+/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/environment/ament_prefix_path.sh
+/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/environment/ament_prefix_path.dsv
+/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/environment/path.sh
+/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/environment/path.dsv
+/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/local_setup.bash
+/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/local_setup.sh
+/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/local_setup.zsh
+/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/local_setup.dsv
+/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/package.dsv
+/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/ament_index/resource_index/packages/sllidar_ros2
+/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/cmake/ament_cmake_export_dependencies-extras.cmake
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+/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/cmake/sllidar_ros2Config.cmake
+/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/cmake/sllidar_ros2Config-version.cmake
+/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/package.xml
diff --git a/robobin_final/build/super_robot/build/lib/super_robot/__init__.py b/robobin_final/build/super_robot/build/lib/super_robot/__init__.py
new file mode 100644
index 00000000..e69de29b
diff --git a/robobin_final/build/super_robot/build/lib/super_robot/control_feedback.py b/robobin_final/build/super_robot/build/lib/super_robot/control_feedback.py
new file mode 100644
index 00000000..9762167a
--- /dev/null
+++ b/robobin_final/build/super_robot/build/lib/super_robot/control_feedback.py
@@ -0,0 +1,320 @@
+import rclpy
+from rclpy.node import Node
+from geometry_msgs.msg import Twist
+from std_msgs.msg import Int64, Float64
+from gpiozero import PWMOutputDevice, DigitalOutputDevice
+import time
+from rclpy.clock import Clock
+from rclpy.time import Time
+import bisect
+
+
+
+# Example of how you could implement a simple PID controller
+class PIDController:
+ def __init__(self, kp, ki, kd):
+ self.kp = kp
+ self.ki = ki
+ self.kd = kd
+ self.prev_error = 0
+ self.integral = 0
+
+ def reset(self):
+ self.prev_error = 0
+ self.integral = 0
+
+ def calculate(self, error, dt):
+ self.integral += error * dt
+ derivative = (error - self.prev_error) / dt
+ output = self.kp * error + self.ki * self.integral + self.kd * derivative
+ self.prev_error = error
+ return output
+
+
+
+
+class MotorControlNode(Node):
+ def __init__(self):
+ super().__init__('control_feedback_node')
+
+ # Initialize encoder values
+ self.encoder_left_steps = 0
+ self.encoder_right_steps = 0
+
+ # Desired speeds from cmd_vel
+ self.desired_linear_speed = 0.0
+ self.desired_angular_speed = 0.0
+
+ self.prev_left_steps = 0
+ self.prev_right_steps = 0
+
+ self.left_pwm = 0
+ self.right_pwm = 0
+
+ self.prev_desired_speed = 0.0
+
+
+ #Time
+ self.prev_time = time.time()
+ #self.prev_time = self.get_clock().now
+
+
+ # Robot parameters
+ self.wheel_base = 0.40
+ self.encoder_steps_per_rotation = 310
+ self.wheel_radius = 0.075
+
+ # Initialize the motors
+ self.motor = Motor(self,14,15,18, 17, 22, 27)
+
+ # PID controllers
+ self.pid_left_forward = PIDController(kp=0.5, ki=0.0, kd=0.001)
+ self.pid_right_forward = PIDController(kp=0.525, ki=0.0, kd=0.001)
+
+ self.pid_left_backward = PIDController(kp=0.525, ki=0.0, kd=0.001)
+ self.pid_right_backward = PIDController(kp=0.5, ki=0.0, kd=0.001)
+
+
+
+
+ # Subscribe to cmd_vel topic
+ self.subscription = self.create_subscription(
+ Twist,
+ '/cmd_vel',
+ self.cmd_vel_callback,
+ 10
+ )
+
+ # Subscribe to encoder data
+ self.left_encoder_sub = self.create_subscription(
+ Int64,
+ 'left_wheel_steps',
+ self.left_encoder_callback,
+ 10
+ )
+ self.right_encoder_sub = self.create_subscription(
+ Int64,
+ 'right_wheel_steps',
+ self.right_encoder_callback,
+ 10
+ )
+
+ self.left_actual_speed_pub = self.create_publisher(Float64, 'left_actual_wheel_speed', 10)
+ self.right_actual_speed_pub = self.create_publisher(Float64, 'right_actual_wheel_speed', 10)
+ self.desired_speed_pub = self.create_publisher(Float64, 'desired_wheel_speed', 10)
+
+ # Timer to update motor speeds
+ self.control_timer = self.create_timer(0.1, self.control_loop)
+
+ self.get_logger().info('Motor control node with encoder feedback has been started.')
+
+ def cmd_vel_callback(self, msg):
+ # Store desired speeds
+ self.desired_linear_speed = msg.linear.x # Forward/backward speed
+ self.desired_angular_speed = msg.angular.z # Turning rate
+
+ # if (self.desired_linear_speed >= 0 and self.prev_desired_speed < 0) or (self.desired_linear_speed < 0 and self.prev_desired_speed >= 0):
+
+ # self.pid_left_forward.reset()
+ # self.pid_right_forward.reset()
+ # self.pid_left_backward.reset()
+ # self.pid_right_backward.reset()
+
+
+
+
+
+ self.prev_desired_speed = self.desired_linear_speed
+
+ def left_encoder_callback(self, msg):
+ self.encoder_left_steps = msg.data
+
+ def right_encoder_callback(self, msg):
+ self.encoder_right_steps = msg.data
+
+
+ def control_loop(self):
+
+ if self.desired_linear_speed >= 0:
+ # Forward motion
+ left_pid = self.pid_left_forward
+ right_pid = self.pid_right_forward
+ else:
+ # Backward motion
+ left_pid = self.pid_left_backward
+ right_pid = self.pid_right_backward
+
+ if (self.desired_linear_speed == 0) and (self.desired_angular_speed == 0):
+ self.stop_motors()
+ self.pid_left_forward.reset()
+ self.pid_right_forward.reset()
+ self.pid_left_backward.reset()
+ self.pid_right_backward.reset()
+ self.left_pwm =0
+ self.right_pwm =0
+ return
+
+
+
+
+ #Calculate the actual speed
+ #-------------------------------
+ # Calculate elapsed time
+ current_time = time.time()
+ #dt = current_time - self.prev_time
+ dt = max(current_time - self.prev_time, 0.01) # Prevent dt from being too small
+ #dt = max(current_time - self.prev_time, 1e-6) # Avoid zero or too small dt
+ if dt == 0:
+ return
+ self.prev_time = current_time
+
+ # self.prev_time = self.get_clock().now()
+ # current_time = self.get_clock().now()
+ # dt = (current_time - self.prev_time).to_sec()
+ # if dt <= 0.0:
+ # return
+ # self.prev_time = current_time
+
+ #Actual Speed calculation
+ #------------------------------------
+ # Calculate change in encoder steps
+ delta_left_steps = self.encoder_left_steps - self.prev_left_steps
+ delta_right_steps = self.encoder_right_steps - self.prev_right_steps
+
+ self.prev_left_steps = self.encoder_left_steps
+ self.prev_right_steps = self.encoder_right_steps
+
+ # Calculate rotational speeds (RPS)
+ left_rps = delta_left_steps / (self.encoder_steps_per_rotation * dt)
+ right_rps = delta_right_steps / (self.encoder_steps_per_rotation * dt)
+
+ # Convert to linear speed (m/s)
+ left_speed_actual = left_rps * 2 * 3.14159 * self.wheel_radius
+ right_speed_actual = right_rps * 2 * 3.14159 * self.wheel_radius
+
+
+
+ #Desired Speed calculation
+ #------------------------------------
+ # Desired speeds for left and right wheels
+ left_speed_desired = self.desired_linear_speed - (self.desired_angular_speed * self.wheel_base / 2.0)
+ right_speed_desired = self.desired_linear_speed + (self.desired_angular_speed * self.wheel_base / 2.0)
+
+
+
+ # Speed Errors calculation
+ #------------------------------------
+ left_error = left_speed_desired - left_speed_actual
+ right_error = right_speed_desired - right_speed_actual
+
+
+
+ # Use PID controllers for left and right wheels
+ left_pwm_error = left_pid.calculate(left_error, dt)
+ right_pwm_error = right_pid.calculate(right_error, dt)
+
+ self.left_pwm += left_pwm_error
+ self.right_pwm += right_pwm_error
+
+
+
+ # Ensure PWM values are within [-1, 1]
+ left_pwm = max(-1, min(1, self.left_pwm))
+ right_pwm = max(-1, min(1, self.right_pwm))
+
+ # Apply PWM values to motors
+ self.motor.set_pwm(left_pwm, right_pwm)
+
+
+
+
+ # Publish actual speeds
+ left_actual_speed_msg = Float64()
+ left_actual_speed_msg.data = left_speed_actual
+ self.left_actual_speed_pub.publish(left_actual_speed_msg)
+
+ right_actual_speed_msg = Float64()
+ right_actual_speed_msg.data = right_speed_actual
+ self.right_actual_speed_pub.publish(right_actual_speed_msg)
+
+ desired_speed_msg = Float64()
+ desired_speed_msg.data = right_speed_desired
+ self.desired_speed_pub.publish(desired_speed_msg)
+
+
+ # Debugging info
+ self.get_logger().info(f'Left PWM IN: {self.left_pwm:.2f}, Right PWM IN: {right_pwm:.2f}')
+ self.get_logger().info(f'Left Speed Actual: {left_speed_actual:.2f}, Right Speed Actual: {right_speed_actual:.2f}')
+ self.get_logger().info(f'Left Error: {left_error:.2f}, Right Error: {left_pwm_error:.2f}')
+ self.get_logger().info(f'Left_speed_desired: {left_speed_desired:.2f}, Right_speed_desired: {right_speed_desired:.2f}')
+ self.get_logger().info('-----------------------------------------------------------------')
+
+
+ def stop_motors(self):
+ self.motor.stop()
+ self.get_logger().info('Motors have been stopped.')
+
+class Motor:
+ def __init__(self,node, EnaA, In1A, In2A, EnaB, In1B, In2B):
+
+ self.node = node
+ # Left motor control pins
+ self.pwmA = PWMOutputDevice(EnaA)
+ self.in1A = DigitalOutputDevice(In1A)
+ self.in2A = DigitalOutputDevice(In2A)
+
+ # Right motor control pins
+ self.pwmB = PWMOutputDevice(EnaB)
+ self.in1B = DigitalOutputDevice(In1B)
+ self.in2B = DigitalOutputDevice(In2B)
+
+ def set_pwm(self, left_pwm, right_pwm):
+
+ #Deadband to prevent the motors from responding to very small PWM values that could cause jitter.
+ DEADZONE = 0.002
+
+ if abs(left_pwm) < DEADZONE:
+ self.pwmA.value = 0
+ self.in1A.off()
+ self.in2A.off()
+ else:
+ self.pwmA.value = abs(left_pwm)
+ self.in1A.value = left_pwm > 0
+ self.in2A.value = left_pwm < 0
+
+ if abs(right_pwm) < DEADZONE:
+ self.pwmB.value = 0
+ self.in1B.off()
+ self.in2B.off()
+ else:
+ self.pwmB.value = abs(right_pwm)
+ self.in1B.value = right_pwm > 0
+ self.in2B.value = right_pwm < 0
+
+ #self.node.get_logger().info(f"Left Motor PWM: Speed={left_pwm}, Right Motor PWM: Speed={right_pwm}")
+
+ def stop(self):
+ # Stop both motors
+ self.pwmA.value = 0
+ self.pwmB.value = 0
+ self.in1A.off()
+ self.in2A.off()
+ self.in1B.off()
+ self.in2B.off()
+
+
+def main(args=None):
+ rclpy.init(args=args)
+ node = MotorControlNode()
+
+ try:
+ rclpy.spin(node)
+ except KeyboardInterrupt:
+ pass
+ finally:
+ node.stop_motors()
+ node.destroy_node()
+ rclpy.shutdown()
+
+if __name__ == '__main__':
+ main()
diff --git a/robobin_final/build/super_robot/build/lib/super_robot/encoder.py b/robobin_final/build/super_robot/build/lib/super_robot/encoder.py
new file mode 100644
index 00000000..4e687cd9
--- /dev/null
+++ b/robobin_final/build/super_robot/build/lib/super_robot/encoder.py
@@ -0,0 +1,63 @@
+import rclpy
+from rclpy.node import Node
+from std_msgs.msg import Int64
+from gpiozero import RotaryEncoder, InputDevice
+
+
+
+class EncoderReaderNode(Node):
+ def __init__(self):
+ super().__init__('encoder_reader_node')
+
+ motor1A = 5
+ motor1B = 6
+ motor2A = 20
+ motor2B = 21
+
+ self.encoder_left = RotaryEncoder(a = motor1A,b = motor1B, max_steps=0)
+ self.encoder_right = RotaryEncoder(a = motor2A,b = motor2B, max_steps=0)
+
+ # Publishers for encoder steps
+ self.left_encoder_pub = self.create_publisher(Int64, 'left_wheel_steps', 10)
+ self.right_encoder_pub = self.create_publisher(Int64, 'right_wheel_steps', 10)
+
+ # Timer to read encoders
+ self.timer = self.create_timer(0.1, self.publish_encoder_steps)
+
+ self.get_logger().info('Encoder reader node has been started.')
+
+ def publish_encoder_steps(self):
+ # Read encoder steps
+ left_steps = self.encoder_left.steps
+ right_steps = -(self.encoder_right.steps)
+
+ # Create messages
+ left_msg = Int64()
+ left_msg.data = left_steps
+
+ right_msg = Int64()
+ right_msg.data = right_steps
+
+ # Publish messages
+ self.left_encoder_pub.publish(left_msg)
+ self.right_encoder_pub.publish(right_msg)
+
+ # Log the steps
+ self.get_logger().info(f'Left Steps: {left_steps}, Right Steps: {right_steps}')
+
+
+
+def main(args=None):
+ rclpy.init(args=args)
+ node = EncoderReaderNode()
+
+ try:
+ rclpy.spin(node)
+ except KeyboardInterrupt:
+ pass
+ finally:
+ node.destroy_node()
+ rclpy.shutdown()
+
+if __name__ == '__main__':
+ main()
diff --git a/robobin_final/build/super_robot/build/lib/super_robot/imu_node.py b/robobin_final/build/super_robot/build/lib/super_robot/imu_node.py
new file mode 100644
index 00000000..5325fb1a
--- /dev/null
+++ b/robobin_final/build/super_robot/build/lib/super_robot/imu_node.py
@@ -0,0 +1,139 @@
+#!/usr/bin/env python3
+
+import rclpy
+from rclpy.node import Node
+from sensor_msgs.msg import Imu
+from smbus2 import SMBus
+import time
+import math
+
+class BNO055Publisher(Node):
+ def __init__(self):
+ super().__init__('imu_node')
+ self.publisher_ = self.create_publisher(Imu, 'imu', 10)
+ self.timer = self.create_timer(0.1, self.timer_callback) # 10 Hz
+ self.bus = SMBus(1)
+ self.address = 0x28
+ self.init_bno055()
+ time.sleep(1)
+
+ def write_register(self, register, value):
+ self.bus.write_byte_data(self.address, register, value)
+
+ def read_register(self, register, length=1):
+ if length == 1:
+ return self.bus.read_byte_data(self.address, register)
+ else:
+ return self.bus.read_i2c_block_data(self.address, register, length)
+
+ def init_bno055(self):
+ # Switch to CONFIG mode
+ self.write_register(0x3D, 0x00)
+ time.sleep(0.05)
+ # Set power mode to Normal
+ self.write_register(0x3E, 0x00)
+ # Set to NDOF mode
+ self.write_register(0x3D, 0x0C)
+ time.sleep(0.5)
+
+ def read_euler_angles(self):
+ data = self.read_register(0x1A, 6)
+ yaw = (data[1] << 8) | data[0]
+ roll = (data[3] << 8) | data[2]
+ pitch = (data[5] << 8) | data[4]
+ yaw = yaw if yaw < 32768 else yaw - 65536
+ roll = roll if roll < 32768 else roll - 65536
+ pitch = pitch if pitch < 32768 else pitch - 65536
+ yaw = yaw / 16.0
+ roll = roll / 16.0
+ pitch = pitch / 16.0
+ return yaw, pitch, roll
+
+ def read_gyroscope(self):
+ data = self.read_register(0x14, 6)
+ gyro_x = (data[1] << 8) | data[0]
+ gyro_y = (data[3] << 8) | data[2]
+ gyro_z = (data[5] << 8) | data[4]
+ gyro_x = gyro_x if gyro_x < 32768 else gyro_x - 65536
+ gyro_y = gyro_y if gyro_y < 32768 else gyro_y - 65536
+ gyro_z = gyro_z if gyro_z < 32768 else gyro_z - 65536
+ # Convert to degrees per second
+ gyro_x = gyro_x / 900.0
+ gyro_y = gyro_y / 900.0
+ gyro_z = gyro_z / 900.0
+ return gyro_x, gyro_y, gyro_z
+
+ def read_linear_acceleration(self):
+ data = self.read_register(0x08, 6)
+ accel_x = (data[1] << 8) | data[0]
+ accel_y = (data[3] << 8) | data[2]
+ accel_z = (data[5] << 8) | data[4]
+ accel_x = accel_x if accel_x < 32768 else accel_x - 65536
+ accel_y = accel_y if accel_y < 32768 else accel_y - 65536
+ accel_z = accel_z if accel_z < 32768 else accel_z - 65536
+ # Convert to m/s^2 (assuming sensitivity of 1 m/s^2 per LSB)
+ accel_x = accel_x / 100.0 # Adjust based on sensor's sensitivity
+ accel_y = accel_y / 100.0
+ accel_z = accel_z / 100.0
+ return accel_x, accel_y, accel_z
+
+ def timer_callback(self):
+ yaw, pitch, roll = self.read_euler_angles()
+ gyro_x, gyro_y, gyro_z = self.read_gyroscope()
+ accel_x, accel_y, accel_z = self.read_linear_acceleration()
+
+ imu_msg = Imu()
+ imu_msg.header.stamp = self.get_clock().now().to_msg()
+ imu_msg.header.frame_id = 'imu_link'
+
+ # Convert degrees to radians
+ yaw_rad = -(math.radians(yaw))
+ roll_rad = -(math.radians(pitch)) # Note: Check if pitch corresponds to roll
+ pitch_rad = -(math.radians(roll)) # Note: Check if roll corresponds to pitch
+ # Compute quaternion
+ cy = math.cos(yaw_rad * 0.5)
+ sy = math.sin(yaw_rad * 0.5)
+ cp = math.cos(pitch_rad * 0.5)
+ sp = math.sin(pitch_rad * 0.5)
+ cr = math.cos(roll_rad * 0.5)
+ sr = math.sin(roll_rad * 0.5)
+ imu_msg.orientation.w = cr * cp * cy + sr * sp * sy
+ imu_msg.orientation.x = sr * cp * cy - cr * sp * sy
+ imu_msg.orientation.y = cr * sp * cy + sr * cp * sy
+ imu_msg.orientation.z = cr * cp * sy - sr * sp * cy
+
+ # Populate angular velocity (in rad/s)
+ imu_msg.angular_velocity.x = math.radians(gyro_x) # Convert to rad/s
+ imu_msg.angular_velocity.y = math.radians(gyro_y)
+ imu_msg.angular_velocity.z = math.radians(gyro_z)
+
+ # Populate linear acceleration (in m/s^2)
+ imu_msg.linear_acceleration.x = accel_x
+ imu_msg.linear_acceleration.y = accel_y
+ imu_msg.linear_acceleration.z = accel_z
+
+ # Covariances
+ imu_msg.orientation_covariance = [0.0025, 0, 0,
+ 0, 0.0025, 0,
+ 0, 0, 0.0025]
+ imu_msg.angular_velocity_covariance = [0.02, 0, 0,
+ 0, 0.02, 0,
+ 0, 0, 0.02]
+ imu_msg.linear_acceleration_covariance = [0.04, 0, 0,
+ 0, 0.04, 0,
+ 0, 0, 0.04]
+
+ self.publisher_.publish(imu_msg)
+ # self.get_logger().info(f'Publishing: Yaw={yaw:.2f}, Pitch={pitch:.2f}, Roll={roll:.2f}, '
+ # f'Gyro=({gyro_x:.2f}, {gyro_y:.2f}, {gyro_z:.2f}), '
+ # f'Accel=({accel_x:.2f}, {accel_y:.2f}, {accel_z:.2f})')
+
+def main(args=None):
+ rclpy.init(args=args)
+ bno055_publisher = BNO055Publisher()
+ rclpy.spin(bno055_publisher)
+ bno055_publisher.destroy_node()
+ rclpy.shutdown()
+
+if __name__ == '__main__':
+ main()
diff --git a/robobin_final/build/super_robot/build/lib/super_robot/motor_control_node.py b/robobin_final/build/super_robot/build/lib/super_robot/motor_control_node.py
new file mode 100644
index 00000000..d882ed7d
--- /dev/null
+++ b/robobin_final/build/super_robot/build/lib/super_robot/motor_control_node.py
@@ -0,0 +1,78 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from geometry_msgs.msg import Twist
+from gpiozero import PWMOutputDevice
+from time import sleep
+
+class Motor:
+ def __init__(self, node, EnaA, In1A, In2A, EnaB, In1B, In2B):
+ self.node = node
+ self.pwmA = PWMOutputDevice(EnaA)
+ self.in1A = PWMOutputDevice(In1A)
+ self.in2A = PWMOutputDevice(In2A)
+ self.pwmB = PWMOutputDevice(EnaB)
+ self.in1B = PWMOutputDevice(In1B)
+ self.in2B = PWMOutputDevice(In2B)
+
+ def move(self, speed=0.0, turn=0.0):
+ speed = max(-1, min(1, speed))
+ turn = max(-1, min(1, turn))
+
+ leftSpeed = speed - turn
+ rightSpeed = speed + turn
+ '''
+ left_speed = self.desired_speed - (turn_rate * self.motor.wheel_base / 2)
+ right_speed = self.desired_speed + (turn_rate * self.motor.wheel_base / 2)
+ '''
+
+ leftSpeed = max(-1, min(1, leftSpeed))
+ rightSpeed = max(-1, min(1, rightSpeed))
+
+ self.pwmA.value = abs(leftSpeed)
+ self.in1A.value = leftSpeed > 0
+ self.in2A.value = leftSpeed <= 0
+
+ self.pwmB.value = abs(rightSpeed)
+ self.in1B.value = rightSpeed > 0
+ self.in2B.value = rightSpeed <= 0
+
+ self.node.get_logger().info(f"Lefts Motor: Speed={leftSpeed}, Right Motor: Speed={rightSpeed}")
+ #print("hi")
+
+
+ def stop(self):
+ self.pwmA.value = 0
+ self.pwmB.value = 0
+ self.node.get_logger().info("Motors have been stopped.")
+
+class MotorControlNode(Node):
+ def __init__(self):
+ super().__init__('motor_control_node')
+ #left 14,15,18 right 17,27,22
+ self.motor = Motor(self,14,15,18, 17, 22, 27)
+ self.subscription = self.create_subscription(
+ Twist,
+ 'cmd_vel',
+ self.cmd_vel_callback,
+ 10
+ )
+ self.subscription # prevent unused variable warning
+ self.get_logger().info('Motor control node has been started.')
+
+ def cmd_vel_callback(self, msg):
+ linear_x = msg.linear.x
+ angular_z = msg.angular.z
+ self.get_logger().info(f'Speed: {linear_x}, Turn Rate: {angular_z}')
+ self.motor.move(speed=linear_x, turn=angular_z)
+
+def main(args=None):
+ rclpy.init(args=args)
+ node = MotorControlNode()
+ rclpy.spin(node)
+ rclpy.shutdown()
+
+if __name__ == '__main__':
+ main()
+
+#colcon build --symlink-install
\ No newline at end of file
diff --git a/robobin_final/build/super_robot/build/lib/super_robot/odometry_node.py b/robobin_final/build/super_robot/build/lib/super_robot/odometry_node.py
new file mode 100644
index 00000000..c612a477
--- /dev/null
+++ b/robobin_final/build/super_robot/build/lib/super_robot/odometry_node.py
@@ -0,0 +1,197 @@
+import rclpy
+from rclpy.node import Node
+from std_msgs.msg import Int64
+from nav_msgs.msg import Odometry
+from geometry_msgs.msg import Quaternion, TransformStamped
+from math import sin, cos, pi
+import tf2_ros
+import math
+from sensor_msgs.msg import JointState
+
+
+class OdometryPublisher(Node):
+ def __init__(self):
+ super().__init__('odometry_publisher')
+
+ # Robot parameters
+ self.wheel_radius = 0.075 # meters (example value)
+ self.wheel_base = 0.4 # meters (distance between wheels)
+ self.steps_per_revolution = 310 # from your encoder observations
+ self.wheel_circumference = 2 * pi * self.wheel_radius
+ self.steps_per_meter = self.steps_per_revolution / self.wheel_circumference
+
+ # Initialize encoder readings
+ self.left_encoder = 0
+ self.right_encoder = 0
+ self.last_left_encoder = 0
+ self.last_right_encoder = 0
+
+ # Robot pose
+ self.x = 0.0
+ self.y = 0.0
+ self.theta = 0.0 # Robot's orientation
+
+ # Create subscribers for encoders
+ self.left_encoder_sub = self.create_subscription(
+ Int64,
+ 'left_wheel_steps',
+ self.left_encoder_callback,
+ 10
+ )
+ self.right_encoder_sub = self.create_subscription(
+ Int64,
+ 'right_wheel_steps',
+ self.right_encoder_callback,
+ 10
+ )
+
+ # Publisher for odometry
+ self.odom_pub = self.create_publisher(Odometry, 'odom', 10)
+
+ self.joint_state_pub = self.create_publisher(JointState, 'joint_states', 10) # New joint state publisher
+
+ # Transform broadcaster
+ self.tf_broadcaster = tf2_ros.TransformBroadcaster(self)
+
+ # Timer for updating odometry
+ self.timer = self.create_timer(0.1, self.update_odometry)
+
+ self.get_logger().info('Odometry publisher node has been started.')
+
+ def left_encoder_callback(self, msg):
+ self.left_encoder = msg.data
+
+ def right_encoder_callback(self, msg):
+ self.right_encoder = msg.data
+
+ def euler_to_quaternion(self, roll, pitch, yaw):
+ # Compute the half angles
+ cy = math.cos(yaw * 0.5)
+ sy = math.sin(yaw * 0.5)
+ cp = math.cos(pitch * 0.5)
+ sp = math.sin(pitch * 0.5)
+ cr = math.cos(roll * 0.5)
+ sr = math.sin(roll * 0.5)
+
+ # Compute the quaternion components
+ w = cr * cp * cy + sr * sp * sy
+ x = sr * cp * cy - cr * sp * sy
+ y = cr * sp * cy + sr * cp * sy
+ z = cr * cp * sy - sr * sp * cy
+
+ return x, y, z, w
+
+ def update_odometry(self):
+ # Calculate change in encoder readings
+ delta_left = self.left_encoder - self.last_left_encoder
+ delta_right = self.right_encoder - self.last_right_encoder
+
+ self.last_left_encoder = self.left_encoder
+ self.last_right_encoder = self.right_encoder
+
+ # Calculate distance traveled by each wheel
+ distance_left = (delta_left / self.steps_per_revolution) * self.wheel_circumference
+ distance_right = (delta_right / self.steps_per_revolution) * self.wheel_circumference
+
+ # Calculate average distance and change in orientation
+ delta_distance = (distance_right + distance_left) / 2.0
+ delta_theta = (distance_right - distance_left) / self.wheel_base
+
+ # Update robot pose
+ self.theta += delta_theta
+ delta_x = delta_distance * cos(self.theta)
+ delta_y = delta_distance * sin(self.theta)
+
+ self.x += delta_x
+ self.y += delta_y
+
+ # Create quaternion from yaw (using custom euler_to_quaternion)
+ odom_quat = self.euler_to_quaternion(0, 0, self.theta)
+
+ # Publish the odometry message over ROS2
+ odom = Odometry()
+ odom.header.stamp = self.get_clock().now().to_msg()
+ odom.header.frame_id = "odom"
+ #odom.header.frame_id = "odom/filtered"
+
+ # Set the position
+ odom.pose.pose.position.x = self.x
+ odom.pose.pose.position.y = self.y
+ odom.pose.pose.position.z = 0.0
+ odom.pose.pose.orientation = Quaternion(
+ x=odom_quat[0],
+ y=odom_quat[1],
+ z=odom_quat[2],
+ w=odom_quat[3]
+ )
+
+ # Set the velocity (optional, can be set to zero for now)
+ odom.child_frame_id = "base_link"
+
+ odom.twist.twist.linear.x = delta_distance / 0.1 # dt is 0.1 seconds
+ odom.twist.twist.angular.z = delta_theta / 0.1
+
+
+ # Set pose covariance
+ odom.pose.covariance = [0.001, 0, 0, 0, 0, 0,
+ 0, 0.001, 0, 0, 0, 0,
+ 0, 0, 1000000, 0, 0, 0,
+ 0, 0, 0, 1000000, 0, 0,
+ 0, 0, 0, 0, 1000000, 0,
+ 0, 0, 0, 0, 0, 0.01]
+
+ # Set twist covariance
+ odom.twist.covariance = [0.0001, 0, 0, 0, 0, 0,
+ 0, 0.0001, 0, 0, 0, 0,
+ 0, 0, 1000000, 0, 0, 0,
+ 0, 0, 0, 1000000, 0, 0,
+ 0, 0, 0, 0, 1000000, 0,
+ 0, 0, 0, 0, 0, 0.001]
+
+
+ # Publish the message
+ self.odom_pub.publish(odom)
+
+ # # Publish the transform over TF
+ # t = TransformStamped()
+ # t.header.stamp = self.get_clock().now().to_msg()
+ # t.header.frame_id = 'odom'
+ # #t.header.frame_id = 'odom'
+ # t.child_frame_id = 'base_link'
+
+ # t.transform.translation.x = self.x
+ # t.transform.translation.y = self.y
+ # t.transform.translation.z = 0.0
+ # t.transform.rotation = Quaternion(
+ # x=odom_quat[0],
+ # y=odom_quat[1],
+ # z=odom_quat[2],
+ # w=odom_quat[3]
+ # )
+
+ # self.tf_broadcaster.sendTransform(t)
+
+ # #Publish joint states
+ # joint_state_msg = JointState()
+ # joint_state_msg.header.stamp = self.get_clock().now().to_msg()
+ # joint_state_msg.name = ['base_to_left_wheel', 'base_to_right_wheel']
+ # joint_state_msg.position = [
+ # self.left_encoder / self.steps_per_revolution * 2 * pi, # Left wheel position (radians)
+ # self.right_encoder / self.steps_per_revolution * 2 * pi # Right wheel position (radians)
+ # ]
+ # self.joint_state_pub.publish(joint_state_msg)
+
+def main(args=None):
+ rclpy.init(args=args)
+ node = OdometryPublisher()
+
+ try:
+ rclpy.spin(node)
+ except KeyboardInterrupt:
+ pass
+ finally:
+ node.destroy_node()
+ rclpy.shutdown()
+
+if __name__ == '__main__':
+ main()
\ No newline at end of file
diff --git a/robobin_final/build/super_robot/build/lib/super_robot/route.py b/robobin_final/build/super_robot/build/lib/super_robot/route.py
new file mode 100644
index 00000000..b3d2bff6
--- /dev/null
+++ b/robobin_final/build/super_robot/build/lib/super_robot/route.py
@@ -0,0 +1,158 @@
+import rclpy
+from rclpy.node import Node
+from geometry_msgs.msg import Twist
+from nav_msgs.msg import Odometry
+from math import sqrt, pow, atan2, radians, sin, cos
+import time
+
+class MoveTurnNode(Node):
+ def __init__(self):
+ super().__init__('move_turn_node')
+
+ # Publisher for cmd_vel
+ self.cmd_vel_pub = self.create_publisher(Twist, '/cmd_vel', 10)
+
+ # Subscriber for odometry
+ self.create_subscription(Odometry, '/odom', self.odom_callback, 10)
+
+ # Robot position and orientation
+ self.x = 0.0
+ self.y = 0.0
+ self.yaw = 0.0
+
+ # Movement parameters[=]
+ self.distance_threshold = 0.01 # meters
+ self.angle_threshold = radians(0.1) # 3 degrees in radians
+ #self.linear_speed = 0.2 # m/s
+ #self.angular_speed = 0rr.25 # rad/s
+
+ self.get_logger().info('Move and Turn node started.')
+ self.execute_movement()
+
+ def odom_callback(self, msg):
+ self.x = msg.pose.pose.position.x
+ self.y = msg.pose.pose.position.y
+ self.get_logger().info(f'start_x :{self.x} , start_y :{self.y}')
+
+ # Extract yaw (orientation around Z axis)
+ _, _, self.yaw = self.quaternion_to_euler(
+ msg.pose.pose.orientation.x,
+ msg.pose.pose.orientation.y,
+ msg.pose.pose.orientation.z,
+ msg.pose.pose.orientation.w
+ )
+
+ def quaternion_to_euler(self, x, y, z, w):
+ t3 = 2.0 * (w * z + x * y)
+ t4 = 1.0 - 2.0 * (y * y + z * z)
+ yaw = atan2(t3, t4)
+
+ return 0.0, 0.0, yaw
+
+ def execute_movement(self):
+
+ # #self.move_forward(1)
+ # self.turn_angle(90)
+
+
+
+ # for i in range(10):
+ # self.get_logger().info(f'Starting loop {i + 1} of 5')
+ # # # Move forward 1 meter
+ # self.move_forward(1)
+ # self.turn_angle(180)
+
+ # # Turn 90 degrees
+ # self.stop_robot()
+
+ for i in range(4):
+ self.get_logger().info(f'Starting loop {i + 1} of 5')
+ # Move forward 1 meter
+ self.move_forward(1)
+ # Turn 90 degree
+ self.turn_angle(90)
+ self.stop_robot()
+
+
+ self.get_logger().info('Completed all loops.')
+ self.stop_robot()
+
+ def move_forward(self, distance):
+ start_x, start_y = self.x, self.y
+
+ kp = 1.0
+ max_speed = 0.2
+ min_speed = 0.05
+
+
+
+ while True:
+
+ current_distance = sqrt(pow(self.x - start_x, 2) + pow(self.y - start_y, 2))
+ distance_error = distance - current_distance
+
+ if distance_error <= self.distance_threshold:
+ self.stop_robot()
+ break
+
+ linear_speed = kp * distance_error
+ linear_speed = max(min_speed, min (max_speed, linear_speed))
+
+
+ twist = Twist()
+ twist.linear.x = linear_speed
+ self.cmd_vel_pub.publish(twist)
+
+ rclpy.spin_once(self)
+
+ def turn_angle(self, angle_degrees):
+ # Capture the starting yaw before turning
+ start_yaw = self.yaw
+
+ # Calculate the target yaw relative to the current orientation
+ target_yaw = start_yaw + radians(angle_degrees)
+ target_yaw = atan2(sin(target_yaw), cos(target_yaw))
+ kp = 1.0
+ max_speed = 0.8
+ min_speed = 0.05
+
+ while True:
+ yaw_error = target_yaw - self.yaw
+ yaw_error = atan2(sin(yaw_error), cos(yaw_error)) # Normalize angle
+
+ if abs(yaw_error) < self.angle_threshold:
+ self.stop_robot()
+ break
+
+ angular_speed = kp * abs(yaw_error)
+
+ angular_speed = max(min_speed, min (max_speed, angular_speed))
+
+ twist = Twist()
+ twist.angular.z = angular_speed if yaw_error > 0 else -angular_speed
+ self.cmd_vel_pub.publish(twist)
+
+ rclpy.spin_once(self)
+
+ def stop_robot(self):
+ twist = Twist()
+ twist.linear.x = 0.0
+ twist.angular.z = 0.0
+ self.cmd_vel_pub.publish(twist)
+ self.get_logger().info('Robot stopped.')
+ time.sleep(0.5)
+
+def main(args=None):
+ rclpy.init(args=args)
+ node = MoveTurnNode()
+
+ try:
+ rclpy.spin(node)
+ except KeyboardInterrupt:
+ pass
+ finally:
+ node.destroy_node()
+ rclpy.shutdown()
+
+if __name__ == '__main__':
+ main()
diff --git a/robobin_final/build/super_robot/build/lib/super_robot/route_filtered.py b/robobin_final/build/super_robot/build/lib/super_robot/route_filtered.py
new file mode 100644
index 00000000..e79cf08e
--- /dev/null
+++ b/robobin_final/build/super_robot/build/lib/super_robot/route_filtered.py
@@ -0,0 +1,191 @@
+import rclpy
+from rclpy.node import Node
+from geometry_msgs.msg import Twist
+from nav_msgs.msg import Odometry
+from math import sqrt, pow, atan2, radians, sin, cos, degrees
+import time
+
+class MoveTurnFilteredNode(Node):
+ def __init__(self):
+ super().__init__('move_turn_filtered_node')
+
+ # Publisher for cmd_vel
+ self.cmd_vel_pub = self.create_publisher(Twist, '/cmd_vel', 10)
+
+ # Subscriber for filtered odometry
+ self.create_subscription(Odometry, '/odometry/filtered', self.odom_callback, 10)
+
+ # Robot position and orientation
+ self.x = 0.0
+ self.y = 0.0
+ self.yaw = 0.0
+
+ # Movement parameters
+ self.distance_threshold = 0.01 # meters
+ self.angle_threshold = radians(0.1) # 0.1 degree in radians
+ self.linear_speed = 0.2 # m/s
+
+ self.get_logger().info('Move and Turn (Filtered) node started.')
+ self.execute_movement()
+
+ def odom_callback(self, msg):
+ self.x = msg.pose.pose.position.x
+ self.y = msg.pose.pose.position.y
+ self.get_logger().info(f'start_x :{self.x} , start_y :{self.y}')
+
+ # Extract yaw (orientation around Z axis)
+ _, _, self.yaw = self.quaternion_to_euler(
+ msg.pose.pose.orientation.x,
+ msg.pose.pose.orientation.y,
+ msg.pose.pose.orientation.z,
+ msg.pose.pose.orientation.w
+ )
+
+ self.get_logger().info(f'yaw :{degrees(self.yaw)} ')
+
+ def quaternion_to_euler(self, x, y, z, w):
+ t3 = 2.0 * (w * z + x * y)
+ t4 = 1.0 - 2.0 * (y * y + z * z)
+ yaw = atan2(t3, t4)
+
+ return 0.0, 0.0, yaw
+
+ def execute_movement(self):
+ # for i in range(1):
+ # self.get_logger().info(f'Starting loop {i + 1} of 5')
+ # self.move_forward(1)
+ # self.turn_angle(90)
+
+ for i in range(5):
+ self.get_logger().info(f'Starting loop {i + 1} of 5')
+ # # Move forward 1 meter
+ self.move_forward(1)
+ self.turn_to_angle(0)
+ # # Turn 90 degrees
+ self.stop_robot()
+ self.move_forward(1)
+ self.turn_to_angle(180)
+ # # Turn 90 degree
+ self.stop_robot()
+
+
+ # for i in range(4):
+ # self.get_logger().info(f'Starting loop {i + 1} of 5')
+ # # Move forward 1 meter
+ # self.move_forward(1)
+ # # Turn 90 degree
+ # self.turn_angle(90)
+ # self.stop_robot()
+
+ # self.move_forward(1)
+ # self.turn_to_angle(-90)
+ # self.stop_robot()
+
+ # self.move_forward(1)
+ # self.turn_to_angle(0)
+ # self.stop_robot()
+
+ # self.move_forward(1)
+ # self.turn_to_angle(90)
+ # self.stop_robot()
+
+ # self.move_forward(1)
+ # self.turn_to_angle(180)
+ # self.stop_robot()
+
+
+ self.get_logger().info('Completed all loops.')
+ self.stop_robot()
+
+ def move_forward(self, distance):
+ start_x, start_y = self.x, self.y
+ kp = 1.0
+ max_speed = 0.2
+ min_speed = 0.05
+ while True:
+
+ current_distance = sqrt(pow(self.x - start_x, 2) + pow(self.y - start_y, 2))
+ distance_error = distance - current_distance
+
+ if distance_error <= self.distance_threshold:
+ self.stop_robot()
+ break
+
+ linear_speed = kp * distance_error
+ linear_speed = max(min_speed, min (max_speed, linear_speed))
+
+
+ twist = Twist()
+ twist.linear.x = linear_speed
+ self.cmd_vel_pub.publish(twist)
+
+ rclpy.spin_once(self)
+
+ def turn_angle(self, angle_degrees):
+ target_yaw = self.yaw + radians(angle_degrees)
+ kp = 1.0
+ max_speed = 0.8
+ min_speed = 0.05
+
+ while True:
+ yaw_error = target_yaw - self.yaw
+ yaw_error = atan2(sin(yaw_error), cos(yaw_error)) # Normalize angle
+
+ if abs(yaw_error) < self.angle_threshold:
+ self.stop_robot()
+ break
+
+ angular_speed = kp * abs(yaw_error)
+ angular_speed = max(min_speed, min(max_speed, angular_speed))
+
+ twist = Twist()
+ twist.angular.z = angular_speed if yaw_error > 0 else -angular_speed
+ self.cmd_vel_pub.publish(twist)
+
+ rclpy.spin_once(self)
+
+ def turn_to_angle(self, target_angle_degrees):
+ target_angle_radian = radians(target_angle_degrees)
+ kp = 1.0
+ max_speed = 0.8
+ min_speed = 0.05
+
+ while True:
+ yaw_error = target_angle_radian - self.yaw
+ yaw_error = atan2(sin(yaw_error), cos(yaw_error)) # Normalize angle
+
+ if abs(yaw_error) < self.angle_threshold:
+ self.stop_robot()
+ break
+
+ angular_speed = kp * abs(yaw_error)
+ angular_speed = max(min_speed, min(max_speed, angular_speed))
+
+ twist = Twist()
+ twist.angular.z = angular_speed if yaw_error > 0 else -angular_speed
+ self.cmd_vel_pub.publish(twist)
+
+ rclpy.spin_once(self)
+
+ def stop_robot(self):
+ twist = Twist()
+ twist.linear.x = 0.0
+ twist.angular.z = 0.0
+ self.cmd_vel_pub.publish(twist)
+ self.get_logger().info('Robot stopped.')
+ time.sleep(0.2)
+
+def main(args=None):
+ rclpy.init(args=args)
+ node = MoveTurnFilteredNode()
+
+ try:
+ rclpy.spin(node)
+ except KeyboardInterrupt:
+ pass
+ finally:
+ node.destroy_node()
+ rclpy.shutdown()
+
+if __name__ == '__main__':
+ main()
diff --git a/robobin_final/build/super_robot/colcon_build.rc b/robobin_final/build/super_robot/colcon_build.rc
new file mode 100644
index 00000000..573541ac
--- /dev/null
+++ b/robobin_final/build/super_robot/colcon_build.rc
@@ -0,0 +1 @@
+0
diff --git a/robobin_final/build/super_robot/colcon_command_prefix_setup_py.sh b/robobin_final/build/super_robot/colcon_command_prefix_setup_py.sh
new file mode 100644
index 00000000..f9867d51
--- /dev/null
+++ b/robobin_final/build/super_robot/colcon_command_prefix_setup_py.sh
@@ -0,0 +1 @@
+# generated from colcon_core/shell/template/command_prefix.sh.em
diff --git a/robobin_final/build/super_robot/colcon_command_prefix_setup_py.sh.env b/robobin_final/build/super_robot/colcon_command_prefix_setup_py.sh.env
new file mode 100644
index 00000000..d0a52d3a
--- /dev/null
+++ b/robobin_final/build/super_robot/colcon_command_prefix_setup_py.sh.env
@@ -0,0 +1,69 @@
+AMENT_PREFIX_PATH=/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot:/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2:/home/robobin/Robobin_Project/ros2/robobin_main/install/testing:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_localization_ekf:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_description:/home/robobin/Robobin_Project/ros2/robobin_main/install/odometry_publisher:/opt/ros/jazzy
+CMAKE_PREFIX_PATH=/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2:/opt/ros/jazzy/opt/sdformat_vendor:/opt/ros/jazzy/opt/gz_math_vendor:/opt/ros/jazzy/opt/gz_utils_vendor:/opt/ros/jazzy/opt/gz_tools_vendor:/opt/ros/jazzy/opt/gz_cmake_vendor
+COLCON=1
+COLCON_PREFIX_PATH=/home/robobin/Robobin_Project/ros2/robobin_final/install:/home/robobin/Robobin_Project/ros2/robobin_main/install
+COLORTERM=truecolor
+DBUS_SESSION_BUS_ADDRESS=unix:path=/run/user/1002/bus
+DEBUGINFOD_URLS=https://debuginfod.ubuntu.com
+DESKTOP_SESSION=ubuntu
+DISPLAY=:0
+GDMSESSION=ubuntu
+GIO_LAUNCHED_DESKTOP_FILE=/usr/share/applications/terminator.desktop
+GIO_LAUNCHED_DESKTOP_FILE_PID=2410
+GJS_DEBUG_OUTPUT=stderr
+GJS_DEBUG_TOPICS=JS ERROR;JS LOG
+GNOME_DESKTOP_SESSION_ID=this-is-deprecated
+GNOME_SETUP_DISPLAY=:1
+GNOME_SHELL_SESSION_MODE=ubuntu
+GSM_SKIP_SSH_AGENT_WORKAROUND=true
+GTK_MODULES=gail:atk-bridge
+GZ_CONFIG_PATH=/opt/ros/jazzy/opt/sdformat_vendor/share/gz
+HOME=/home/robobin
+IM_CONFIG_PHASE=1
+INVOCATION_ID=9a58d1d4c5c4406f86851b1f6d40074e
+JOURNAL_STREAM=8:14177
+LANG=en_US.UTF-8
+LC_ALL=en_US.UTF-8
+LD_LIBRARY_PATH=/opt/ros/jazzy/opt/sdformat_vendor/lib:/opt/ros/jazzy/opt/rviz_ogre_vendor/lib:/opt/ros/jazzy/lib/aarch64-linux-gnu:/opt/ros/jazzy/opt/gz_math_vendor/lib:/opt/ros/jazzy/opt/gz_utils_vendor/lib:/opt/ros/jazzy/opt/gz_tools_vendor/lib:/opt/ros/jazzy/opt/gz_cmake_vendor/lib:/opt/ros/jazzy/lib
+LESSCLOSE=/usr/bin/lesspipe %s %s
+LESSOPEN=| /usr/bin/lesspipe %s
+LOGNAME=robobin
+LS_COLORS=rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=00:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.zst=01;31:*.tzst=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.avif=01;35:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.webp=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:*~=00;90:*#=00;90:*.bak=00;90:*.crdownload=00;90:*.dpkg-dist=00;90:*.dpkg-new=00;90:*.dpkg-old=00;90:*.dpkg-tmp=00;90:*.old=00;90:*.orig=00;90:*.part=00;90:*.rej=00;90:*.rpmnew=00;90:*.rpmorig=00;90:*.rpmsave=00;90:*.swp=00;90:*.tmp=00;90:*.ucf-dist=00;90:*.ucf-new=00;90:*.ucf-old=00;90:
+MANAGERPID=1422
+MEMORY_PRESSURE_WATCH=/sys/fs/cgroup/user.slice/user-1002.slice/user@1002.service/session.slice/org.gnome.Shell@wayland.service/memory.pressure
+MEMORY_PRESSURE_WRITE=c29tZSAyMDAwMDAgMjAwMDAwMAA=
+PATH=/opt/ros/jazzy/opt/gz_tools_vendor/bin:/opt/ros/jazzy/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/snap/bin
+PWD=/home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot
+PYTHONPATH=/home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot:/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages:/home/robobin/Robobin_Project/ros2/robobin_main/build/testing:/home/robobin/Robobin_Project/ros2/robobin_main/install/testing/lib/python3.12/site-packages:/home/robobin/Robobin_Project/ros2/robobin_main/build/robot_localization_ekf:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_localization_ekf/lib/python3.12/site-packages:/home/robobin/Robobin_Project/ros2/robobin_main/build/robot_description:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_description/lib/python3.12/site-packages:/home/robobin/Robobin_Project/ros2/robobin_main/build/odometry_publisher:/home/robobin/Robobin_Project/ros2/robobin_main/install/odometry_publisher/lib/python3.12/site-packages:/opt/ros/jazzy/lib/python3.12/site-packages
+QT_ACCESSIBILITY=1
+QT_IM_MODULE=ibus
+ROS_AUTOMATIC_DISCOVERY_RANGE=SUBNET
+ROS_DISTRO=jazzy
+ROS_DOMAIN_ID=3
+ROS_PYTHON_VERSION=3
+ROS_VERSION=2
+SESSION_MANAGER=local/robobin-desktop:@/tmp/.ICE-unix/1596,unix/robobin-desktop:/tmp/.ICE-unix/1596
+SHELL=/bin/bash
+SHLVL=1
+SSH_AUTH_SOCK=/run/user/1002/keyring/ssh
+SYSTEMD_EXEC_PID=1633
+TERM=xterm-256color
+TERMINATOR_DBUS_NAME=net.tenshu.Terminator25ef4b219e3b005583550f2b0f9f990c3
+TERMINATOR_DBUS_PATH=/net/tenshu/Terminator2
+TERMINATOR_UUID=urn:uuid:10fd0f7e-0487-448f-9854-3e7a59bcf268
+USER=robobin
+USERNAME=robobin
+VTE_VERSION=7600
+WAYLAND_DISPLAY=wayland-0
+XAUTHORITY=/run/user/1002/.mutter-Xwaylandauth.X1BGZ2
+XDG_ACTIVATION_TOKEN=bef97eb0-e5e7-490a-85cc-20228fff4b34
+XDG_CONFIG_DIRS=/etc/xdg/xdg-ubuntu:/etc/xdg
+XDG_CURRENT_DESKTOP=ubuntu:GNOME
+XDG_DATA_DIRS=/usr/share/ubuntu:/usr/share/gnome:/usr/local/share/:/usr/share/:/var/lib/snapd/desktop
+XDG_MENU_PREFIX=gnome-
+XDG_RUNTIME_DIR=/run/user/1002
+XDG_SESSION_CLASS=user
+XDG_SESSION_DESKTOP=ubuntu
+XDG_SESSION_TYPE=wayland
+XMODIFIERS=@im=ibus
+_=/usr/bin/colcon
diff --git a/robobin_final/build/super_robot/config/ekf.yaml b/robobin_final/build/super_robot/config/ekf.yaml
new file mode 120000
index 00000000..9a6a348e
--- /dev/null
+++ b/robobin_final/build/super_robot/config/ekf.yaml
@@ -0,0 +1 @@
+/home/robobin/Robobin_Project/ros2/robobin_final/src/super_robot/config/ekf.yaml
\ No newline at end of file
diff --git a/robobin_final/build/super_robot/config/robot.urdf b/robobin_final/build/super_robot/config/robot.urdf
new file mode 120000
index 00000000..07377659
--- /dev/null
+++ b/robobin_final/build/super_robot/config/robot.urdf
@@ -0,0 +1 @@
+/home/robobin/Robobin_Project/ros2/robobin_final/src/super_robot/config/robot.urdf
\ No newline at end of file
diff --git a/robobin_final/build/super_robot/config/scan_filter.yaml b/robobin_final/build/super_robot/config/scan_filter.yaml
new file mode 120000
index 00000000..1a930313
--- /dev/null
+++ b/robobin_final/build/super_robot/config/scan_filter.yaml
@@ -0,0 +1 @@
+/home/robobin/Robobin_Project/ros2/robobin_final/src/super_robot/config/scan_filter.yaml
\ No newline at end of file
diff --git a/robobin_final/build/super_robot/config/urdf_config.rviz b/robobin_final/build/super_robot/config/urdf_config.rviz
new file mode 120000
index 00000000..69bd2633
--- /dev/null
+++ b/robobin_final/build/super_robot/config/urdf_config.rviz
@@ -0,0 +1 @@
+/home/robobin/Robobin_Project/ros2/robobin_final/src/super_robot/config/urdf_config.rviz
\ No newline at end of file
diff --git a/robobin_final/build/super_robot/launch/ekf_launch.py b/robobin_final/build/super_robot/launch/ekf_launch.py
new file mode 120000
index 00000000..ed274f13
--- /dev/null
+++ b/robobin_final/build/super_robot/launch/ekf_launch.py
@@ -0,0 +1 @@
+/home/robobin/Robobin_Project/ros2/robobin_final/src/super_robot/launch/ekf_launch.py
\ No newline at end of file
diff --git a/robobin_final/build/super_robot/launch/launch_lidar.py b/robobin_final/build/super_robot/launch/launch_lidar.py
new file mode 120000
index 00000000..fe60bb28
--- /dev/null
+++ b/robobin_final/build/super_robot/launch/launch_lidar.py
@@ -0,0 +1 @@
+/home/robobin/Robobin_Project/ros2/robobin_final/src/super_robot/launch/launch_lidar.py
\ No newline at end of file
diff --git a/robobin_final/build/super_robot/launch/view_robot.py b/robobin_final/build/super_robot/launch/view_robot.py
new file mode 120000
index 00000000..d34e056e
--- /dev/null
+++ b/robobin_final/build/super_robot/launch/view_robot.py
@@ -0,0 +1 @@
+/home/robobin/Robobin_Project/ros2/robobin_final/src/super_robot/launch/view_robot.py
\ No newline at end of file
diff --git a/robobin_final/build/super_robot/package.xml b/robobin_final/build/super_robot/package.xml
new file mode 120000
index 00000000..42dd1904
--- /dev/null
+++ b/robobin_final/build/super_robot/package.xml
@@ -0,0 +1 @@
+/home/robobin/Robobin_Project/ros2/robobin_final/src/super_robot/package.xml
\ No newline at end of file
diff --git a/robobin_final/build/super_robot/prefix_override/__pycache__/sitecustomize.cpython-312.pyc b/robobin_final/build/super_robot/prefix_override/__pycache__/sitecustomize.cpython-312.pyc
new file mode 100644
index 0000000000000000000000000000000000000000..c401b8f4aea4eed4adefe3b713138ab660a3f6e0
GIT binary patch
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literal 0
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diff --git a/robobin_final/build/super_robot/prefix_override/sitecustomize.py b/robobin_final/build/super_robot/prefix_override/sitecustomize.py
new file mode 100644
index 00000000..d41cf87a
--- /dev/null
+++ b/robobin_final/build/super_robot/prefix_override/sitecustomize.py
@@ -0,0 +1,4 @@
+import sys
+if sys.prefix == '/usr':
+ sys.real_prefix = sys.prefix
+ sys.prefix = sys.exec_prefix = '/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot'
diff --git a/robobin_final/build/super_robot/resource/super_robot b/robobin_final/build/super_robot/resource/super_robot
new file mode 120000
index 00000000..4305026a
--- /dev/null
+++ b/robobin_final/build/super_robot/resource/super_robot
@@ -0,0 +1 @@
+/home/robobin/Robobin_Project/ros2/robobin_final/src/super_robot/resource/super_robot
\ No newline at end of file
diff --git a/robobin_final/build/super_robot/setup.cfg b/robobin_final/build/super_robot/setup.cfg
new file mode 120000
index 00000000..2c94b020
--- /dev/null
+++ b/robobin_final/build/super_robot/setup.cfg
@@ -0,0 +1 @@
+/home/robobin/Robobin_Project/ros2/robobin_final/src/super_robot/setup.cfg
\ No newline at end of file
diff --git a/robobin_final/build/super_robot/setup.py b/robobin_final/build/super_robot/setup.py
new file mode 120000
index 00000000..1fb855e0
--- /dev/null
+++ b/robobin_final/build/super_robot/setup.py
@@ -0,0 +1 @@
+/home/robobin/Robobin_Project/ros2/robobin_final/src/super_robot/setup.py
\ No newline at end of file
diff --git a/robobin_final/build/super_robot/share/super_robot/hook/pythonpath_develop.dsv b/robobin_final/build/super_robot/share/super_robot/hook/pythonpath_develop.dsv
new file mode 100644
index 00000000..6e5c7f42
--- /dev/null
+++ b/robobin_final/build/super_robot/share/super_robot/hook/pythonpath_develop.dsv
@@ -0,0 +1 @@
+prepend-non-duplicate;PYTHONPATH;/home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot
diff --git a/robobin_final/build/super_robot/share/super_robot/hook/pythonpath_develop.ps1 b/robobin_final/build/super_robot/share/super_robot/hook/pythonpath_develop.ps1
new file mode 100644
index 00000000..bb45e5db
--- /dev/null
+++ b/robobin_final/build/super_robot/share/super_robot/hook/pythonpath_develop.ps1
@@ -0,0 +1,3 @@
+# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em
+
+colcon_prepend_unique_value PYTHONPATH "$env:COLCON_CURRENT_PREFIX\/home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot"
diff --git a/robobin_final/build/super_robot/share/super_robot/hook/pythonpath_develop.sh b/robobin_final/build/super_robot/share/super_robot/hook/pythonpath_develop.sh
new file mode 100644
index 00000000..5f01a5b9
--- /dev/null
+++ b/robobin_final/build/super_robot/share/super_robot/hook/pythonpath_develop.sh
@@ -0,0 +1,3 @@
+# generated from colcon_core/shell/template/hook_prepend_value.sh.em
+
+_colcon_prepend_unique_value PYTHONPATH "/home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot"
diff --git a/robobin_final/build/super_robot/super_robot b/robobin_final/build/super_robot/super_robot
new file mode 120000
index 00000000..61bee9ff
--- /dev/null
+++ b/robobin_final/build/super_robot/super_robot
@@ -0,0 +1 @@
+/home/robobin/Robobin_Project/ros2/robobin_final/src/super_robot/super_robot
\ No newline at end of file
diff --git a/robobin_final/build/super_robot/super_robot.egg-info/PKG-INFO b/robobin_final/build/super_robot/super_robot.egg-info/PKG-INFO
new file mode 100644
index 00000000..dbaea852
--- /dev/null
+++ b/robobin_final/build/super_robot/super_robot.egg-info/PKG-INFO
@@ -0,0 +1,7 @@
+Metadata-Version: 2.1
+Name: super-robot
+Version: 0.0.0
+Summary: TODO: Package description
+Maintainer: robobin
+Maintainer-email: jzc1e20@soton.ac.uk
+License: TODO: License declaration
diff --git a/robobin_final/build/super_robot/super_robot.egg-info/SOURCES.txt b/robobin_final/build/super_robot/super_robot.egg-info/SOURCES.txt
new file mode 100644
index 00000000..9d4aa77d
--- /dev/null
+++ b/robobin_final/build/super_robot/super_robot.egg-info/SOURCES.txt
@@ -0,0 +1,33 @@
+package.xml
+setup.cfg
+setup.py
+../../build/super_robot/super_robot.egg-info/PKG-INFO
+../../build/super_robot/super_robot.egg-info/SOURCES.txt
+../../build/super_robot/super_robot.egg-info/dependency_links.txt
+../../build/super_robot/super_robot.egg-info/entry_points.txt
+../../build/super_robot/super_robot.egg-info/requires.txt
+../../build/super_robot/super_robot.egg-info/top_level.txt
+../../build/super_robot/super_robot.egg-info/zip-safe
+config/ekf.yaml
+config/robot.urdf
+config/scan_filter.yaml
+config/urdf_config.rviz
+launch/ekf_launch.py
+launch/launch_lidar.py
+launch/view_robot.py
+resource/super_robot
+super_robot/__init__.py
+super_robot/control_feedback.py
+super_robot/encoder.py
+super_robot/imu_node.py
+super_robot/motor_control_node.py
+super_robot/odometry_node.py
+super_robot/route.py
+super_robot/route_filtered.py
+super_robot.egg-info/PKG-INFO
+super_robot.egg-info/SOURCES.txt
+super_robot.egg-info/dependency_links.txt
+super_robot.egg-info/entry_points.txt
+super_robot.egg-info/requires.txt
+super_robot.egg-info/top_level.txt
+super_robot.egg-info/zip-safe
\ No newline at end of file
diff --git a/robobin_final/build/super_robot/super_robot.egg-info/dependency_links.txt b/robobin_final/build/super_robot/super_robot.egg-info/dependency_links.txt
new file mode 100644
index 00000000..8b137891
--- /dev/null
+++ b/robobin_final/build/super_robot/super_robot.egg-info/dependency_links.txt
@@ -0,0 +1 @@
+
diff --git a/robobin_final/build/super_robot/super_robot.egg-info/entry_points.txt b/robobin_final/build/super_robot/super_robot.egg-info/entry_points.txt
new file mode 100644
index 00000000..7757728e
--- /dev/null
+++ b/robobin_final/build/super_robot/super_robot.egg-info/entry_points.txt
@@ -0,0 +1,8 @@
+[console_scripts]
+odometry_node = super_robot.odometry_node:main
+test_control_feedback = super_robot.control_feedback:main
+test_encoder_node = super_robot.encoder:main
+test_imu_node = super_robot.imu_node:main
+test_motor_node = super_robot.motor_control_node:main
+test_route = super_robot.route:main
+test_route_filter = super_robot.route_filtered:main
diff --git a/robobin_final/build/super_robot/super_robot.egg-info/requires.txt b/robobin_final/build/super_robot/super_robot.egg-info/requires.txt
new file mode 100644
index 00000000..8aeefb0a
--- /dev/null
+++ b/robobin_final/build/super_robot/super_robot.egg-info/requires.txt
@@ -0,0 +1,2 @@
+gpiozero
+setuptools
diff --git a/robobin_final/build/super_robot/super_robot.egg-info/top_level.txt b/robobin_final/build/super_robot/super_robot.egg-info/top_level.txt
new file mode 100644
index 00000000..5235fc88
--- /dev/null
+++ b/robobin_final/build/super_robot/super_robot.egg-info/top_level.txt
@@ -0,0 +1 @@
+super_robot
diff --git a/robobin_final/build/super_robot/super_robot.egg-info/zip-safe b/robobin_final/build/super_robot/super_robot.egg-info/zip-safe
new file mode 100644
index 00000000..8b137891
--- /dev/null
+++ b/robobin_final/build/super_robot/super_robot.egg-info/zip-safe
@@ -0,0 +1 @@
+
diff --git a/robobin_final/install/.colcon_install_layout b/robobin_final/install/.colcon_install_layout
new file mode 100644
index 00000000..3aad5336
--- /dev/null
+++ b/robobin_final/install/.colcon_install_layout
@@ -0,0 +1 @@
+isolated
diff --git a/robobin_final/install/COLCON_IGNORE b/robobin_final/install/COLCON_IGNORE
new file mode 100644
index 00000000..e69de29b
diff --git a/robobin_final/install/_local_setup_util_ps1.py b/robobin_final/install/_local_setup_util_ps1.py
new file mode 100644
index 00000000..3c6d9e87
--- /dev/null
+++ b/robobin_final/install/_local_setup_util_ps1.py
@@ -0,0 +1,407 @@
+# Copyright 2016-2019 Dirk Thomas
+# Licensed under the Apache License, Version 2.0
+
+import argparse
+from collections import OrderedDict
+import os
+from pathlib import Path
+import sys
+
+
+FORMAT_STR_COMMENT_LINE = '# {comment}'
+FORMAT_STR_SET_ENV_VAR = 'Set-Item -Path "Env:{name}" -Value "{value}"'
+FORMAT_STR_USE_ENV_VAR = '$env:{name}'
+FORMAT_STR_INVOKE_SCRIPT = '_colcon_prefix_powershell_source_script "{script_path}"' # noqa: E501
+FORMAT_STR_REMOVE_LEADING_SEPARATOR = '' # noqa: E501
+FORMAT_STR_REMOVE_TRAILING_SEPARATOR = '' # noqa: E501
+
+DSV_TYPE_APPEND_NON_DUPLICATE = 'append-non-duplicate'
+DSV_TYPE_PREPEND_NON_DUPLICATE = 'prepend-non-duplicate'
+DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS = 'prepend-non-duplicate-if-exists'
+DSV_TYPE_SET = 'set'
+DSV_TYPE_SET_IF_UNSET = 'set-if-unset'
+DSV_TYPE_SOURCE = 'source'
+
+
+def main(argv=sys.argv[1:]): # noqa: D103
+ parser = argparse.ArgumentParser(
+ description='Output shell commands for the packages in topological '
+ 'order')
+ parser.add_argument(
+ 'primary_extension',
+ help='The file extension of the primary shell')
+ parser.add_argument(
+ 'additional_extension', nargs='?',
+ help='The additional file extension to be considered')
+ parser.add_argument(
+ '--merged-install', action='store_true',
+ help='All install prefixes are merged into a single location')
+ args = parser.parse_args(argv)
+
+ packages = get_packages(Path(__file__).parent, args.merged_install)
+
+ ordered_packages = order_packages(packages)
+ for pkg_name in ordered_packages:
+ if _include_comments():
+ print(
+ FORMAT_STR_COMMENT_LINE.format_map(
+ {'comment': 'Package: ' + pkg_name}))
+ prefix = os.path.abspath(os.path.dirname(__file__))
+ if not args.merged_install:
+ prefix = os.path.join(prefix, pkg_name)
+ for line in get_commands(
+ pkg_name, prefix, args.primary_extension,
+ args.additional_extension
+ ):
+ print(line)
+
+ for line in _remove_ending_separators():
+ print(line)
+
+
+def get_packages(prefix_path, merged_install):
+ """
+ Find packages based on colcon-specific files created during installation.
+
+ :param Path prefix_path: The install prefix path of all packages
+ :param bool merged_install: The flag if the packages are all installed
+ directly in the prefix or if each package is installed in a subdirectory
+ named after the package
+ :returns: A mapping from the package name to the set of runtime
+ dependencies
+ :rtype: dict
+ """
+ packages = {}
+ # since importing colcon_core isn't feasible here the following constant
+ # must match colcon_core.location.get_relative_package_index_path()
+ subdirectory = 'share/colcon-core/packages'
+ if merged_install:
+ # return if workspace is empty
+ if not (prefix_path / subdirectory).is_dir():
+ return packages
+ # find all files in the subdirectory
+ for p in (prefix_path / subdirectory).iterdir():
+ if not p.is_file():
+ continue
+ if p.name.startswith('.'):
+ continue
+ add_package_runtime_dependencies(p, packages)
+ else:
+ # for each subdirectory look for the package specific file
+ for p in prefix_path.iterdir():
+ if not p.is_dir():
+ continue
+ if p.name.startswith('.'):
+ continue
+ p = p / subdirectory / p.name
+ if p.is_file():
+ add_package_runtime_dependencies(p, packages)
+
+ # remove unknown dependencies
+ pkg_names = set(packages.keys())
+ for k in packages.keys():
+ packages[k] = {d for d in packages[k] if d in pkg_names}
+
+ return packages
+
+
+def add_package_runtime_dependencies(path, packages):
+ """
+ Check the path and if it exists extract the packages runtime dependencies.
+
+ :param Path path: The resource file containing the runtime dependencies
+ :param dict packages: A mapping from package names to the sets of runtime
+ dependencies to add to
+ """
+ content = path.read_text()
+ dependencies = set(content.split(os.pathsep) if content else [])
+ packages[path.name] = dependencies
+
+
+def order_packages(packages):
+ """
+ Order packages topologically.
+
+ :param dict packages: A mapping from package name to the set of runtime
+ dependencies
+ :returns: The package names
+ :rtype: list
+ """
+ # select packages with no dependencies in alphabetical order
+ to_be_ordered = list(packages.keys())
+ ordered = []
+ while to_be_ordered:
+ pkg_names_without_deps = [
+ name for name in to_be_ordered if not packages[name]]
+ if not pkg_names_without_deps:
+ reduce_cycle_set(packages)
+ raise RuntimeError(
+ 'Circular dependency between: ' + ', '.join(sorted(packages)))
+ pkg_names_without_deps.sort()
+ pkg_name = pkg_names_without_deps[0]
+ to_be_ordered.remove(pkg_name)
+ ordered.append(pkg_name)
+ # remove item from dependency lists
+ for k in list(packages.keys()):
+ if pkg_name in packages[k]:
+ packages[k].remove(pkg_name)
+ return ordered
+
+
+def reduce_cycle_set(packages):
+ """
+ Reduce the set of packages to the ones part of the circular dependency.
+
+ :param dict packages: A mapping from package name to the set of runtime
+ dependencies which is modified in place
+ """
+ last_depended = None
+ while len(packages) > 0:
+ # get all remaining dependencies
+ depended = set()
+ for pkg_name, dependencies in packages.items():
+ depended = depended.union(dependencies)
+ # remove all packages which are not dependent on
+ for name in list(packages.keys()):
+ if name not in depended:
+ del packages[name]
+ if last_depended:
+ # if remaining packages haven't changed return them
+ if last_depended == depended:
+ return packages.keys()
+ # otherwise reduce again
+ last_depended = depended
+
+
+def _include_comments():
+ # skipping comment lines when COLCON_TRACE is not set speeds up the
+ # processing especially on Windows
+ return bool(os.environ.get('COLCON_TRACE'))
+
+
+def get_commands(pkg_name, prefix, primary_extension, additional_extension):
+ commands = []
+ package_dsv_path = os.path.join(prefix, 'share', pkg_name, 'package.dsv')
+ if os.path.exists(package_dsv_path):
+ commands += process_dsv_file(
+ package_dsv_path, prefix, primary_extension, additional_extension)
+ return commands
+
+
+def process_dsv_file(
+ dsv_path, prefix, primary_extension=None, additional_extension=None
+):
+ commands = []
+ if _include_comments():
+ commands.append(FORMAT_STR_COMMENT_LINE.format_map({'comment': dsv_path}))
+ with open(dsv_path, 'r') as h:
+ content = h.read()
+ lines = content.splitlines()
+
+ basenames = OrderedDict()
+ for i, line in enumerate(lines):
+ # skip over empty or whitespace-only lines
+ if not line.strip():
+ continue
+ # skip over comments
+ if line.startswith('#'):
+ continue
+ try:
+ type_, remainder = line.split(';', 1)
+ except ValueError:
+ raise RuntimeError(
+ "Line %d in '%s' doesn't contain a semicolon separating the "
+ 'type from the arguments' % (i + 1, dsv_path))
+ if type_ != DSV_TYPE_SOURCE:
+ # handle non-source lines
+ try:
+ commands += handle_dsv_types_except_source(
+ type_, remainder, prefix)
+ except RuntimeError as e:
+ raise RuntimeError(
+ "Line %d in '%s' %s" % (i + 1, dsv_path, e)) from e
+ else:
+ # group remaining source lines by basename
+ path_without_ext, ext = os.path.splitext(remainder)
+ if path_without_ext not in basenames:
+ basenames[path_without_ext] = set()
+ assert ext.startswith('.')
+ ext = ext[1:]
+ if ext in (primary_extension, additional_extension):
+ basenames[path_without_ext].add(ext)
+
+ # add the dsv extension to each basename if the file exists
+ for basename, extensions in basenames.items():
+ if not os.path.isabs(basename):
+ basename = os.path.join(prefix, basename)
+ if os.path.exists(basename + '.dsv'):
+ extensions.add('dsv')
+
+ for basename, extensions in basenames.items():
+ if not os.path.isabs(basename):
+ basename = os.path.join(prefix, basename)
+ if 'dsv' in extensions:
+ # process dsv files recursively
+ commands += process_dsv_file(
+ basename + '.dsv', prefix, primary_extension=primary_extension,
+ additional_extension=additional_extension)
+ elif primary_extension in extensions and len(extensions) == 1:
+ # source primary-only files
+ commands += [
+ FORMAT_STR_INVOKE_SCRIPT.format_map({
+ 'prefix': prefix,
+ 'script_path': basename + '.' + primary_extension})]
+ elif additional_extension in extensions:
+ # source non-primary files
+ commands += [
+ FORMAT_STR_INVOKE_SCRIPT.format_map({
+ 'prefix': prefix,
+ 'script_path': basename + '.' + additional_extension})]
+
+ return commands
+
+
+def handle_dsv_types_except_source(type_, remainder, prefix):
+ commands = []
+ if type_ in (DSV_TYPE_SET, DSV_TYPE_SET_IF_UNSET):
+ try:
+ env_name, value = remainder.split(';', 1)
+ except ValueError:
+ raise RuntimeError(
+ "doesn't contain a semicolon separating the environment name "
+ 'from the value')
+ try_prefixed_value = os.path.join(prefix, value) if value else prefix
+ if os.path.exists(try_prefixed_value):
+ value = try_prefixed_value
+ if type_ == DSV_TYPE_SET:
+ commands += _set(env_name, value)
+ elif type_ == DSV_TYPE_SET_IF_UNSET:
+ commands += _set_if_unset(env_name, value)
+ else:
+ assert False
+ elif type_ in (
+ DSV_TYPE_APPEND_NON_DUPLICATE,
+ DSV_TYPE_PREPEND_NON_DUPLICATE,
+ DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS
+ ):
+ try:
+ env_name_and_values = remainder.split(';')
+ except ValueError:
+ raise RuntimeError(
+ "doesn't contain a semicolon separating the environment name "
+ 'from the values')
+ env_name = env_name_and_values[0]
+ values = env_name_and_values[1:]
+ for value in values:
+ if not value:
+ value = prefix
+ elif not os.path.isabs(value):
+ value = os.path.join(prefix, value)
+ if (
+ type_ == DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS and
+ not os.path.exists(value)
+ ):
+ comment = f'skip extending {env_name} with not existing ' \
+ f'path: {value}'
+ if _include_comments():
+ commands.append(
+ FORMAT_STR_COMMENT_LINE.format_map({'comment': comment}))
+ elif type_ == DSV_TYPE_APPEND_NON_DUPLICATE:
+ commands += _append_unique_value(env_name, value)
+ else:
+ commands += _prepend_unique_value(env_name, value)
+ else:
+ raise RuntimeError(
+ 'contains an unknown environment hook type: ' + type_)
+ return commands
+
+
+env_state = {}
+
+
+def _append_unique_value(name, value):
+ global env_state
+ if name not in env_state:
+ if os.environ.get(name):
+ env_state[name] = set(os.environ[name].split(os.pathsep))
+ else:
+ env_state[name] = set()
+ # append even if the variable has not been set yet, in case a shell script sets the
+ # same variable without the knowledge of this Python script.
+ # later _remove_ending_separators() will cleanup any unintentional leading separator
+ extend = FORMAT_STR_USE_ENV_VAR.format_map({'name': name}) + os.pathsep
+ line = FORMAT_STR_SET_ENV_VAR.format_map(
+ {'name': name, 'value': extend + value})
+ if value not in env_state[name]:
+ env_state[name].add(value)
+ else:
+ if not _include_comments():
+ return []
+ line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line})
+ return [line]
+
+
+def _prepend_unique_value(name, value):
+ global env_state
+ if name not in env_state:
+ if os.environ.get(name):
+ env_state[name] = set(os.environ[name].split(os.pathsep))
+ else:
+ env_state[name] = set()
+ # prepend even if the variable has not been set yet, in case a shell script sets the
+ # same variable without the knowledge of this Python script.
+ # later _remove_ending_separators() will cleanup any unintentional trailing separator
+ extend = os.pathsep + FORMAT_STR_USE_ENV_VAR.format_map({'name': name})
+ line = FORMAT_STR_SET_ENV_VAR.format_map(
+ {'name': name, 'value': value + extend})
+ if value not in env_state[name]:
+ env_state[name].add(value)
+ else:
+ if not _include_comments():
+ return []
+ line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line})
+ return [line]
+
+
+# generate commands for removing prepended underscores
+def _remove_ending_separators():
+ # do nothing if the shell extension does not implement the logic
+ if FORMAT_STR_REMOVE_TRAILING_SEPARATOR is None:
+ return []
+
+ global env_state
+ commands = []
+ for name in env_state:
+ # skip variables that already had values before this script started prepending
+ if name in os.environ:
+ continue
+ commands += [
+ FORMAT_STR_REMOVE_LEADING_SEPARATOR.format_map({'name': name}),
+ FORMAT_STR_REMOVE_TRAILING_SEPARATOR.format_map({'name': name})]
+ return commands
+
+
+def _set(name, value):
+ global env_state
+ env_state[name] = value
+ line = FORMAT_STR_SET_ENV_VAR.format_map(
+ {'name': name, 'value': value})
+ return [line]
+
+
+def _set_if_unset(name, value):
+ global env_state
+ line = FORMAT_STR_SET_ENV_VAR.format_map(
+ {'name': name, 'value': value})
+ if env_state.get(name, os.environ.get(name)):
+ line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line})
+ return [line]
+
+
+if __name__ == '__main__': # pragma: no cover
+ try:
+ rc = main()
+ except RuntimeError as e:
+ print(str(e), file=sys.stderr)
+ rc = 1
+ sys.exit(rc)
diff --git a/robobin_final/install/_local_setup_util_sh.py b/robobin_final/install/_local_setup_util_sh.py
new file mode 100644
index 00000000..f67eaa98
--- /dev/null
+++ b/robobin_final/install/_local_setup_util_sh.py
@@ -0,0 +1,407 @@
+# Copyright 2016-2019 Dirk Thomas
+# Licensed under the Apache License, Version 2.0
+
+import argparse
+from collections import OrderedDict
+import os
+from pathlib import Path
+import sys
+
+
+FORMAT_STR_COMMENT_LINE = '# {comment}'
+FORMAT_STR_SET_ENV_VAR = 'export {name}="{value}"'
+FORMAT_STR_USE_ENV_VAR = '${name}'
+FORMAT_STR_INVOKE_SCRIPT = 'COLCON_CURRENT_PREFIX="{prefix}" _colcon_prefix_sh_source_script "{script_path}"' # noqa: E501
+FORMAT_STR_REMOVE_LEADING_SEPARATOR = 'if [ "$(echo -n ${name} | head -c 1)" = ":" ]; then export {name}=${{{name}#?}} ; fi' # noqa: E501
+FORMAT_STR_REMOVE_TRAILING_SEPARATOR = 'if [ "$(echo -n ${name} | tail -c 1)" = ":" ]; then export {name}=${{{name}%?}} ; fi' # noqa: E501
+
+DSV_TYPE_APPEND_NON_DUPLICATE = 'append-non-duplicate'
+DSV_TYPE_PREPEND_NON_DUPLICATE = 'prepend-non-duplicate'
+DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS = 'prepend-non-duplicate-if-exists'
+DSV_TYPE_SET = 'set'
+DSV_TYPE_SET_IF_UNSET = 'set-if-unset'
+DSV_TYPE_SOURCE = 'source'
+
+
+def main(argv=sys.argv[1:]): # noqa: D103
+ parser = argparse.ArgumentParser(
+ description='Output shell commands for the packages in topological '
+ 'order')
+ parser.add_argument(
+ 'primary_extension',
+ help='The file extension of the primary shell')
+ parser.add_argument(
+ 'additional_extension', nargs='?',
+ help='The additional file extension to be considered')
+ parser.add_argument(
+ '--merged-install', action='store_true',
+ help='All install prefixes are merged into a single location')
+ args = parser.parse_args(argv)
+
+ packages = get_packages(Path(__file__).parent, args.merged_install)
+
+ ordered_packages = order_packages(packages)
+ for pkg_name in ordered_packages:
+ if _include_comments():
+ print(
+ FORMAT_STR_COMMENT_LINE.format_map(
+ {'comment': 'Package: ' + pkg_name}))
+ prefix = os.path.abspath(os.path.dirname(__file__))
+ if not args.merged_install:
+ prefix = os.path.join(prefix, pkg_name)
+ for line in get_commands(
+ pkg_name, prefix, args.primary_extension,
+ args.additional_extension
+ ):
+ print(line)
+
+ for line in _remove_ending_separators():
+ print(line)
+
+
+def get_packages(prefix_path, merged_install):
+ """
+ Find packages based on colcon-specific files created during installation.
+
+ :param Path prefix_path: The install prefix path of all packages
+ :param bool merged_install: The flag if the packages are all installed
+ directly in the prefix or if each package is installed in a subdirectory
+ named after the package
+ :returns: A mapping from the package name to the set of runtime
+ dependencies
+ :rtype: dict
+ """
+ packages = {}
+ # since importing colcon_core isn't feasible here the following constant
+ # must match colcon_core.location.get_relative_package_index_path()
+ subdirectory = 'share/colcon-core/packages'
+ if merged_install:
+ # return if workspace is empty
+ if not (prefix_path / subdirectory).is_dir():
+ return packages
+ # find all files in the subdirectory
+ for p in (prefix_path / subdirectory).iterdir():
+ if not p.is_file():
+ continue
+ if p.name.startswith('.'):
+ continue
+ add_package_runtime_dependencies(p, packages)
+ else:
+ # for each subdirectory look for the package specific file
+ for p in prefix_path.iterdir():
+ if not p.is_dir():
+ continue
+ if p.name.startswith('.'):
+ continue
+ p = p / subdirectory / p.name
+ if p.is_file():
+ add_package_runtime_dependencies(p, packages)
+
+ # remove unknown dependencies
+ pkg_names = set(packages.keys())
+ for k in packages.keys():
+ packages[k] = {d for d in packages[k] if d in pkg_names}
+
+ return packages
+
+
+def add_package_runtime_dependencies(path, packages):
+ """
+ Check the path and if it exists extract the packages runtime dependencies.
+
+ :param Path path: The resource file containing the runtime dependencies
+ :param dict packages: A mapping from package names to the sets of runtime
+ dependencies to add to
+ """
+ content = path.read_text()
+ dependencies = set(content.split(os.pathsep) if content else [])
+ packages[path.name] = dependencies
+
+
+def order_packages(packages):
+ """
+ Order packages topologically.
+
+ :param dict packages: A mapping from package name to the set of runtime
+ dependencies
+ :returns: The package names
+ :rtype: list
+ """
+ # select packages with no dependencies in alphabetical order
+ to_be_ordered = list(packages.keys())
+ ordered = []
+ while to_be_ordered:
+ pkg_names_without_deps = [
+ name for name in to_be_ordered if not packages[name]]
+ if not pkg_names_without_deps:
+ reduce_cycle_set(packages)
+ raise RuntimeError(
+ 'Circular dependency between: ' + ', '.join(sorted(packages)))
+ pkg_names_without_deps.sort()
+ pkg_name = pkg_names_without_deps[0]
+ to_be_ordered.remove(pkg_name)
+ ordered.append(pkg_name)
+ # remove item from dependency lists
+ for k in list(packages.keys()):
+ if pkg_name in packages[k]:
+ packages[k].remove(pkg_name)
+ return ordered
+
+
+def reduce_cycle_set(packages):
+ """
+ Reduce the set of packages to the ones part of the circular dependency.
+
+ :param dict packages: A mapping from package name to the set of runtime
+ dependencies which is modified in place
+ """
+ last_depended = None
+ while len(packages) > 0:
+ # get all remaining dependencies
+ depended = set()
+ for pkg_name, dependencies in packages.items():
+ depended = depended.union(dependencies)
+ # remove all packages which are not dependent on
+ for name in list(packages.keys()):
+ if name not in depended:
+ del packages[name]
+ if last_depended:
+ # if remaining packages haven't changed return them
+ if last_depended == depended:
+ return packages.keys()
+ # otherwise reduce again
+ last_depended = depended
+
+
+def _include_comments():
+ # skipping comment lines when COLCON_TRACE is not set speeds up the
+ # processing especially on Windows
+ return bool(os.environ.get('COLCON_TRACE'))
+
+
+def get_commands(pkg_name, prefix, primary_extension, additional_extension):
+ commands = []
+ package_dsv_path = os.path.join(prefix, 'share', pkg_name, 'package.dsv')
+ if os.path.exists(package_dsv_path):
+ commands += process_dsv_file(
+ package_dsv_path, prefix, primary_extension, additional_extension)
+ return commands
+
+
+def process_dsv_file(
+ dsv_path, prefix, primary_extension=None, additional_extension=None
+):
+ commands = []
+ if _include_comments():
+ commands.append(FORMAT_STR_COMMENT_LINE.format_map({'comment': dsv_path}))
+ with open(dsv_path, 'r') as h:
+ content = h.read()
+ lines = content.splitlines()
+
+ basenames = OrderedDict()
+ for i, line in enumerate(lines):
+ # skip over empty or whitespace-only lines
+ if not line.strip():
+ continue
+ # skip over comments
+ if line.startswith('#'):
+ continue
+ try:
+ type_, remainder = line.split(';', 1)
+ except ValueError:
+ raise RuntimeError(
+ "Line %d in '%s' doesn't contain a semicolon separating the "
+ 'type from the arguments' % (i + 1, dsv_path))
+ if type_ != DSV_TYPE_SOURCE:
+ # handle non-source lines
+ try:
+ commands += handle_dsv_types_except_source(
+ type_, remainder, prefix)
+ except RuntimeError as e:
+ raise RuntimeError(
+ "Line %d in '%s' %s" % (i + 1, dsv_path, e)) from e
+ else:
+ # group remaining source lines by basename
+ path_without_ext, ext = os.path.splitext(remainder)
+ if path_without_ext not in basenames:
+ basenames[path_without_ext] = set()
+ assert ext.startswith('.')
+ ext = ext[1:]
+ if ext in (primary_extension, additional_extension):
+ basenames[path_without_ext].add(ext)
+
+ # add the dsv extension to each basename if the file exists
+ for basename, extensions in basenames.items():
+ if not os.path.isabs(basename):
+ basename = os.path.join(prefix, basename)
+ if os.path.exists(basename + '.dsv'):
+ extensions.add('dsv')
+
+ for basename, extensions in basenames.items():
+ if not os.path.isabs(basename):
+ basename = os.path.join(prefix, basename)
+ if 'dsv' in extensions:
+ # process dsv files recursively
+ commands += process_dsv_file(
+ basename + '.dsv', prefix, primary_extension=primary_extension,
+ additional_extension=additional_extension)
+ elif primary_extension in extensions and len(extensions) == 1:
+ # source primary-only files
+ commands += [
+ FORMAT_STR_INVOKE_SCRIPT.format_map({
+ 'prefix': prefix,
+ 'script_path': basename + '.' + primary_extension})]
+ elif additional_extension in extensions:
+ # source non-primary files
+ commands += [
+ FORMAT_STR_INVOKE_SCRIPT.format_map({
+ 'prefix': prefix,
+ 'script_path': basename + '.' + additional_extension})]
+
+ return commands
+
+
+def handle_dsv_types_except_source(type_, remainder, prefix):
+ commands = []
+ if type_ in (DSV_TYPE_SET, DSV_TYPE_SET_IF_UNSET):
+ try:
+ env_name, value = remainder.split(';', 1)
+ except ValueError:
+ raise RuntimeError(
+ "doesn't contain a semicolon separating the environment name "
+ 'from the value')
+ try_prefixed_value = os.path.join(prefix, value) if value else prefix
+ if os.path.exists(try_prefixed_value):
+ value = try_prefixed_value
+ if type_ == DSV_TYPE_SET:
+ commands += _set(env_name, value)
+ elif type_ == DSV_TYPE_SET_IF_UNSET:
+ commands += _set_if_unset(env_name, value)
+ else:
+ assert False
+ elif type_ in (
+ DSV_TYPE_APPEND_NON_DUPLICATE,
+ DSV_TYPE_PREPEND_NON_DUPLICATE,
+ DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS
+ ):
+ try:
+ env_name_and_values = remainder.split(';')
+ except ValueError:
+ raise RuntimeError(
+ "doesn't contain a semicolon separating the environment name "
+ 'from the values')
+ env_name = env_name_and_values[0]
+ values = env_name_and_values[1:]
+ for value in values:
+ if not value:
+ value = prefix
+ elif not os.path.isabs(value):
+ value = os.path.join(prefix, value)
+ if (
+ type_ == DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS and
+ not os.path.exists(value)
+ ):
+ comment = f'skip extending {env_name} with not existing ' \
+ f'path: {value}'
+ if _include_comments():
+ commands.append(
+ FORMAT_STR_COMMENT_LINE.format_map({'comment': comment}))
+ elif type_ == DSV_TYPE_APPEND_NON_DUPLICATE:
+ commands += _append_unique_value(env_name, value)
+ else:
+ commands += _prepend_unique_value(env_name, value)
+ else:
+ raise RuntimeError(
+ 'contains an unknown environment hook type: ' + type_)
+ return commands
+
+
+env_state = {}
+
+
+def _append_unique_value(name, value):
+ global env_state
+ if name not in env_state:
+ if os.environ.get(name):
+ env_state[name] = set(os.environ[name].split(os.pathsep))
+ else:
+ env_state[name] = set()
+ # append even if the variable has not been set yet, in case a shell script sets the
+ # same variable without the knowledge of this Python script.
+ # later _remove_ending_separators() will cleanup any unintentional leading separator
+ extend = FORMAT_STR_USE_ENV_VAR.format_map({'name': name}) + os.pathsep
+ line = FORMAT_STR_SET_ENV_VAR.format_map(
+ {'name': name, 'value': extend + value})
+ if value not in env_state[name]:
+ env_state[name].add(value)
+ else:
+ if not _include_comments():
+ return []
+ line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line})
+ return [line]
+
+
+def _prepend_unique_value(name, value):
+ global env_state
+ if name not in env_state:
+ if os.environ.get(name):
+ env_state[name] = set(os.environ[name].split(os.pathsep))
+ else:
+ env_state[name] = set()
+ # prepend even if the variable has not been set yet, in case a shell script sets the
+ # same variable without the knowledge of this Python script.
+ # later _remove_ending_separators() will cleanup any unintentional trailing separator
+ extend = os.pathsep + FORMAT_STR_USE_ENV_VAR.format_map({'name': name})
+ line = FORMAT_STR_SET_ENV_VAR.format_map(
+ {'name': name, 'value': value + extend})
+ if value not in env_state[name]:
+ env_state[name].add(value)
+ else:
+ if not _include_comments():
+ return []
+ line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line})
+ return [line]
+
+
+# generate commands for removing prepended underscores
+def _remove_ending_separators():
+ # do nothing if the shell extension does not implement the logic
+ if FORMAT_STR_REMOVE_TRAILING_SEPARATOR is None:
+ return []
+
+ global env_state
+ commands = []
+ for name in env_state:
+ # skip variables that already had values before this script started prepending
+ if name in os.environ:
+ continue
+ commands += [
+ FORMAT_STR_REMOVE_LEADING_SEPARATOR.format_map({'name': name}),
+ FORMAT_STR_REMOVE_TRAILING_SEPARATOR.format_map({'name': name})]
+ return commands
+
+
+def _set(name, value):
+ global env_state
+ env_state[name] = value
+ line = FORMAT_STR_SET_ENV_VAR.format_map(
+ {'name': name, 'value': value})
+ return [line]
+
+
+def _set_if_unset(name, value):
+ global env_state
+ line = FORMAT_STR_SET_ENV_VAR.format_map(
+ {'name': name, 'value': value})
+ if env_state.get(name, os.environ.get(name)):
+ line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line})
+ return [line]
+
+
+if __name__ == '__main__': # pragma: no cover
+ try:
+ rc = main()
+ except RuntimeError as e:
+ print(str(e), file=sys.stderr)
+ rc = 1
+ sys.exit(rc)
diff --git a/robobin_final/install/local_setup.bash b/robobin_final/install/local_setup.bash
new file mode 100644
index 00000000..03f00256
--- /dev/null
+++ b/robobin_final/install/local_setup.bash
@@ -0,0 +1,121 @@
+# generated from colcon_bash/shell/template/prefix.bash.em
+
+# This script extends the environment with all packages contained in this
+# prefix path.
+
+# a bash script is able to determine its own path if necessary
+if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+ _colcon_prefix_bash_COLCON_CURRENT_PREFIX="$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)"
+else
+ _colcon_prefix_bash_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+fi
+
+# function to prepend a value to a variable
+# which uses colons as separators
+# duplicates as well as trailing separators are avoided
+# first argument: the name of the result variable
+# second argument: the value to be prepended
+_colcon_prefix_bash_prepend_unique_value() {
+ # arguments
+ _listname="$1"
+ _value="$2"
+
+ # get values from variable
+ eval _values=\"\$$_listname\"
+ # backup the field separator
+ _colcon_prefix_bash_prepend_unique_value_IFS="$IFS"
+ IFS=":"
+ # start with the new value
+ _all_values="$_value"
+ _contained_value=""
+ # iterate over existing values in the variable
+ for _item in $_values; do
+ # ignore empty strings
+ if [ -z "$_item" ]; then
+ continue
+ fi
+ # ignore duplicates of _value
+ if [ "$_item" = "$_value" ]; then
+ _contained_value=1
+ continue
+ fi
+ # keep non-duplicate values
+ _all_values="$_all_values:$_item"
+ done
+ unset _item
+ if [ -z "$_contained_value" ]; then
+ if [ -n "$COLCON_TRACE" ]; then
+ if [ "$_all_values" = "$_value" ]; then
+ echo "export $_listname=$_value"
+ else
+ echo "export $_listname=$_value:\$$_listname"
+ fi
+ fi
+ fi
+ unset _contained_value
+ # restore the field separator
+ IFS="$_colcon_prefix_bash_prepend_unique_value_IFS"
+ unset _colcon_prefix_bash_prepend_unique_value_IFS
+ # export the updated variable
+ eval export $_listname=\"$_all_values\"
+ unset _all_values
+ unset _values
+
+ unset _value
+ unset _listname
+}
+
+# add this prefix to the COLCON_PREFIX_PATH
+_colcon_prefix_bash_prepend_unique_value COLCON_PREFIX_PATH "$_colcon_prefix_bash_COLCON_CURRENT_PREFIX"
+unset _colcon_prefix_bash_prepend_unique_value
+
+# check environment variable for custom Python executable
+if [ -n "$COLCON_PYTHON_EXECUTABLE" ]; then
+ if [ ! -f "$COLCON_PYTHON_EXECUTABLE" ]; then
+ echo "error: COLCON_PYTHON_EXECUTABLE '$COLCON_PYTHON_EXECUTABLE' doesn't exist"
+ return 1
+ fi
+ _colcon_python_executable="$COLCON_PYTHON_EXECUTABLE"
+else
+ # try the Python executable known at configure time
+ _colcon_python_executable="/usr/bin/python3"
+ # if it doesn't exist try a fall back
+ if [ ! -f "$_colcon_python_executable" ]; then
+ if ! /usr/bin/env python3 --version > /dev/null 2> /dev/null; then
+ echo "error: unable to find python3 executable"
+ return 1
+ fi
+ _colcon_python_executable=`/usr/bin/env python3 -c "import sys; print(sys.executable)"`
+ fi
+fi
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+_colcon_prefix_sh_source_script() {
+ if [ -f "$1" ]; then
+ if [ -n "$COLCON_TRACE" ]; then
+ echo "# . \"$1\""
+ fi
+ . "$1"
+ else
+ echo "not found: \"$1\"" 1>&2
+ fi
+}
+
+# get all commands in topological order
+_colcon_ordered_commands="$($_colcon_python_executable "$_colcon_prefix_bash_COLCON_CURRENT_PREFIX/_local_setup_util_sh.py" sh bash)"
+unset _colcon_python_executable
+if [ -n "$COLCON_TRACE" ]; then
+ echo "$(declare -f _colcon_prefix_sh_source_script)"
+ echo "# Execute generated script:"
+ echo "# <<<"
+ echo "${_colcon_ordered_commands}"
+ echo "# >>>"
+ echo "unset _colcon_prefix_sh_source_script"
+fi
+eval "${_colcon_ordered_commands}"
+unset _colcon_ordered_commands
+
+unset _colcon_prefix_sh_source_script
+
+unset _colcon_prefix_bash_COLCON_CURRENT_PREFIX
diff --git a/robobin_final/install/local_setup.ps1 b/robobin_final/install/local_setup.ps1
new file mode 100644
index 00000000..6f68c8de
--- /dev/null
+++ b/robobin_final/install/local_setup.ps1
@@ -0,0 +1,55 @@
+# generated from colcon_powershell/shell/template/prefix.ps1.em
+
+# This script extends the environment with all packages contained in this
+# prefix path.
+
+# check environment variable for custom Python executable
+if ($env:COLCON_PYTHON_EXECUTABLE) {
+ if (!(Test-Path "$env:COLCON_PYTHON_EXECUTABLE" -PathType Leaf)) {
+ echo "error: COLCON_PYTHON_EXECUTABLE '$env:COLCON_PYTHON_EXECUTABLE' doesn't exist"
+ exit 1
+ }
+ $_colcon_python_executable="$env:COLCON_PYTHON_EXECUTABLE"
+} else {
+ # use the Python executable known at configure time
+ $_colcon_python_executable="/usr/bin/python3"
+ # if it doesn't exist try a fall back
+ if (!(Test-Path "$_colcon_python_executable" -PathType Leaf)) {
+ if (!(Get-Command "python3" -ErrorAction SilentlyContinue)) {
+ echo "error: unable to find python3 executable"
+ exit 1
+ }
+ $_colcon_python_executable="python3"
+ }
+}
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+function _colcon_prefix_powershell_source_script {
+ param (
+ $_colcon_prefix_powershell_source_script_param
+ )
+ # source script with conditional trace output
+ if (Test-Path $_colcon_prefix_powershell_source_script_param) {
+ if ($env:COLCON_TRACE) {
+ echo ". '$_colcon_prefix_powershell_source_script_param'"
+ }
+ . "$_colcon_prefix_powershell_source_script_param"
+ } else {
+ Write-Error "not found: '$_colcon_prefix_powershell_source_script_param'"
+ }
+}
+
+# get all commands in topological order
+$_colcon_ordered_commands = & "$_colcon_python_executable" "$(Split-Path $PSCommandPath -Parent)/_local_setup_util_ps1.py" ps1
+
+# execute all commands in topological order
+if ($env:COLCON_TRACE) {
+ echo "Execute generated script:"
+ echo "<<<"
+ $_colcon_ordered_commands.Split([Environment]::NewLine, [StringSplitOptions]::RemoveEmptyEntries) | Write-Output
+ echo ">>>"
+}
+if ($_colcon_ordered_commands) {
+ $_colcon_ordered_commands.Split([Environment]::NewLine, [StringSplitOptions]::RemoveEmptyEntries) | Invoke-Expression
+}
diff --git a/robobin_final/install/local_setup.sh b/robobin_final/install/local_setup.sh
new file mode 100644
index 00000000..1cf7a82b
--- /dev/null
+++ b/robobin_final/install/local_setup.sh
@@ -0,0 +1,137 @@
+# generated from colcon_core/shell/template/prefix.sh.em
+
+# This script extends the environment with all packages contained in this
+# prefix path.
+
+# since a plain shell script can't determine its own path when being sourced
+# either use the provided COLCON_CURRENT_PREFIX
+# or fall back to the build time prefix (if it exists)
+_colcon_prefix_sh_COLCON_CURRENT_PREFIX="/home/robobin/Robobin_Project/ros2/robobin_final/install"
+if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+ if [ ! -d "$_colcon_prefix_sh_COLCON_CURRENT_PREFIX" ]; then
+ echo "The build time path \"$_colcon_prefix_sh_COLCON_CURRENT_PREFIX\" doesn't exist. Either source a script for a different shell or set the environment variable \"COLCON_CURRENT_PREFIX\" explicitly." 1>&2
+ unset _colcon_prefix_sh_COLCON_CURRENT_PREFIX
+ return 1
+ fi
+else
+ _colcon_prefix_sh_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+fi
+
+# function to prepend a value to a variable
+# which uses colons as separators
+# duplicates as well as trailing separators are avoided
+# first argument: the name of the result variable
+# second argument: the value to be prepended
+_colcon_prefix_sh_prepend_unique_value() {
+ # arguments
+ _listname="$1"
+ _value="$2"
+
+ # get values from variable
+ eval _values=\"\$$_listname\"
+ # backup the field separator
+ _colcon_prefix_sh_prepend_unique_value_IFS="$IFS"
+ IFS=":"
+ # start with the new value
+ _all_values="$_value"
+ _contained_value=""
+ # iterate over existing values in the variable
+ for _item in $_values; do
+ # ignore empty strings
+ if [ -z "$_item" ]; then
+ continue
+ fi
+ # ignore duplicates of _value
+ if [ "$_item" = "$_value" ]; then
+ _contained_value=1
+ continue
+ fi
+ # keep non-duplicate values
+ _all_values="$_all_values:$_item"
+ done
+ unset _item
+ if [ -z "$_contained_value" ]; then
+ if [ -n "$COLCON_TRACE" ]; then
+ if [ "$_all_values" = "$_value" ]; then
+ echo "export $_listname=$_value"
+ else
+ echo "export $_listname=$_value:\$$_listname"
+ fi
+ fi
+ fi
+ unset _contained_value
+ # restore the field separator
+ IFS="$_colcon_prefix_sh_prepend_unique_value_IFS"
+ unset _colcon_prefix_sh_prepend_unique_value_IFS
+ # export the updated variable
+ eval export $_listname=\"$_all_values\"
+ unset _all_values
+ unset _values
+
+ unset _value
+ unset _listname
+}
+
+# add this prefix to the COLCON_PREFIX_PATH
+_colcon_prefix_sh_prepend_unique_value COLCON_PREFIX_PATH "$_colcon_prefix_sh_COLCON_CURRENT_PREFIX"
+unset _colcon_prefix_sh_prepend_unique_value
+
+# check environment variable for custom Python executable
+if [ -n "$COLCON_PYTHON_EXECUTABLE" ]; then
+ if [ ! -f "$COLCON_PYTHON_EXECUTABLE" ]; then
+ echo "error: COLCON_PYTHON_EXECUTABLE '$COLCON_PYTHON_EXECUTABLE' doesn't exist"
+ return 1
+ fi
+ _colcon_python_executable="$COLCON_PYTHON_EXECUTABLE"
+else
+ # try the Python executable known at configure time
+ _colcon_python_executable="/usr/bin/python3"
+ # if it doesn't exist try a fall back
+ if [ ! -f "$_colcon_python_executable" ]; then
+ if ! /usr/bin/env python3 --version > /dev/null 2> /dev/null; then
+ echo "error: unable to find python3 executable"
+ return 1
+ fi
+ _colcon_python_executable=`/usr/bin/env python3 -c "import sys; print(sys.executable)"`
+ fi
+fi
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+_colcon_prefix_sh_source_script() {
+ if [ -f "$1" ]; then
+ if [ -n "$COLCON_TRACE" ]; then
+ echo "# . \"$1\""
+ fi
+ . "$1"
+ else
+ echo "not found: \"$1\"" 1>&2
+ fi
+}
+
+# get all commands in topological order
+_colcon_ordered_commands="$($_colcon_python_executable "$_colcon_prefix_sh_COLCON_CURRENT_PREFIX/_local_setup_util_sh.py" sh)"
+unset _colcon_python_executable
+if [ -n "$COLCON_TRACE" ]; then
+ echo "_colcon_prefix_sh_source_script() {
+ if [ -f \"\$1\" ]; then
+ if [ -n \"\$COLCON_TRACE\" ]; then
+ echo \"# . \\\"\$1\\\"\"
+ fi
+ . \"\$1\"
+ else
+ echo \"not found: \\\"\$1\\\"\" 1>&2
+ fi
+ }"
+ echo "# Execute generated script:"
+ echo "# <<<"
+ echo "${_colcon_ordered_commands}"
+ echo "# >>>"
+ echo "unset _colcon_prefix_sh_source_script"
+fi
+eval "${_colcon_ordered_commands}"
+unset _colcon_ordered_commands
+
+unset _colcon_prefix_sh_source_script
+
+unset _colcon_prefix_sh_COLCON_CURRENT_PREFIX
diff --git a/robobin_final/install/local_setup.zsh b/robobin_final/install/local_setup.zsh
new file mode 100644
index 00000000..b6487102
--- /dev/null
+++ b/robobin_final/install/local_setup.zsh
@@ -0,0 +1,134 @@
+# generated from colcon_zsh/shell/template/prefix.zsh.em
+
+# This script extends the environment with all packages contained in this
+# prefix path.
+
+# a zsh script is able to determine its own path if necessary
+if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+ _colcon_prefix_zsh_COLCON_CURRENT_PREFIX="$(builtin cd -q "`dirname "${(%):-%N}"`" > /dev/null && pwd)"
+else
+ _colcon_prefix_zsh_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+fi
+
+# function to convert array-like strings into arrays
+# to workaround SH_WORD_SPLIT not being set
+_colcon_prefix_zsh_convert_to_array() {
+ local _listname=$1
+ local _dollar="$"
+ local _split="{="
+ local _to_array="(\"$_dollar$_split$_listname}\")"
+ eval $_listname=$_to_array
+}
+
+# function to prepend a value to a variable
+# which uses colons as separators
+# duplicates as well as trailing separators are avoided
+# first argument: the name of the result variable
+# second argument: the value to be prepended
+_colcon_prefix_zsh_prepend_unique_value() {
+ # arguments
+ _listname="$1"
+ _value="$2"
+
+ # get values from variable
+ eval _values=\"\$$_listname\"
+ # backup the field separator
+ _colcon_prefix_zsh_prepend_unique_value_IFS="$IFS"
+ IFS=":"
+ # start with the new value
+ _all_values="$_value"
+ _contained_value=""
+ # workaround SH_WORD_SPLIT not being set
+ _colcon_prefix_zsh_convert_to_array _values
+ # iterate over existing values in the variable
+ for _item in $_values; do
+ # ignore empty strings
+ if [ -z "$_item" ]; then
+ continue
+ fi
+ # ignore duplicates of _value
+ if [ "$_item" = "$_value" ]; then
+ _contained_value=1
+ continue
+ fi
+ # keep non-duplicate values
+ _all_values="$_all_values:$_item"
+ done
+ unset _item
+ if [ -z "$_contained_value" ]; then
+ if [ -n "$COLCON_TRACE" ]; then
+ if [ "$_all_values" = "$_value" ]; then
+ echo "export $_listname=$_value"
+ else
+ echo "export $_listname=$_value:\$$_listname"
+ fi
+ fi
+ fi
+ unset _contained_value
+ # restore the field separator
+ IFS="$_colcon_prefix_zsh_prepend_unique_value_IFS"
+ unset _colcon_prefix_zsh_prepend_unique_value_IFS
+ # export the updated variable
+ eval export $_listname=\"$_all_values\"
+ unset _all_values
+ unset _values
+
+ unset _value
+ unset _listname
+}
+
+# add this prefix to the COLCON_PREFIX_PATH
+_colcon_prefix_zsh_prepend_unique_value COLCON_PREFIX_PATH "$_colcon_prefix_zsh_COLCON_CURRENT_PREFIX"
+unset _colcon_prefix_zsh_prepend_unique_value
+unset _colcon_prefix_zsh_convert_to_array
+
+# check environment variable for custom Python executable
+if [ -n "$COLCON_PYTHON_EXECUTABLE" ]; then
+ if [ ! -f "$COLCON_PYTHON_EXECUTABLE" ]; then
+ echo "error: COLCON_PYTHON_EXECUTABLE '$COLCON_PYTHON_EXECUTABLE' doesn't exist"
+ return 1
+ fi
+ _colcon_python_executable="$COLCON_PYTHON_EXECUTABLE"
+else
+ # try the Python executable known at configure time
+ _colcon_python_executable="/usr/bin/python3"
+ # if it doesn't exist try a fall back
+ if [ ! -f "$_colcon_python_executable" ]; then
+ if ! /usr/bin/env python3 --version > /dev/null 2> /dev/null; then
+ echo "error: unable to find python3 executable"
+ return 1
+ fi
+ _colcon_python_executable=`/usr/bin/env python3 -c "import sys; print(sys.executable)"`
+ fi
+fi
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+_colcon_prefix_sh_source_script() {
+ if [ -f "$1" ]; then
+ if [ -n "$COLCON_TRACE" ]; then
+ echo "# . \"$1\""
+ fi
+ . "$1"
+ else
+ echo "not found: \"$1\"" 1>&2
+ fi
+}
+
+# get all commands in topological order
+_colcon_ordered_commands="$($_colcon_python_executable "$_colcon_prefix_zsh_COLCON_CURRENT_PREFIX/_local_setup_util_sh.py" sh zsh)"
+unset _colcon_python_executable
+if [ -n "$COLCON_TRACE" ]; then
+ echo "$(declare -f _colcon_prefix_sh_source_script)"
+ echo "# Execute generated script:"
+ echo "# <<<"
+ echo "${_colcon_ordered_commands}"
+ echo "# >>>"
+ echo "unset _colcon_prefix_sh_source_script"
+fi
+eval "${_colcon_ordered_commands}"
+unset _colcon_ordered_commands
+
+unset _colcon_prefix_sh_source_script
+
+unset _colcon_prefix_zsh_COLCON_CURRENT_PREFIX
diff --git a/robobin_final/install/setup.bash b/robobin_final/install/setup.bash
new file mode 100644
index 00000000..4aeadb4c
--- /dev/null
+++ b/robobin_final/install/setup.bash
@@ -0,0 +1,34 @@
+# generated from colcon_bash/shell/template/prefix_chain.bash.em
+
+# This script extends the environment with the environment of other prefix
+# paths which were sourced when this file was generated as well as all packages
+# contained in this prefix path.
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+_colcon_prefix_chain_bash_source_script() {
+ if [ -f "$1" ]; then
+ if [ -n "$COLCON_TRACE" ]; then
+ echo "# . \"$1\""
+ fi
+ . "$1"
+ else
+ echo "not found: \"$1\"" 1>&2
+ fi
+}
+
+# source chained prefixes
+# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
+COLCON_CURRENT_PREFIX="/opt/ros/jazzy"
+_colcon_prefix_chain_bash_source_script "$COLCON_CURRENT_PREFIX/local_setup.bash"
+# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
+COLCON_CURRENT_PREFIX="/home/robobin/Robobin_Project/ros2/robobin_main/install"
+_colcon_prefix_chain_bash_source_script "$COLCON_CURRENT_PREFIX/local_setup.bash"
+
+# source this prefix
+# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
+COLCON_CURRENT_PREFIX="$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)"
+_colcon_prefix_chain_bash_source_script "$COLCON_CURRENT_PREFIX/local_setup.bash"
+
+unset COLCON_CURRENT_PREFIX
+unset _colcon_prefix_chain_bash_source_script
diff --git a/robobin_final/install/setup.ps1 b/robobin_final/install/setup.ps1
new file mode 100644
index 00000000..556a8661
--- /dev/null
+++ b/robobin_final/install/setup.ps1
@@ -0,0 +1,30 @@
+# generated from colcon_powershell/shell/template/prefix_chain.ps1.em
+
+# This script extends the environment with the environment of other prefix
+# paths which were sourced when this file was generated as well as all packages
+# contained in this prefix path.
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+function _colcon_prefix_chain_powershell_source_script {
+ param (
+ $_colcon_prefix_chain_powershell_source_script_param
+ )
+ # source script with conditional trace output
+ if (Test-Path $_colcon_prefix_chain_powershell_source_script_param) {
+ if ($env:COLCON_TRACE) {
+ echo ". '$_colcon_prefix_chain_powershell_source_script_param'"
+ }
+ . "$_colcon_prefix_chain_powershell_source_script_param"
+ } else {
+ Write-Error "not found: '$_colcon_prefix_chain_powershell_source_script_param'"
+ }
+}
+
+# source chained prefixes
+_colcon_prefix_chain_powershell_source_script "/opt/ros/jazzy\local_setup.ps1"
+_colcon_prefix_chain_powershell_source_script "/home/robobin/Robobin_Project/ros2/robobin_main/install\local_setup.ps1"
+
+# source this prefix
+$env:COLCON_CURRENT_PREFIX=(Split-Path $PSCommandPath -Parent)
+_colcon_prefix_chain_powershell_source_script "$env:COLCON_CURRENT_PREFIX\local_setup.ps1"
diff --git a/robobin_final/install/setup.sh b/robobin_final/install/setup.sh
new file mode 100644
index 00000000..0b360288
--- /dev/null
+++ b/robobin_final/install/setup.sh
@@ -0,0 +1,49 @@
+# generated from colcon_core/shell/template/prefix_chain.sh.em
+
+# This script extends the environment with the environment of other prefix
+# paths which were sourced when this file was generated as well as all packages
+# contained in this prefix path.
+
+# since a plain shell script can't determine its own path when being sourced
+# either use the provided COLCON_CURRENT_PREFIX
+# or fall back to the build time prefix (if it exists)
+_colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX=/home/robobin/Robobin_Project/ros2/robobin_final/install
+if [ ! -z "$COLCON_CURRENT_PREFIX" ]; then
+ _colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+elif [ ! -d "$_colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX" ]; then
+ echo "The build time path \"$_colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX\" doesn't exist. Either source a script for a different shell or set the environment variable \"COLCON_CURRENT_PREFIX\" explicitly." 1>&2
+ unset _colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX
+ return 1
+fi
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+_colcon_prefix_chain_sh_source_script() {
+ if [ -f "$1" ]; then
+ if [ -n "$COLCON_TRACE" ]; then
+ echo "# . \"$1\""
+ fi
+ . "$1"
+ else
+ echo "not found: \"$1\"" 1>&2
+ fi
+}
+
+# source chained prefixes
+# setting COLCON_CURRENT_PREFIX avoids relying on the build time prefix of the sourced script
+COLCON_CURRENT_PREFIX="/opt/ros/jazzy"
+_colcon_prefix_chain_sh_source_script "$COLCON_CURRENT_PREFIX/local_setup.sh"
+
+# setting COLCON_CURRENT_PREFIX avoids relying on the build time prefix of the sourced script
+COLCON_CURRENT_PREFIX="/home/robobin/Robobin_Project/ros2/robobin_main/install"
+_colcon_prefix_chain_sh_source_script "$COLCON_CURRENT_PREFIX/local_setup.sh"
+
+
+# source this prefix
+# setting COLCON_CURRENT_PREFIX avoids relying on the build time prefix of the sourced script
+COLCON_CURRENT_PREFIX="$_colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX"
+_colcon_prefix_chain_sh_source_script "$COLCON_CURRENT_PREFIX/local_setup.sh"
+
+unset _colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX
+unset _colcon_prefix_chain_sh_source_script
+unset COLCON_CURRENT_PREFIX
diff --git a/robobin_final/install/setup.zsh b/robobin_final/install/setup.zsh
new file mode 100644
index 00000000..770dee49
--- /dev/null
+++ b/robobin_final/install/setup.zsh
@@ -0,0 +1,34 @@
+# generated from colcon_zsh/shell/template/prefix_chain.zsh.em
+
+# This script extends the environment with the environment of other prefix
+# paths which were sourced when this file was generated as well as all packages
+# contained in this prefix path.
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+_colcon_prefix_chain_zsh_source_script() {
+ if [ -f "$1" ]; then
+ if [ -n "$COLCON_TRACE" ]; then
+ echo "# . \"$1\""
+ fi
+ . "$1"
+ else
+ echo "not found: \"$1\"" 1>&2
+ fi
+}
+
+# source chained prefixes
+# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
+COLCON_CURRENT_PREFIX="/opt/ros/jazzy"
+_colcon_prefix_chain_zsh_source_script "$COLCON_CURRENT_PREFIX/local_setup.zsh"
+# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
+COLCON_CURRENT_PREFIX="/home/robobin/Robobin_Project/ros2/robobin_main/install"
+_colcon_prefix_chain_zsh_source_script "$COLCON_CURRENT_PREFIX/local_setup.zsh"
+
+# source this prefix
+# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
+COLCON_CURRENT_PREFIX="$(builtin cd -q "`dirname "${(%):-%N}"`" > /dev/null && pwd)"
+_colcon_prefix_chain_zsh_source_script "$COLCON_CURRENT_PREFIX/local_setup.zsh"
+
+unset COLCON_CURRENT_PREFIX
+unset _colcon_prefix_chain_zsh_source_script
diff --git a/robobin_final/install/sllidar_ros2/lib/sllidar_ros2/sllidar_client b/robobin_final/install/sllidar_ros2/lib/sllidar_ros2/sllidar_client
new file mode 120000
index 00000000..bec0e4a5
--- /dev/null
+++ b/robobin_final/install/sllidar_ros2/lib/sllidar_ros2/sllidar_client
@@ -0,0 +1 @@
+/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2/sllidar_client
\ No newline at end of file
diff --git a/robobin_final/install/sllidar_ros2/lib/sllidar_ros2/sllidar_node b/robobin_final/install/sllidar_ros2/lib/sllidar_ros2/sllidar_node
new file mode 120000
index 00000000..7ca6377d
--- /dev/null
+++ b/robobin_final/install/sllidar_ros2/lib/sllidar_ros2/sllidar_node
@@ -0,0 +1 @@
+/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2/sllidar_node
\ No newline at end of file
diff --git a/robobin_final/install/sllidar_ros2/share/ament_index/resource_index/package_run_dependencies/sllidar_ros2 b/robobin_final/install/sllidar_ros2/share/ament_index/resource_index/package_run_dependencies/sllidar_ros2
new file mode 120000
index 00000000..c1230d74
--- /dev/null
+++ b/robobin_final/install/sllidar_ros2/share/ament_index/resource_index/package_run_dependencies/sllidar_ros2
@@ -0,0 +1 @@
+/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2/ament_cmake_index/share/ament_index/resource_index/package_run_dependencies/sllidar_ros2
\ No newline at end of file
diff --git a/robobin_final/install/sllidar_ros2/share/ament_index/resource_index/packages/sllidar_ros2 b/robobin_final/install/sllidar_ros2/share/ament_index/resource_index/packages/sllidar_ros2
new file mode 120000
index 00000000..fa86d142
--- /dev/null
+++ b/robobin_final/install/sllidar_ros2/share/ament_index/resource_index/packages/sllidar_ros2
@@ -0,0 +1 @@
+/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2/ament_cmake_index/share/ament_index/resource_index/packages/sllidar_ros2
\ No newline at end of file
diff --git a/robobin_final/install/sllidar_ros2/share/ament_index/resource_index/parent_prefix_path/sllidar_ros2 b/robobin_final/install/sllidar_ros2/share/ament_index/resource_index/parent_prefix_path/sllidar_ros2
new file mode 120000
index 00000000..0231e39a
--- /dev/null
+++ b/robobin_final/install/sllidar_ros2/share/ament_index/resource_index/parent_prefix_path/sllidar_ros2
@@ -0,0 +1 @@
+/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/sllidar_ros2
\ No newline at end of file
diff --git a/robobin_final/install/sllidar_ros2/share/colcon-core/packages/sllidar_ros2 b/robobin_final/install/sllidar_ros2/share/colcon-core/packages/sllidar_ros2
new file mode 100644
index 00000000..91674eb2
--- /dev/null
+++ b/robobin_final/install/sllidar_ros2/share/colcon-core/packages/sllidar_ros2
@@ -0,0 +1 @@
+rclcpp:sensor_msgs:std_srvs
\ No newline at end of file
diff --git a/robobin_final/install/sllidar_ros2/share/sllidar_ros2/cmake/ament_cmake_export_dependencies-extras.cmake b/robobin_final/install/sllidar_ros2/share/sllidar_ros2/cmake/ament_cmake_export_dependencies-extras.cmake
new file mode 120000
index 00000000..7c7660ab
--- /dev/null
+++ b/robobin_final/install/sllidar_ros2/share/sllidar_ros2/cmake/ament_cmake_export_dependencies-extras.cmake
@@ -0,0 +1 @@
+/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2/ament_cmake_export_dependencies/ament_cmake_export_dependencies-extras.cmake
\ No newline at end of file
diff --git a/robobin_final/install/sllidar_ros2/share/sllidar_ros2/cmake/ament_cmake_export_include_directories-extras.cmake b/robobin_final/install/sllidar_ros2/share/sllidar_ros2/cmake/ament_cmake_export_include_directories-extras.cmake
new file mode 120000
index 00000000..352ca708
--- /dev/null
+++ b/robobin_final/install/sllidar_ros2/share/sllidar_ros2/cmake/ament_cmake_export_include_directories-extras.cmake
@@ -0,0 +1 @@
+/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2/ament_cmake_export_include_directories/ament_cmake_export_include_directories-extras.cmake
\ No newline at end of file
diff --git a/robobin_final/install/sllidar_ros2/share/sllidar_ros2/cmake/sllidar_ros2Config-version.cmake b/robobin_final/install/sllidar_ros2/share/sllidar_ros2/cmake/sllidar_ros2Config-version.cmake
new file mode 120000
index 00000000..e239dfed
--- /dev/null
+++ b/robobin_final/install/sllidar_ros2/share/sllidar_ros2/cmake/sllidar_ros2Config-version.cmake
@@ -0,0 +1 @@
+/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2/ament_cmake_core/sllidar_ros2Config-version.cmake
\ No newline at end of file
diff --git a/robobin_final/install/sllidar_ros2/share/sllidar_ros2/cmake/sllidar_ros2Config.cmake b/robobin_final/install/sllidar_ros2/share/sllidar_ros2/cmake/sllidar_ros2Config.cmake
new file mode 120000
index 00000000..fa4931aa
--- /dev/null
+++ b/robobin_final/install/sllidar_ros2/share/sllidar_ros2/cmake/sllidar_ros2Config.cmake
@@ -0,0 +1 @@
+/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2/ament_cmake_core/sllidar_ros2Config.cmake
\ No newline at end of file
diff --git a/robobin_final/install/sllidar_ros2/share/sllidar_ros2/environment/ament_prefix_path.dsv b/robobin_final/install/sllidar_ros2/share/sllidar_ros2/environment/ament_prefix_path.dsv
new file mode 120000
index 00000000..0d73cccc
--- /dev/null
+++ b/robobin_final/install/sllidar_ros2/share/sllidar_ros2/environment/ament_prefix_path.dsv
@@ -0,0 +1 @@
+/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2/ament_cmake_environment_hooks/ament_prefix_path.dsv
\ No newline at end of file
diff --git a/robobin_final/install/sllidar_ros2/share/sllidar_ros2/environment/ament_prefix_path.sh b/robobin_final/install/sllidar_ros2/share/sllidar_ros2/environment/ament_prefix_path.sh
new file mode 120000
index 00000000..210fc7d1
--- /dev/null
+++ b/robobin_final/install/sllidar_ros2/share/sllidar_ros2/environment/ament_prefix_path.sh
@@ -0,0 +1 @@
+/opt/ros/jazzy/share/ament_cmake_core/cmake/environment_hooks/environment/ament_prefix_path.sh
\ No newline at end of file
diff --git a/robobin_final/install/sllidar_ros2/share/sllidar_ros2/environment/path.dsv b/robobin_final/install/sllidar_ros2/share/sllidar_ros2/environment/path.dsv
new file mode 120000
index 00000000..570f72b4
--- /dev/null
+++ b/robobin_final/install/sllidar_ros2/share/sllidar_ros2/environment/path.dsv
@@ -0,0 +1 @@
+/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2/ament_cmake_environment_hooks/path.dsv
\ No newline at end of file
diff --git a/robobin_final/install/sllidar_ros2/share/sllidar_ros2/environment/path.sh b/robobin_final/install/sllidar_ros2/share/sllidar_ros2/environment/path.sh
new file mode 120000
index 00000000..b8115aad
--- /dev/null
+++ b/robobin_final/install/sllidar_ros2/share/sllidar_ros2/environment/path.sh
@@ -0,0 +1 @@
+/opt/ros/jazzy/share/ament_cmake_core/cmake/environment_hooks/environment/path.sh
\ No newline at end of file
diff --git a/robobin_final/install/sllidar_ros2/share/sllidar_ros2/hook/cmake_prefix_path.dsv b/robobin_final/install/sllidar_ros2/share/sllidar_ros2/hook/cmake_prefix_path.dsv
new file mode 100644
index 00000000..e119f32c
--- /dev/null
+++ b/robobin_final/install/sllidar_ros2/share/sllidar_ros2/hook/cmake_prefix_path.dsv
@@ -0,0 +1 @@
+prepend-non-duplicate;CMAKE_PREFIX_PATH;
diff --git a/robobin_final/install/sllidar_ros2/share/sllidar_ros2/hook/cmake_prefix_path.ps1 b/robobin_final/install/sllidar_ros2/share/sllidar_ros2/hook/cmake_prefix_path.ps1
new file mode 100644
index 00000000..d03facc1
--- /dev/null
+++ b/robobin_final/install/sllidar_ros2/share/sllidar_ros2/hook/cmake_prefix_path.ps1
@@ -0,0 +1,3 @@
+# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em
+
+colcon_prepend_unique_value CMAKE_PREFIX_PATH "$env:COLCON_CURRENT_PREFIX"
diff --git a/robobin_final/install/sllidar_ros2/share/sllidar_ros2/hook/cmake_prefix_path.sh b/robobin_final/install/sllidar_ros2/share/sllidar_ros2/hook/cmake_prefix_path.sh
new file mode 100644
index 00000000..a948e685
--- /dev/null
+++ b/robobin_final/install/sllidar_ros2/share/sllidar_ros2/hook/cmake_prefix_path.sh
@@ -0,0 +1,3 @@
+# generated from colcon_core/shell/template/hook_prepend_value.sh.em
+
+_colcon_prepend_unique_value CMAKE_PREFIX_PATH "$COLCON_CURRENT_PREFIX"
diff --git a/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_a1_launch.py b/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_a1_launch.py
new file mode 120000
index 00000000..f3825ead
--- /dev/null
+++ b/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_a1_launch.py
@@ -0,0 +1 @@
+/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/launch/sllidar_a1_launch.py
\ No newline at end of file
diff --git a/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_a2m12_launch .py b/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_a2m12_launch .py
new file mode 120000
index 00000000..b4c1efc8
--- /dev/null
+++ b/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_a2m12_launch .py
@@ -0,0 +1 @@
+/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/launch/sllidar_a2m12_launch .py
\ No newline at end of file
diff --git a/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_a2m7_launch.py b/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_a2m7_launch.py
new file mode 120000
index 00000000..fba36856
--- /dev/null
+++ b/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_a2m7_launch.py
@@ -0,0 +1 @@
+/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/launch/sllidar_a2m7_launch.py
\ No newline at end of file
diff --git a/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_a2m8_launch.py b/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_a2m8_launch.py
new file mode 120000
index 00000000..0a298fc8
--- /dev/null
+++ b/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_a2m8_launch.py
@@ -0,0 +1 @@
+/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/launch/sllidar_a2m8_launch.py
\ No newline at end of file
diff --git a/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_a3_launch.py b/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_a3_launch.py
new file mode 120000
index 00000000..dc6090d7
--- /dev/null
+++ b/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_a3_launch.py
@@ -0,0 +1 @@
+/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/launch/sllidar_a3_launch.py
\ No newline at end of file
diff --git a/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_c1_launch.py b/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_c1_launch.py
new file mode 120000
index 00000000..ce0dc6ba
--- /dev/null
+++ b/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_c1_launch.py
@@ -0,0 +1 @@
+/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/launch/sllidar_c1_launch.py
\ No newline at end of file
diff --git a/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_s1_launch.py b/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_s1_launch.py
new file mode 120000
index 00000000..0d0c7606
--- /dev/null
+++ b/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_s1_launch.py
@@ -0,0 +1 @@
+/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/launch/sllidar_s1_launch.py
\ No newline at end of file
diff --git a/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_s1_tcp_launch.py b/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_s1_tcp_launch.py
new file mode 120000
index 00000000..b42a9548
--- /dev/null
+++ b/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_s1_tcp_launch.py
@@ -0,0 +1 @@
+/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/launch/sllidar_s1_tcp_launch.py
\ No newline at end of file
diff --git a/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_s2_launch.py b/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_s2_launch.py
new file mode 120000
index 00000000..11408fbc
--- /dev/null
+++ b/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_s2_launch.py
@@ -0,0 +1 @@
+/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/launch/sllidar_s2_launch.py
\ No newline at end of file
diff --git a/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_s2e_launch.py b/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_s2e_launch.py
new file mode 120000
index 00000000..c09505f3
--- /dev/null
+++ b/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_s2e_launch.py
@@ -0,0 +1 @@
+/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/launch/sllidar_s2e_launch.py
\ No newline at end of file
diff --git a/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_s3_launch.py b/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_s3_launch.py
new file mode 120000
index 00000000..b4f4c6a5
--- /dev/null
+++ b/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_s3_launch.py
@@ -0,0 +1 @@
+/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/launch/sllidar_s3_launch.py
\ No newline at end of file
diff --git a/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_t1_launch.py b/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_t1_launch.py
new file mode 120000
index 00000000..5bff63b0
--- /dev/null
+++ b/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_t1_launch.py
@@ -0,0 +1 @@
+/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/launch/sllidar_t1_launch.py
\ No newline at end of file
diff --git a/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_a1_launch.py b/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_a1_launch.py
new file mode 120000
index 00000000..e49354fe
--- /dev/null
+++ b/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_a1_launch.py
@@ -0,0 +1 @@
+/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/launch/view_sllidar_a1_launch.py
\ No newline at end of file
diff --git a/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_a2m12_launch.py b/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_a2m12_launch.py
new file mode 120000
index 00000000..480b5b4e
--- /dev/null
+++ b/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_a2m12_launch.py
@@ -0,0 +1 @@
+/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/launch/view_sllidar_a2m12_launch.py
\ No newline at end of file
diff --git a/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_a2m7_launch.py b/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_a2m7_launch.py
new file mode 120000
index 00000000..9d40c4ac
--- /dev/null
+++ b/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_a2m7_launch.py
@@ -0,0 +1 @@
+/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/launch/view_sllidar_a2m7_launch.py
\ No newline at end of file
diff --git a/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_a2m8_launch.py b/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_a2m8_launch.py
new file mode 120000
index 00000000..bfa1b6a9
--- /dev/null
+++ b/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_a2m8_launch.py
@@ -0,0 +1 @@
+/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/launch/view_sllidar_a2m8_launch.py
\ No newline at end of file
diff --git a/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_a3_launch.py b/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_a3_launch.py
new file mode 120000
index 00000000..559da18f
--- /dev/null
+++ b/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_a3_launch.py
@@ -0,0 +1 @@
+/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/launch/view_sllidar_a3_launch.py
\ No newline at end of file
diff --git a/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_c1_launch.py b/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_c1_launch.py
new file mode 120000
index 00000000..d6365a00
--- /dev/null
+++ b/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_c1_launch.py
@@ -0,0 +1 @@
+/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/launch/view_sllidar_c1_launch.py
\ No newline at end of file
diff --git a/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_s1_launch.py b/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_s1_launch.py
new file mode 120000
index 00000000..c7f27711
--- /dev/null
+++ b/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_s1_launch.py
@@ -0,0 +1 @@
+/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/launch/view_sllidar_s1_launch.py
\ No newline at end of file
diff --git a/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_s1_tcp_launch.py b/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_s1_tcp_launch.py
new file mode 120000
index 00000000..42c44971
--- /dev/null
+++ b/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_s1_tcp_launch.py
@@ -0,0 +1 @@
+/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/launch/view_sllidar_s1_tcp_launch.py
\ No newline at end of file
diff --git a/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_s2_launch.py b/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_s2_launch.py
new file mode 120000
index 00000000..b1d2a37a
--- /dev/null
+++ b/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_s2_launch.py
@@ -0,0 +1 @@
+/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/launch/view_sllidar_s2_launch.py
\ No newline at end of file
diff --git a/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_s2e_launch.py b/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_s2e_launch.py
new file mode 120000
index 00000000..2cf2ebfe
--- /dev/null
+++ b/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_s2e_launch.py
@@ -0,0 +1 @@
+/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/launch/view_sllidar_s2e_launch.py
\ No newline at end of file
diff --git a/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_s3_launch.py b/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_s3_launch.py
new file mode 120000
index 00000000..3d28ffb0
--- /dev/null
+++ b/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_s3_launch.py
@@ -0,0 +1 @@
+/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/launch/view_sllidar_s3_launch.py
\ No newline at end of file
diff --git a/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_t1_launch.py b/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_t1_launch.py
new file mode 120000
index 00000000..5aecfb56
--- /dev/null
+++ b/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_t1_launch.py
@@ -0,0 +1 @@
+/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/launch/view_sllidar_t1_launch.py
\ No newline at end of file
diff --git a/robobin_final/install/sllidar_ros2/share/sllidar_ros2/local_setup.bash b/robobin_final/install/sllidar_ros2/share/sllidar_ros2/local_setup.bash
new file mode 120000
index 00000000..78d7490c
--- /dev/null
+++ b/robobin_final/install/sllidar_ros2/share/sllidar_ros2/local_setup.bash
@@ -0,0 +1 @@
+/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2/ament_cmake_environment_hooks/local_setup.bash
\ No newline at end of file
diff --git a/robobin_final/install/sllidar_ros2/share/sllidar_ros2/local_setup.dsv b/robobin_final/install/sllidar_ros2/share/sllidar_ros2/local_setup.dsv
new file mode 120000
index 00000000..2b273c2d
--- /dev/null
+++ b/robobin_final/install/sllidar_ros2/share/sllidar_ros2/local_setup.dsv
@@ -0,0 +1 @@
+/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2/ament_cmake_environment_hooks/local_setup.dsv
\ No newline at end of file
diff --git a/robobin_final/install/sllidar_ros2/share/sllidar_ros2/local_setup.sh b/robobin_final/install/sllidar_ros2/share/sllidar_ros2/local_setup.sh
new file mode 120000
index 00000000..e64342fd
--- /dev/null
+++ b/robobin_final/install/sllidar_ros2/share/sllidar_ros2/local_setup.sh
@@ -0,0 +1 @@
+/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2/ament_cmake_environment_hooks/local_setup.sh
\ No newline at end of file
diff --git a/robobin_final/install/sllidar_ros2/share/sllidar_ros2/local_setup.zsh b/robobin_final/install/sllidar_ros2/share/sllidar_ros2/local_setup.zsh
new file mode 120000
index 00000000..928a325a
--- /dev/null
+++ b/robobin_final/install/sllidar_ros2/share/sllidar_ros2/local_setup.zsh
@@ -0,0 +1 @@
+/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2/ament_cmake_environment_hooks/local_setup.zsh
\ No newline at end of file
diff --git a/robobin_final/install/sllidar_ros2/share/sllidar_ros2/package.bash b/robobin_final/install/sllidar_ros2/share/sllidar_ros2/package.bash
new file mode 100644
index 00000000..0b956c5b
--- /dev/null
+++ b/robobin_final/install/sllidar_ros2/share/sllidar_ros2/package.bash
@@ -0,0 +1,39 @@
+# generated from colcon_bash/shell/template/package.bash.em
+
+# This script extends the environment for this package.
+
+# a bash script is able to determine its own path if necessary
+if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+ # the prefix is two levels up from the package specific share directory
+ _colcon_package_bash_COLCON_CURRENT_PREFIX="$(builtin cd "`dirname "${BASH_SOURCE[0]}"`/../.." > /dev/null && pwd)"
+else
+ _colcon_package_bash_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+fi
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+# additional arguments: arguments to the script
+_colcon_package_bash_source_script() {
+ if [ -f "$1" ]; then
+ if [ -n "$COLCON_TRACE" ]; then
+ echo "# . \"$1\""
+ fi
+ . "$@"
+ else
+ echo "not found: \"$1\"" 1>&2
+ fi
+}
+
+# source sh script of this package
+_colcon_package_bash_source_script "$_colcon_package_bash_COLCON_CURRENT_PREFIX/share/sllidar_ros2/package.sh"
+
+# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced scripts
+COLCON_CURRENT_PREFIX="$_colcon_package_bash_COLCON_CURRENT_PREFIX"
+
+# source bash hooks
+_colcon_package_bash_source_script "$COLCON_CURRENT_PREFIX/share/sllidar_ros2/local_setup.bash"
+
+unset COLCON_CURRENT_PREFIX
+
+unset _colcon_package_bash_source_script
+unset _colcon_package_bash_COLCON_CURRENT_PREFIX
diff --git a/robobin_final/install/sllidar_ros2/share/sllidar_ros2/package.dsv b/robobin_final/install/sllidar_ros2/share/sllidar_ros2/package.dsv
new file mode 100644
index 00000000..6647ff49
--- /dev/null
+++ b/robobin_final/install/sllidar_ros2/share/sllidar_ros2/package.dsv
@@ -0,0 +1,8 @@
+source;share/sllidar_ros2/hook/cmake_prefix_path.ps1
+source;share/sllidar_ros2/hook/cmake_prefix_path.dsv
+source;share/sllidar_ros2/hook/cmake_prefix_path.sh
+source;share/sllidar_ros2/local_setup.bash
+source;share/sllidar_ros2/local_setup.dsv
+source;share/sllidar_ros2/local_setup.ps1
+source;share/sllidar_ros2/local_setup.sh
+source;share/sllidar_ros2/local_setup.zsh
diff --git a/robobin_final/install/sllidar_ros2/share/sllidar_ros2/package.ps1 b/robobin_final/install/sllidar_ros2/share/sllidar_ros2/package.ps1
new file mode 100644
index 00000000..4d93191c
--- /dev/null
+++ b/robobin_final/install/sllidar_ros2/share/sllidar_ros2/package.ps1
@@ -0,0 +1,116 @@
+# generated from colcon_powershell/shell/template/package.ps1.em
+
+# function to append a value to a variable
+# which uses colons as separators
+# duplicates as well as leading separators are avoided
+# first argument: the name of the result variable
+# second argument: the value to be prepended
+function colcon_append_unique_value {
+ param (
+ $_listname,
+ $_value
+ )
+
+ # get values from variable
+ if (Test-Path Env:$_listname) {
+ $_values=(Get-Item env:$_listname).Value
+ } else {
+ $_values=""
+ }
+ $_duplicate=""
+ # start with no values
+ $_all_values=""
+ # iterate over existing values in the variable
+ if ($_values) {
+ $_values.Split(";") | ForEach {
+ # not an empty string
+ if ($_) {
+ # not a duplicate of _value
+ if ($_ -eq $_value) {
+ $_duplicate="1"
+ }
+ if ($_all_values) {
+ $_all_values="${_all_values};$_"
+ } else {
+ $_all_values="$_"
+ }
+ }
+ }
+ }
+ # append only non-duplicates
+ if (!$_duplicate) {
+ # avoid leading separator
+ if ($_all_values) {
+ $_all_values="${_all_values};${_value}"
+ } else {
+ $_all_values="${_value}"
+ }
+ }
+
+ # export the updated variable
+ Set-Item env:\$_listname -Value "$_all_values"
+}
+
+# function to prepend a value to a variable
+# which uses colons as separators
+# duplicates as well as trailing separators are avoided
+# first argument: the name of the result variable
+# second argument: the value to be prepended
+function colcon_prepend_unique_value {
+ param (
+ $_listname,
+ $_value
+ )
+
+ # get values from variable
+ if (Test-Path Env:$_listname) {
+ $_values=(Get-Item env:$_listname).Value
+ } else {
+ $_values=""
+ }
+ # start with the new value
+ $_all_values="$_value"
+ # iterate over existing values in the variable
+ if ($_values) {
+ $_values.Split(";") | ForEach {
+ # not an empty string
+ if ($_) {
+ # not a duplicate of _value
+ if ($_ -ne $_value) {
+ # keep non-duplicate values
+ $_all_values="${_all_values};$_"
+ }
+ }
+ }
+ }
+ # export the updated variable
+ Set-Item env:\$_listname -Value "$_all_values"
+}
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+# additional arguments: arguments to the script
+function colcon_package_source_powershell_script {
+ param (
+ $_colcon_package_source_powershell_script
+ )
+ # source script with conditional trace output
+ if (Test-Path $_colcon_package_source_powershell_script) {
+ if ($env:COLCON_TRACE) {
+ echo ". '$_colcon_package_source_powershell_script'"
+ }
+ . "$_colcon_package_source_powershell_script"
+ } else {
+ Write-Error "not found: '$_colcon_package_source_powershell_script'"
+ }
+}
+
+
+# a powershell script is able to determine its own path
+# the prefix is two levels up from the package specific share directory
+$env:COLCON_CURRENT_PREFIX=(Get-Item $PSCommandPath).Directory.Parent.Parent.FullName
+
+colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX\share/sllidar_ros2/hook/cmake_prefix_path.ps1"
+colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX\share/sllidar_ros2/local_setup.ps1"
+
+Remove-Item Env:\COLCON_CURRENT_PREFIX
diff --git a/robobin_final/install/sllidar_ros2/share/sllidar_ros2/package.sh b/robobin_final/install/sllidar_ros2/share/sllidar_ros2/package.sh
new file mode 100644
index 00000000..706d8d86
--- /dev/null
+++ b/robobin_final/install/sllidar_ros2/share/sllidar_ros2/package.sh
@@ -0,0 +1,87 @@
+# generated from colcon_core/shell/template/package.sh.em
+
+# This script extends the environment for this package.
+
+# function to prepend a value to a variable
+# which uses colons as separators
+# duplicates as well as trailing separators are avoided
+# first argument: the name of the result variable
+# second argument: the value to be prepended
+_colcon_prepend_unique_value() {
+ # arguments
+ _listname="$1"
+ _value="$2"
+
+ # get values from variable
+ eval _values=\"\$$_listname\"
+ # backup the field separator
+ _colcon_prepend_unique_value_IFS=$IFS
+ IFS=":"
+ # start with the new value
+ _all_values="$_value"
+ # workaround SH_WORD_SPLIT not being set in zsh
+ if [ "$(command -v colcon_zsh_convert_to_array)" ]; then
+ colcon_zsh_convert_to_array _values
+ fi
+ # iterate over existing values in the variable
+ for _item in $_values; do
+ # ignore empty strings
+ if [ -z "$_item" ]; then
+ continue
+ fi
+ # ignore duplicates of _value
+ if [ "$_item" = "$_value" ]; then
+ continue
+ fi
+ # keep non-duplicate values
+ _all_values="$_all_values:$_item"
+ done
+ unset _item
+ # restore the field separator
+ IFS=$_colcon_prepend_unique_value_IFS
+ unset _colcon_prepend_unique_value_IFS
+ # export the updated variable
+ eval export $_listname=\"$_all_values\"
+ unset _all_values
+ unset _values
+
+ unset _value
+ unset _listname
+}
+
+# since a plain shell script can't determine its own path when being sourced
+# either use the provided COLCON_CURRENT_PREFIX
+# or fall back to the build time prefix (if it exists)
+_colcon_package_sh_COLCON_CURRENT_PREFIX="/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2"
+if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+ if [ ! -d "$_colcon_package_sh_COLCON_CURRENT_PREFIX" ]; then
+ echo "The build time path \"$_colcon_package_sh_COLCON_CURRENT_PREFIX\" doesn't exist. Either source a script for a different shell or set the environment variable \"COLCON_CURRENT_PREFIX\" explicitly." 1>&2
+ unset _colcon_package_sh_COLCON_CURRENT_PREFIX
+ return 1
+ fi
+ COLCON_CURRENT_PREFIX="$_colcon_package_sh_COLCON_CURRENT_PREFIX"
+fi
+unset _colcon_package_sh_COLCON_CURRENT_PREFIX
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+# additional arguments: arguments to the script
+_colcon_package_sh_source_script() {
+ if [ -f "$1" ]; then
+ if [ -n "$COLCON_TRACE" ]; then
+ echo "# . \"$1\""
+ fi
+ . "$@"
+ else
+ echo "not found: \"$1\"" 1>&2
+ fi
+}
+
+# source sh hooks
+_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/sllidar_ros2/hook/cmake_prefix_path.sh"
+_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/sllidar_ros2/local_setup.sh"
+
+unset _colcon_package_sh_source_script
+unset COLCON_CURRENT_PREFIX
+
+# do not unset _colcon_prepend_unique_value since it might be used by non-primary shell hooks
diff --git a/robobin_final/install/sllidar_ros2/share/sllidar_ros2/package.xml b/robobin_final/install/sllidar_ros2/share/sllidar_ros2/package.xml
new file mode 120000
index 00000000..4b81f4c0
--- /dev/null
+++ b/robobin_final/install/sllidar_ros2/share/sllidar_ros2/package.xml
@@ -0,0 +1 @@
+/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/package.xml
\ No newline at end of file
diff --git a/robobin_final/install/sllidar_ros2/share/sllidar_ros2/package.zsh b/robobin_final/install/sllidar_ros2/share/sllidar_ros2/package.zsh
new file mode 100644
index 00000000..5cbb9cf4
--- /dev/null
+++ b/robobin_final/install/sllidar_ros2/share/sllidar_ros2/package.zsh
@@ -0,0 +1,50 @@
+# generated from colcon_zsh/shell/template/package.zsh.em
+
+# This script extends the environment for this package.
+
+# a zsh script is able to determine its own path if necessary
+if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+ # the prefix is two levels up from the package specific share directory
+ _colcon_package_zsh_COLCON_CURRENT_PREFIX="$(builtin cd -q "`dirname "${(%):-%N}"`/../.." > /dev/null && pwd)"
+else
+ _colcon_package_zsh_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+fi
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+# additional arguments: arguments to the script
+_colcon_package_zsh_source_script() {
+ if [ -f "$1" ]; then
+ if [ -n "$COLCON_TRACE" ]; then
+ echo "# . \"$1\""
+ fi
+ . "$@"
+ else
+ echo "not found: \"$1\"" 1>&2
+ fi
+}
+
+# function to convert array-like strings into arrays
+# to workaround SH_WORD_SPLIT not being set
+colcon_zsh_convert_to_array() {
+ local _listname=$1
+ local _dollar="$"
+ local _split="{="
+ local _to_array="(\"$_dollar$_split$_listname}\")"
+ eval $_listname=$_to_array
+}
+
+# source sh script of this package
+_colcon_package_zsh_source_script "$_colcon_package_zsh_COLCON_CURRENT_PREFIX/share/sllidar_ros2/package.sh"
+unset convert_zsh_to_array
+
+# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced scripts
+COLCON_CURRENT_PREFIX="$_colcon_package_zsh_COLCON_CURRENT_PREFIX"
+
+# source zsh hooks
+_colcon_package_zsh_source_script "$COLCON_CURRENT_PREFIX/share/sllidar_ros2/local_setup.zsh"
+
+unset COLCON_CURRENT_PREFIX
+
+unset _colcon_package_zsh_source_script
+unset _colcon_package_zsh_COLCON_CURRENT_PREFIX
diff --git a/robobin_final/install/sllidar_ros2/share/sllidar_ros2/rviz/sllidar_ros2.rviz b/robobin_final/install/sllidar_ros2/share/sllidar_ros2/rviz/sllidar_ros2.rviz
new file mode 120000
index 00000000..c651abae
--- /dev/null
+++ b/robobin_final/install/sllidar_ros2/share/sllidar_ros2/rviz/sllidar_ros2.rviz
@@ -0,0 +1 @@
+/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/rviz/sllidar_ros2.rviz
\ No newline at end of file
diff --git a/robobin_final/install/super_robot/lib/python3.12/site-packages/super-robot.egg-link b/robobin_final/install/super_robot/lib/python3.12/site-packages/super-robot.egg-link
new file mode 100644
index 00000000..838b8d1e
--- /dev/null
+++ b/robobin_final/install/super_robot/lib/python3.12/site-packages/super-robot.egg-link
@@ -0,0 +1,2 @@
+/home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot
+.
\ No newline at end of file
diff --git a/robobin_final/install/super_robot/lib/super_robot/odometry_node b/robobin_final/install/super_robot/lib/super_robot/odometry_node
new file mode 100755
index 00000000..88cec175
--- /dev/null
+++ b/robobin_final/install/super_robot/lib/super_robot/odometry_node
@@ -0,0 +1,33 @@
+#!/usr/bin/python3
+# EASY-INSTALL-ENTRY-SCRIPT: 'super-robot','console_scripts','odometry_node'
+import re
+import sys
+
+# for compatibility with easy_install; see #2198
+__requires__ = 'super-robot'
+
+try:
+ from importlib.metadata import distribution
+except ImportError:
+ try:
+ from importlib_metadata import distribution
+ except ImportError:
+ from pkg_resources import load_entry_point
+
+
+def importlib_load_entry_point(spec, group, name):
+ dist_name, _, _ = spec.partition('==')
+ matches = (
+ entry_point
+ for entry_point in distribution(dist_name).entry_points
+ if entry_point.group == group and entry_point.name == name
+ )
+ return next(matches).load()
+
+
+globals().setdefault('load_entry_point', importlib_load_entry_point)
+
+
+if __name__ == '__main__':
+ sys.argv[0] = re.sub(r'(-script\.pyw?|\.exe)?$', '', sys.argv[0])
+ sys.exit(load_entry_point('super-robot', 'console_scripts', 'odometry_node')())
diff --git a/robobin_final/install/super_robot/lib/super_robot/test_control_feedback b/robobin_final/install/super_robot/lib/super_robot/test_control_feedback
new file mode 100755
index 00000000..a6f72224
--- /dev/null
+++ b/robobin_final/install/super_robot/lib/super_robot/test_control_feedback
@@ -0,0 +1,33 @@
+#!/usr/bin/python3
+# EASY-INSTALL-ENTRY-SCRIPT: 'super-robot','console_scripts','test_control_feedback'
+import re
+import sys
+
+# for compatibility with easy_install; see #2198
+__requires__ = 'super-robot'
+
+try:
+ from importlib.metadata import distribution
+except ImportError:
+ try:
+ from importlib_metadata import distribution
+ except ImportError:
+ from pkg_resources import load_entry_point
+
+
+def importlib_load_entry_point(spec, group, name):
+ dist_name, _, _ = spec.partition('==')
+ matches = (
+ entry_point
+ for entry_point in distribution(dist_name).entry_points
+ if entry_point.group == group and entry_point.name == name
+ )
+ return next(matches).load()
+
+
+globals().setdefault('load_entry_point', importlib_load_entry_point)
+
+
+if __name__ == '__main__':
+ sys.argv[0] = re.sub(r'(-script\.pyw?|\.exe)?$', '', sys.argv[0])
+ sys.exit(load_entry_point('super-robot', 'console_scripts', 'test_control_feedback')())
diff --git a/robobin_final/install/super_robot/lib/super_robot/test_encoder_node b/robobin_final/install/super_robot/lib/super_robot/test_encoder_node
new file mode 100755
index 00000000..ad72d835
--- /dev/null
+++ b/robobin_final/install/super_robot/lib/super_robot/test_encoder_node
@@ -0,0 +1,33 @@
+#!/usr/bin/python3
+# EASY-INSTALL-ENTRY-SCRIPT: 'super-robot','console_scripts','test_encoder_node'
+import re
+import sys
+
+# for compatibility with easy_install; see #2198
+__requires__ = 'super-robot'
+
+try:
+ from importlib.metadata import distribution
+except ImportError:
+ try:
+ from importlib_metadata import distribution
+ except ImportError:
+ from pkg_resources import load_entry_point
+
+
+def importlib_load_entry_point(spec, group, name):
+ dist_name, _, _ = spec.partition('==')
+ matches = (
+ entry_point
+ for entry_point in distribution(dist_name).entry_points
+ if entry_point.group == group and entry_point.name == name
+ )
+ return next(matches).load()
+
+
+globals().setdefault('load_entry_point', importlib_load_entry_point)
+
+
+if __name__ == '__main__':
+ sys.argv[0] = re.sub(r'(-script\.pyw?|\.exe)?$', '', sys.argv[0])
+ sys.exit(load_entry_point('super-robot', 'console_scripts', 'test_encoder_node')())
diff --git a/robobin_final/install/super_robot/lib/super_robot/test_imu_node b/robobin_final/install/super_robot/lib/super_robot/test_imu_node
new file mode 100755
index 00000000..4fca5e9a
--- /dev/null
+++ b/robobin_final/install/super_robot/lib/super_robot/test_imu_node
@@ -0,0 +1,33 @@
+#!/usr/bin/python3
+# EASY-INSTALL-ENTRY-SCRIPT: 'super-robot','console_scripts','test_imu_node'
+import re
+import sys
+
+# for compatibility with easy_install; see #2198
+__requires__ = 'super-robot'
+
+try:
+ from importlib.metadata import distribution
+except ImportError:
+ try:
+ from importlib_metadata import distribution
+ except ImportError:
+ from pkg_resources import load_entry_point
+
+
+def importlib_load_entry_point(spec, group, name):
+ dist_name, _, _ = spec.partition('==')
+ matches = (
+ entry_point
+ for entry_point in distribution(dist_name).entry_points
+ if entry_point.group == group and entry_point.name == name
+ )
+ return next(matches).load()
+
+
+globals().setdefault('load_entry_point', importlib_load_entry_point)
+
+
+if __name__ == '__main__':
+ sys.argv[0] = re.sub(r'(-script\.pyw?|\.exe)?$', '', sys.argv[0])
+ sys.exit(load_entry_point('super-robot', 'console_scripts', 'test_imu_node')())
diff --git a/robobin_final/install/super_robot/lib/super_robot/test_motor_node b/robobin_final/install/super_robot/lib/super_robot/test_motor_node
new file mode 100755
index 00000000..df1e9b4e
--- /dev/null
+++ b/robobin_final/install/super_robot/lib/super_robot/test_motor_node
@@ -0,0 +1,33 @@
+#!/usr/bin/python3
+# EASY-INSTALL-ENTRY-SCRIPT: 'super-robot','console_scripts','test_motor_node'
+import re
+import sys
+
+# for compatibility with easy_install; see #2198
+__requires__ = 'super-robot'
+
+try:
+ from importlib.metadata import distribution
+except ImportError:
+ try:
+ from importlib_metadata import distribution
+ except ImportError:
+ from pkg_resources import load_entry_point
+
+
+def importlib_load_entry_point(spec, group, name):
+ dist_name, _, _ = spec.partition('==')
+ matches = (
+ entry_point
+ for entry_point in distribution(dist_name).entry_points
+ if entry_point.group == group and entry_point.name == name
+ )
+ return next(matches).load()
+
+
+globals().setdefault('load_entry_point', importlib_load_entry_point)
+
+
+if __name__ == '__main__':
+ sys.argv[0] = re.sub(r'(-script\.pyw?|\.exe)?$', '', sys.argv[0])
+ sys.exit(load_entry_point('super-robot', 'console_scripts', 'test_motor_node')())
diff --git a/robobin_final/install/super_robot/lib/super_robot/test_route b/robobin_final/install/super_robot/lib/super_robot/test_route
new file mode 100755
index 00000000..b84899d8
--- /dev/null
+++ b/robobin_final/install/super_robot/lib/super_robot/test_route
@@ -0,0 +1,33 @@
+#!/usr/bin/python3
+# EASY-INSTALL-ENTRY-SCRIPT: 'super-robot','console_scripts','test_route'
+import re
+import sys
+
+# for compatibility with easy_install; see #2198
+__requires__ = 'super-robot'
+
+try:
+ from importlib.metadata import distribution
+except ImportError:
+ try:
+ from importlib_metadata import distribution
+ except ImportError:
+ from pkg_resources import load_entry_point
+
+
+def importlib_load_entry_point(spec, group, name):
+ dist_name, _, _ = spec.partition('==')
+ matches = (
+ entry_point
+ for entry_point in distribution(dist_name).entry_points
+ if entry_point.group == group and entry_point.name == name
+ )
+ return next(matches).load()
+
+
+globals().setdefault('load_entry_point', importlib_load_entry_point)
+
+
+if __name__ == '__main__':
+ sys.argv[0] = re.sub(r'(-script\.pyw?|\.exe)?$', '', sys.argv[0])
+ sys.exit(load_entry_point('super-robot', 'console_scripts', 'test_route')())
diff --git a/robobin_final/install/super_robot/lib/super_robot/test_route_filter b/robobin_final/install/super_robot/lib/super_robot/test_route_filter
new file mode 100755
index 00000000..ac197409
--- /dev/null
+++ b/robobin_final/install/super_robot/lib/super_robot/test_route_filter
@@ -0,0 +1,33 @@
+#!/usr/bin/python3
+# EASY-INSTALL-ENTRY-SCRIPT: 'super-robot','console_scripts','test_route_filter'
+import re
+import sys
+
+# for compatibility with easy_install; see #2198
+__requires__ = 'super-robot'
+
+try:
+ from importlib.metadata import distribution
+except ImportError:
+ try:
+ from importlib_metadata import distribution
+ except ImportError:
+ from pkg_resources import load_entry_point
+
+
+def importlib_load_entry_point(spec, group, name):
+ dist_name, _, _ = spec.partition('==')
+ matches = (
+ entry_point
+ for entry_point in distribution(dist_name).entry_points
+ if entry_point.group == group and entry_point.name == name
+ )
+ return next(matches).load()
+
+
+globals().setdefault('load_entry_point', importlib_load_entry_point)
+
+
+if __name__ == '__main__':
+ sys.argv[0] = re.sub(r'(-script\.pyw?|\.exe)?$', '', sys.argv[0])
+ sys.exit(load_entry_point('super-robot', 'console_scripts', 'test_route_filter')())
diff --git a/robobin_final/install/super_robot/share/ament_index/resource_index/packages/super_robot b/robobin_final/install/super_robot/share/ament_index/resource_index/packages/super_robot
new file mode 120000
index 00000000..cde33d52
--- /dev/null
+++ b/robobin_final/install/super_robot/share/ament_index/resource_index/packages/super_robot
@@ -0,0 +1 @@
+/home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/resource/super_robot
\ No newline at end of file
diff --git a/robobin_final/install/super_robot/share/colcon-core/packages/super_robot b/robobin_final/install/super_robot/share/colcon-core/packages/super_robot
new file mode 100644
index 00000000..c5a81da4
--- /dev/null
+++ b/robobin_final/install/super_robot/share/colcon-core/packages/super_robot
@@ -0,0 +1 @@
+geometry_msgs:launch:launch_ros:nav_msgs:python3-gpiozero:python3-smbus:rclpy:robot_localization:robot_state_publisher:rviz2:sensor_msgs:std_msgs:std_srvs:tf2_ros:tf_transformations
\ No newline at end of file
diff --git a/robobin_final/install/super_robot/share/super_robot/config/ekf.yaml b/robobin_final/install/super_robot/share/super_robot/config/ekf.yaml
new file mode 120000
index 00000000..e2dbe18e
--- /dev/null
+++ b/robobin_final/install/super_robot/share/super_robot/config/ekf.yaml
@@ -0,0 +1 @@
+/home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/config/ekf.yaml
\ No newline at end of file
diff --git a/robobin_final/install/super_robot/share/super_robot/config/robot.urdf b/robobin_final/install/super_robot/share/super_robot/config/robot.urdf
new file mode 120000
index 00000000..66fb66f4
--- /dev/null
+++ b/robobin_final/install/super_robot/share/super_robot/config/robot.urdf
@@ -0,0 +1 @@
+/home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/config/robot.urdf
\ No newline at end of file
diff --git a/robobin_final/install/super_robot/share/super_robot/config/scan_filter.yaml b/robobin_final/install/super_robot/share/super_robot/config/scan_filter.yaml
new file mode 120000
index 00000000..3214e8ce
--- /dev/null
+++ b/robobin_final/install/super_robot/share/super_robot/config/scan_filter.yaml
@@ -0,0 +1 @@
+/home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/config/scan_filter.yaml
\ No newline at end of file
diff --git a/robobin_final/install/super_robot/share/super_robot/config/urdf_config.rviz b/robobin_final/install/super_robot/share/super_robot/config/urdf_config.rviz
new file mode 120000
index 00000000..c99db83c
--- /dev/null
+++ b/robobin_final/install/super_robot/share/super_robot/config/urdf_config.rviz
@@ -0,0 +1 @@
+/home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/config/urdf_config.rviz
\ No newline at end of file
diff --git a/robobin_final/install/super_robot/share/super_robot/hook/ament_prefix_path.dsv b/robobin_final/install/super_robot/share/super_robot/hook/ament_prefix_path.dsv
new file mode 100644
index 00000000..79d4c95b
--- /dev/null
+++ b/robobin_final/install/super_robot/share/super_robot/hook/ament_prefix_path.dsv
@@ -0,0 +1 @@
+prepend-non-duplicate;AMENT_PREFIX_PATH;
diff --git a/robobin_final/install/super_robot/share/super_robot/hook/ament_prefix_path.ps1 b/robobin_final/install/super_robot/share/super_robot/hook/ament_prefix_path.ps1
new file mode 100644
index 00000000..26b99975
--- /dev/null
+++ b/robobin_final/install/super_robot/share/super_robot/hook/ament_prefix_path.ps1
@@ -0,0 +1,3 @@
+# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em
+
+colcon_prepend_unique_value AMENT_PREFIX_PATH "$env:COLCON_CURRENT_PREFIX"
diff --git a/robobin_final/install/super_robot/share/super_robot/hook/ament_prefix_path.sh b/robobin_final/install/super_robot/share/super_robot/hook/ament_prefix_path.sh
new file mode 100644
index 00000000..f3041f68
--- /dev/null
+++ b/robobin_final/install/super_robot/share/super_robot/hook/ament_prefix_path.sh
@@ -0,0 +1,3 @@
+# generated from colcon_core/shell/template/hook_prepend_value.sh.em
+
+_colcon_prepend_unique_value AMENT_PREFIX_PATH "$COLCON_CURRENT_PREFIX"
diff --git a/robobin_final/install/super_robot/share/super_robot/hook/pythonpath.dsv b/robobin_final/install/super_robot/share/super_robot/hook/pythonpath.dsv
new file mode 100644
index 00000000..c2ddcdb7
--- /dev/null
+++ b/robobin_final/install/super_robot/share/super_robot/hook/pythonpath.dsv
@@ -0,0 +1 @@
+prepend-non-duplicate;PYTHONPATH;lib/python3.12/site-packages
diff --git a/robobin_final/install/super_robot/share/super_robot/hook/pythonpath.ps1 b/robobin_final/install/super_robot/share/super_robot/hook/pythonpath.ps1
new file mode 100644
index 00000000..bdd69aff
--- /dev/null
+++ b/robobin_final/install/super_robot/share/super_robot/hook/pythonpath.ps1
@@ -0,0 +1,3 @@
+# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em
+
+colcon_prepend_unique_value PYTHONPATH "$env:COLCON_CURRENT_PREFIX\lib/python3.12/site-packages"
diff --git a/robobin_final/install/super_robot/share/super_robot/hook/pythonpath.sh b/robobin_final/install/super_robot/share/super_robot/hook/pythonpath.sh
new file mode 100644
index 00000000..45388fea
--- /dev/null
+++ b/robobin_final/install/super_robot/share/super_robot/hook/pythonpath.sh
@@ -0,0 +1,3 @@
+# generated from colcon_core/shell/template/hook_prepend_value.sh.em
+
+_colcon_prepend_unique_value PYTHONPATH "$COLCON_CURRENT_PREFIX/lib/python3.12/site-packages"
diff --git a/robobin_final/install/super_robot/share/super_robot/launch/ekf_launch.py b/robobin_final/install/super_robot/share/super_robot/launch/ekf_launch.py
new file mode 120000
index 00000000..ed9a29c1
--- /dev/null
+++ b/robobin_final/install/super_robot/share/super_robot/launch/ekf_launch.py
@@ -0,0 +1 @@
+/home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/launch/ekf_launch.py
\ No newline at end of file
diff --git a/robobin_final/install/super_robot/share/super_robot/launch/launch_lidar.py b/robobin_final/install/super_robot/share/super_robot/launch/launch_lidar.py
new file mode 120000
index 00000000..c0893541
--- /dev/null
+++ b/robobin_final/install/super_robot/share/super_robot/launch/launch_lidar.py
@@ -0,0 +1 @@
+/home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/launch/launch_lidar.py
\ No newline at end of file
diff --git a/robobin_final/install/super_robot/share/super_robot/launch/view_robot.py b/robobin_final/install/super_robot/share/super_robot/launch/view_robot.py
new file mode 120000
index 00000000..fdd95037
--- /dev/null
+++ b/robobin_final/install/super_robot/share/super_robot/launch/view_robot.py
@@ -0,0 +1 @@
+/home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/launch/view_robot.py
\ No newline at end of file
diff --git a/robobin_final/install/super_robot/share/super_robot/package.bash b/robobin_final/install/super_robot/share/super_robot/package.bash
new file mode 100644
index 00000000..4d7d3476
--- /dev/null
+++ b/robobin_final/install/super_robot/share/super_robot/package.bash
@@ -0,0 +1,31 @@
+# generated from colcon_bash/shell/template/package.bash.em
+
+# This script extends the environment for this package.
+
+# a bash script is able to determine its own path if necessary
+if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+ # the prefix is two levels up from the package specific share directory
+ _colcon_package_bash_COLCON_CURRENT_PREFIX="$(builtin cd "`dirname "${BASH_SOURCE[0]}"`/../.." > /dev/null && pwd)"
+else
+ _colcon_package_bash_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+fi
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+# additional arguments: arguments to the script
+_colcon_package_bash_source_script() {
+ if [ -f "$1" ]; then
+ if [ -n "$COLCON_TRACE" ]; then
+ echo "# . \"$1\""
+ fi
+ . "$@"
+ else
+ echo "not found: \"$1\"" 1>&2
+ fi
+}
+
+# source sh script of this package
+_colcon_package_bash_source_script "$_colcon_package_bash_COLCON_CURRENT_PREFIX/share/super_robot/package.sh"
+
+unset _colcon_package_bash_source_script
+unset _colcon_package_bash_COLCON_CURRENT_PREFIX
diff --git a/robobin_final/install/super_robot/share/super_robot/package.dsv b/robobin_final/install/super_robot/share/super_robot/package.dsv
new file mode 100644
index 00000000..de2183f5
--- /dev/null
+++ b/robobin_final/install/super_robot/share/super_robot/package.dsv
@@ -0,0 +1,9 @@
+source;share/super_robot/hook/pythonpath.ps1
+source;share/super_robot/hook/pythonpath.dsv
+source;share/super_robot/hook/pythonpath.sh
+source;share/super_robot/hook/ament_prefix_path.ps1
+source;share/super_robot/hook/ament_prefix_path.dsv
+source;share/super_robot/hook/ament_prefix_path.sh
+source;../../build/super_robot/share/super_robot/hook/pythonpath_develop.ps1
+source;../../build/super_robot/share/super_robot/hook/pythonpath_develop.dsv
+source;../../build/super_robot/share/super_robot/hook/pythonpath_develop.sh
diff --git a/robobin_final/install/super_robot/share/super_robot/package.ps1 b/robobin_final/install/super_robot/share/super_robot/package.ps1
new file mode 100644
index 00000000..585a2847
--- /dev/null
+++ b/robobin_final/install/super_robot/share/super_robot/package.ps1
@@ -0,0 +1,117 @@
+# generated from colcon_powershell/shell/template/package.ps1.em
+
+# function to append a value to a variable
+# which uses colons as separators
+# duplicates as well as leading separators are avoided
+# first argument: the name of the result variable
+# second argument: the value to be prepended
+function colcon_append_unique_value {
+ param (
+ $_listname,
+ $_value
+ )
+
+ # get values from variable
+ if (Test-Path Env:$_listname) {
+ $_values=(Get-Item env:$_listname).Value
+ } else {
+ $_values=""
+ }
+ $_duplicate=""
+ # start with no values
+ $_all_values=""
+ # iterate over existing values in the variable
+ if ($_values) {
+ $_values.Split(";") | ForEach {
+ # not an empty string
+ if ($_) {
+ # not a duplicate of _value
+ if ($_ -eq $_value) {
+ $_duplicate="1"
+ }
+ if ($_all_values) {
+ $_all_values="${_all_values};$_"
+ } else {
+ $_all_values="$_"
+ }
+ }
+ }
+ }
+ # append only non-duplicates
+ if (!$_duplicate) {
+ # avoid leading separator
+ if ($_all_values) {
+ $_all_values="${_all_values};${_value}"
+ } else {
+ $_all_values="${_value}"
+ }
+ }
+
+ # export the updated variable
+ Set-Item env:\$_listname -Value "$_all_values"
+}
+
+# function to prepend a value to a variable
+# which uses colons as separators
+# duplicates as well as trailing separators are avoided
+# first argument: the name of the result variable
+# second argument: the value to be prepended
+function colcon_prepend_unique_value {
+ param (
+ $_listname,
+ $_value
+ )
+
+ # get values from variable
+ if (Test-Path Env:$_listname) {
+ $_values=(Get-Item env:$_listname).Value
+ } else {
+ $_values=""
+ }
+ # start with the new value
+ $_all_values="$_value"
+ # iterate over existing values in the variable
+ if ($_values) {
+ $_values.Split(";") | ForEach {
+ # not an empty string
+ if ($_) {
+ # not a duplicate of _value
+ if ($_ -ne $_value) {
+ # keep non-duplicate values
+ $_all_values="${_all_values};$_"
+ }
+ }
+ }
+ }
+ # export the updated variable
+ Set-Item env:\$_listname -Value "$_all_values"
+}
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+# additional arguments: arguments to the script
+function colcon_package_source_powershell_script {
+ param (
+ $_colcon_package_source_powershell_script
+ )
+ # source script with conditional trace output
+ if (Test-Path $_colcon_package_source_powershell_script) {
+ if ($env:COLCON_TRACE) {
+ echo ". '$_colcon_package_source_powershell_script'"
+ }
+ . "$_colcon_package_source_powershell_script"
+ } else {
+ Write-Error "not found: '$_colcon_package_source_powershell_script'"
+ }
+}
+
+
+# a powershell script is able to determine its own path
+# the prefix is two levels up from the package specific share directory
+$env:COLCON_CURRENT_PREFIX=(Get-Item $PSCommandPath).Directory.Parent.Parent.FullName
+
+colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX\share/super_robot/hook/pythonpath.ps1"
+colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX\share/super_robot/hook/ament_prefix_path.ps1"
+colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX\../../build/super_robot/share/super_robot/hook/pythonpath_develop.ps1"
+
+Remove-Item Env:\COLCON_CURRENT_PREFIX
diff --git a/robobin_final/install/super_robot/share/super_robot/package.sh b/robobin_final/install/super_robot/share/super_robot/package.sh
new file mode 100644
index 00000000..a5526712
--- /dev/null
+++ b/robobin_final/install/super_robot/share/super_robot/package.sh
@@ -0,0 +1,88 @@
+# generated from colcon_core/shell/template/package.sh.em
+
+# This script extends the environment for this package.
+
+# function to prepend a value to a variable
+# which uses colons as separators
+# duplicates as well as trailing separators are avoided
+# first argument: the name of the result variable
+# second argument: the value to be prepended
+_colcon_prepend_unique_value() {
+ # arguments
+ _listname="$1"
+ _value="$2"
+
+ # get values from variable
+ eval _values=\"\$$_listname\"
+ # backup the field separator
+ _colcon_prepend_unique_value_IFS=$IFS
+ IFS=":"
+ # start with the new value
+ _all_values="$_value"
+ # workaround SH_WORD_SPLIT not being set in zsh
+ if [ "$(command -v colcon_zsh_convert_to_array)" ]; then
+ colcon_zsh_convert_to_array _values
+ fi
+ # iterate over existing values in the variable
+ for _item in $_values; do
+ # ignore empty strings
+ if [ -z "$_item" ]; then
+ continue
+ fi
+ # ignore duplicates of _value
+ if [ "$_item" = "$_value" ]; then
+ continue
+ fi
+ # keep non-duplicate values
+ _all_values="$_all_values:$_item"
+ done
+ unset _item
+ # restore the field separator
+ IFS=$_colcon_prepend_unique_value_IFS
+ unset _colcon_prepend_unique_value_IFS
+ # export the updated variable
+ eval export $_listname=\"$_all_values\"
+ unset _all_values
+ unset _values
+
+ unset _value
+ unset _listname
+}
+
+# since a plain shell script can't determine its own path when being sourced
+# either use the provided COLCON_CURRENT_PREFIX
+# or fall back to the build time prefix (if it exists)
+_colcon_package_sh_COLCON_CURRENT_PREFIX="/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot"
+if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+ if [ ! -d "$_colcon_package_sh_COLCON_CURRENT_PREFIX" ]; then
+ echo "The build time path \"$_colcon_package_sh_COLCON_CURRENT_PREFIX\" doesn't exist. Either source a script for a different shell or set the environment variable \"COLCON_CURRENT_PREFIX\" explicitly." 1>&2
+ unset _colcon_package_sh_COLCON_CURRENT_PREFIX
+ return 1
+ fi
+ COLCON_CURRENT_PREFIX="$_colcon_package_sh_COLCON_CURRENT_PREFIX"
+fi
+unset _colcon_package_sh_COLCON_CURRENT_PREFIX
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+# additional arguments: arguments to the script
+_colcon_package_sh_source_script() {
+ if [ -f "$1" ]; then
+ if [ -n "$COLCON_TRACE" ]; then
+ echo "# . \"$1\""
+ fi
+ . "$@"
+ else
+ echo "not found: \"$1\"" 1>&2
+ fi
+}
+
+# source sh hooks
+_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/super_robot/hook/pythonpath.sh"
+_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/super_robot/hook/ament_prefix_path.sh"
+_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/../../build/super_robot/share/super_robot/hook/pythonpath_develop.sh"
+
+unset _colcon_package_sh_source_script
+unset COLCON_CURRENT_PREFIX
+
+# do not unset _colcon_prepend_unique_value since it might be used by non-primary shell hooks
diff --git a/robobin_final/install/super_robot/share/super_robot/package.xml b/robobin_final/install/super_robot/share/super_robot/package.xml
new file mode 120000
index 00000000..b7cf9bb5
--- /dev/null
+++ b/robobin_final/install/super_robot/share/super_robot/package.xml
@@ -0,0 +1 @@
+/home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/package.xml
\ No newline at end of file
diff --git a/robobin_final/install/super_robot/share/super_robot/package.zsh b/robobin_final/install/super_robot/share/super_robot/package.zsh
new file mode 100644
index 00000000..02bf4857
--- /dev/null
+++ b/robobin_final/install/super_robot/share/super_robot/package.zsh
@@ -0,0 +1,42 @@
+# generated from colcon_zsh/shell/template/package.zsh.em
+
+# This script extends the environment for this package.
+
+# a zsh script is able to determine its own path if necessary
+if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+ # the prefix is two levels up from the package specific share directory
+ _colcon_package_zsh_COLCON_CURRENT_PREFIX="$(builtin cd -q "`dirname "${(%):-%N}"`/../.." > /dev/null && pwd)"
+else
+ _colcon_package_zsh_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+fi
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+# additional arguments: arguments to the script
+_colcon_package_zsh_source_script() {
+ if [ -f "$1" ]; then
+ if [ -n "$COLCON_TRACE" ]; then
+ echo "# . \"$1\""
+ fi
+ . "$@"
+ else
+ echo "not found: \"$1\"" 1>&2
+ fi
+}
+
+# function to convert array-like strings into arrays
+# to workaround SH_WORD_SPLIT not being set
+colcon_zsh_convert_to_array() {
+ local _listname=$1
+ local _dollar="$"
+ local _split="{="
+ local _to_array="(\"$_dollar$_split$_listname}\")"
+ eval $_listname=$_to_array
+}
+
+# source sh script of this package
+_colcon_package_zsh_source_script "$_colcon_package_zsh_COLCON_CURRENT_PREFIX/share/super_robot/package.sh"
+unset convert_zsh_to_array
+
+unset _colcon_package_zsh_source_script
+unset _colcon_package_zsh_COLCON_CURRENT_PREFIX
diff --git a/robobin_final/log/COLCON_IGNORE b/robobin_final/log/COLCON_IGNORE
new file mode 100644
index 00000000..e69de29b
diff --git a/robobin_final/log/build_2024-12-19_19-14-25/events.log b/robobin_final/log/build_2024-12-19_19-14-25/events.log
new file mode 100644
index 00000000..2ea41fe4
--- /dev/null
+++ b/robobin_final/log/build_2024-12-19_19-14-25/events.log
@@ -0,0 +1,837 @@
+[0.000000] (-) TimerEvent: {}
+[0.000391] (sllidar_ros2) JobQueued: {'identifier': 'sllidar_ros2', 'dependencies': OrderedDict()}
+[0.000777] (super_robot) JobQueued: {'identifier': 'super_robot', 'dependencies': OrderedDict()}
+[0.001171] (sllidar_ros2) JobStarted: {'identifier': 'sllidar_ros2'}
+[0.014797] (super_robot) JobStarted: {'identifier': 'super_robot'}
+[0.025857] (sllidar_ros2) JobProgress: {'identifier': 'sllidar_ros2', 'progress': 'cmake'}
+[0.026848] (sllidar_ros2) Command: {'cmd': ['/usr/bin/cmake', '/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2', '-DCMAKE_INSTALL_PREFIX=/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2'], 'cwd': '/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2', 'env': OrderedDict({'GJS_DEBUG_TOPICS': 'JS ERROR;JS LOG', 'XDG_ACTIVATION_TOKEN': 'bef97eb0-e5e7-490a-85cc-20228fff4b34', 'LESSOPEN': '| /usr/bin/lesspipe %s', 'USER': 'robobin', 'GZ_CONFIG_PATH': '/opt/ros/jazzy/opt/sdformat_vendor/share/gz', 'XDG_SESSION_TYPE': 'wayland', 'SHLVL': '1', 'LD_LIBRARY_PATH': '/opt/ros/jazzy/opt/sdformat_vendor/lib:/opt/ros/jazzy/opt/rviz_ogre_vendor/lib:/opt/ros/jazzy/lib/aarch64-linux-gnu:/opt/ros/jazzy/opt/gz_math_vendor/lib:/opt/ros/jazzy/opt/gz_utils_vendor/lib:/opt/ros/jazzy/opt/gz_tools_vendor/lib:/opt/ros/jazzy/opt/gz_cmake_vendor/lib:/opt/ros/jazzy/lib', 'HOME': '/home/robobin', 'DESKTOP_SESSION': 'ubuntu', 'GIO_LAUNCHED_DESKTOP_FILE': '/usr/share/applications/terminator.desktop', 'ROS_PYTHON_VERSION': '3', 'GNOME_SHELL_SESSION_MODE': 'ubuntu', 'GTK_MODULES': 'gail:atk-bridge', 'MANAGERPID': '1422', 'SYSTEMD_EXEC_PID': '1633', 'GSM_SKIP_SSH_AGENT_WORKAROUND': 'true', 'DBUS_SESSION_BUS_ADDRESS': 'unix:path=/run/user/1002/bus', 'COLORTERM': 'truecolor', 'TERMINATOR_DBUS_NAME': 'net.tenshu.Terminator25ef4b219e3b005583550f2b0f9f990c3', 'GIO_LAUNCHED_DESKTOP_FILE_PID': '2410', 'DEBUGINFOD_URLS': 'https://debuginfod.ubuntu.com', 'IM_CONFIG_PHASE': '1', 'WAYLAND_DISPLAY': 'wayland-0', 'COLCON_PREFIX_PATH': '/home/robobin/Robobin_Project/ros2/robobin_final/install:/home/robobin/Robobin_Project/ros2/robobin_main/install', 'ROS_DISTRO': 'jazzy', 'LOGNAME': 'robobin', 'JOURNAL_STREAM': '8:14177', '_': '/usr/bin/colcon', 'ROS_VERSION': '2', 'MEMORY_PRESSURE_WATCH': '/sys/fs/cgroup/user.slice/user-1002.slice/user@1002.service/session.slice/org.gnome.Shell@wayland.service/memory.pressure', 'XDG_SESSION_CLASS': 'user', 'USERNAME': 'robobin', 'TERM': 'xterm-256color', 'GNOME_DESKTOP_SESSION_ID': 'this-is-deprecated', 'PATH': '/opt/ros/jazzy/opt/gz_tools_vendor/bin:/opt/ros/jazzy/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/snap/bin', 'SESSION_MANAGER': 'local/robobin-desktop:@/tmp/.ICE-unix/1596,unix/robobin-desktop:/tmp/.ICE-unix/1596', 'INVOCATION_ID': '9a58d1d4c5c4406f86851b1f6d40074e', 'XDG_MENU_PREFIX': 'gnome-', 'GNOME_SETUP_DISPLAY': ':1', 'XDG_RUNTIME_DIR': '/run/user/1002', 'DISPLAY': ':0', 'TERMINATOR_DBUS_PATH': '/net/tenshu/Terminator2', 'LANG': 'en_US.UTF-8', 'XDG_CURRENT_DESKTOP': 'ubuntu:GNOME', 'XMODIFIERS': '@im=ibus', 'XDG_SESSION_DESKTOP': 'ubuntu', 'XAUTHORITY': '/run/user/1002/.mutter-Xwaylandauth.X1BGZ2', 'LS_COLORS': 'rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=00:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.zst=01;31:*.tzst=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.avif=01;35:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.webp=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:*~=00;90:*#=00;90:*.bak=00;90:*.crdownload=00;90:*.dpkg-dist=00;90:*.dpkg-new=00;90:*.dpkg-old=00;90:*.dpkg-tmp=00;90:*.old=00;90:*.orig=00;90:*.part=00;90:*.rej=00;90:*.rpmnew=00;90:*.rpmorig=00;90:*.rpmsave=00;90:*.swp=00;90:*.tmp=00;90:*.ucf-dist=00;90:*.ucf-new=00;90:*.ucf-old=00;90:', 'SSH_AUTH_SOCK': '/run/user/1002/keyring/ssh', 'ROS_DOMAIN_ID': '3', 'AMENT_PREFIX_PATH': '/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot:/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2:/home/robobin/Robobin_Project/ros2/robobin_main/install/testing:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_localization_ekf:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_description:/home/robobin/Robobin_Project/ros2/robobin_main/install/odometry_publisher:/opt/ros/jazzy', 'SHELL': '/bin/bash', 'TERMINATOR_UUID': 'urn:uuid:10fd0f7e-0487-448f-9854-3e7a59bcf268', 'QT_ACCESSIBILITY': '1', 'GDMSESSION': 'ubuntu', 'LESSCLOSE': '/usr/bin/lesspipe %s %s', 'GJS_DEBUG_OUTPUT': 'stderr', 'ROS_AUTOMATIC_DISCOVERY_RANGE': 'SUBNET', 'QT_IM_MODULE': 'ibus', 'PWD': '/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2', 'LC_ALL': 'en_US.UTF-8', 'XDG_CONFIG_DIRS': '/etc/xdg/xdg-ubuntu:/etc/xdg', 'XDG_DATA_DIRS': '/usr/share/ubuntu:/usr/share/gnome:/usr/local/share/:/usr/share/:/var/lib/snapd/desktop', 'PYTHONPATH': '/home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot:/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages:/home/robobin/Robobin_Project/ros2/robobin_main/build/testing:/home/robobin/Robobin_Project/ros2/robobin_main/install/testing/lib/python3.12/site-packages:/home/robobin/Robobin_Project/ros2/robobin_main/build/robot_localization_ekf:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_localization_ekf/lib/python3.12/site-packages:/home/robobin/Robobin_Project/ros2/robobin_main/build/robot_description:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_description/lib/python3.12/site-packages:/home/robobin/Robobin_Project/ros2/robobin_main/build/odometry_publisher:/home/robobin/Robobin_Project/ros2/robobin_main/install/odometry_publisher/lib/python3.12/site-packages:/opt/ros/jazzy/lib/python3.12/site-packages', 'COLCON': '1', 'MEMORY_PRESSURE_WRITE': 'c29tZSAyMDAwMDAgMjAwMDAwMAA=', 'VTE_VERSION': '7600', 'CMAKE_PREFIX_PATH': '/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2:/opt/ros/jazzy/opt/sdformat_vendor:/opt/ros/jazzy/opt/gz_math_vendor:/opt/ros/jazzy/opt/gz_utils_vendor:/opt/ros/jazzy/opt/gz_tools_vendor:/opt/ros/jazzy/opt/gz_cmake_vendor:/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot:/home/robobin/Robobin_Project/ros2/robobin_main/install/testing:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_localization_ekf:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_description:/home/robobin/Robobin_Project/ros2/robobin_main/install/odometry_publisher:/opt/ros/jazzy'}), 'shell': False}
+[0.099692] (-) TimerEvent: {}
+[0.169030] (sllidar_ros2) StdoutLine: {'line': b'-- The C compiler identification is GNU 13.3.0\n'}
+[0.199809] (-) TimerEvent: {}
+[0.290254] (sllidar_ros2) StdoutLine: {'line': b'-- The CXX compiler identification is GNU 13.3.0\n'}
+[0.299912] (-) TimerEvent: {}
+[0.326606] (sllidar_ros2) StdoutLine: {'line': b'-- Detecting C compiler ABI info\n'}
+[0.400040] (-) TimerEvent: {}
+[0.500540] (-) TimerEvent: {}
+[0.601231] (-) TimerEvent: {}
+[0.605216] (sllidar_ros2) StdoutLine: {'line': b'-- Detecting C compiler ABI info - done\n'}
+[0.625766] (sllidar_ros2) StdoutLine: {'line': b'-- Check for working C compiler: /usr/bin/cc - skipped\n'}
+[0.627794] (sllidar_ros2) StdoutLine: {'line': b'-- Detecting C compile features\n'}
+[0.628127] (sllidar_ros2) StdoutLine: {'line': b'-- Detecting C compile features - done\n'}
+[0.647779] (sllidar_ros2) StdoutLine: {'line': b'-- Detecting CXX compiler ABI info\n'}
+[0.701386] (-) TimerEvent: {}
+[0.802808] (-) TimerEvent: {}
+[0.897537] (sllidar_ros2) StdoutLine: {'line': b'-- Detecting CXX compiler ABI info - done\n'}
+[0.902907] (-) TimerEvent: {}
+[0.912754] (sllidar_ros2) StdoutLine: {'line': b'-- Check for working CXX compiler: /usr/bin/c++ - skipped\n'}
+[0.913203] (sllidar_ros2) StdoutLine: {'line': b'-- Detecting CXX compile features\n'}
+[0.913922] (sllidar_ros2) StdoutLine: {'line': b'-- Detecting CXX compile features - done\n'}
+[0.918505] (sllidar_ros2) StdoutLine: {'line': b'-- Found ament_cmake: 2.5.2 (/opt/ros/jazzy/share/ament_cmake/cmake)\n'}
+[1.003031] (-) TimerEvent: {}
+[1.104976] (-) TimerEvent: {}
+[1.206495] (-) TimerEvent: {}
+[1.302809] (sllidar_ros2) StdoutLine: {'line': b'-- Found Python3: /usr/bin/python3 (found version "3.12.3") found components: Interpreter \n'}
+[1.306561] (-) TimerEvent: {}
+[1.406885] (-) TimerEvent: {}
+[1.507236] (-) TimerEvent: {}
+[1.514159] (sllidar_ros2) StdoutLine: {'line': b'-- Found rclcpp: 28.1.5 (/opt/ros/jazzy/share/rclcpp/cmake)\n'}
+[1.574578] (sllidar_ros2) StdoutLine: {'line': b'-- Found rosidl_generator_c: 4.6.4 (/opt/ros/jazzy/share/rosidl_generator_c/cmake)\n'}
+[1.596568] (sllidar_ros2) StdoutLine: {'line': b'-- Found rosidl_generator_cpp: 4.6.4 (/opt/ros/jazzy/share/rosidl_generator_cpp/cmake)\n'}
+[1.607330] (-) TimerEvent: {}
+[1.624642] (sllidar_ros2) StdoutLine: {'line': b'-- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c\n'}
+[1.654854] (sllidar_ros2) StdoutLine: {'line': b'-- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp\n'}
+[1.707409] (-) TimerEvent: {}
+[1.776942] (sllidar_ros2) StdoutLine: {'line': b'-- Found rmw_implementation_cmake: 7.3.1 (/opt/ros/jazzy/share/rmw_implementation_cmake/cmake)\n'}
+[1.783654] (sllidar_ros2) StdoutLine: {'line': b'-- Found rmw_fastrtps_cpp: 8.4.1 (/opt/ros/jazzy/share/rmw_fastrtps_cpp/cmake)\n'}
+[1.807553] (-) TimerEvent: {}
+[1.845553] (super_robot) Command: {'cmd': ['/usr/bin/python3', '-W', 'ignore:setup.py install is deprecated', '-W', 'ignore:easy_install command is deprecated', 'setup.py', 'egg_info', '--egg-base', '../../build/super_robot', 'build', '--build-base', '/home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/build', 'install', '--record', '/home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/install.log', '--single-version-externally-managed', 'install_data'], 'cwd': '/home/robobin/Robobin_Project/ros2/robobin_final/src/super_robot', 'env': {'GJS_DEBUG_TOPICS': 'JS ERROR;JS LOG', 'XDG_ACTIVATION_TOKEN': 'bef97eb0-e5e7-490a-85cc-20228fff4b34', 'LESSOPEN': '| /usr/bin/lesspipe %s', 'USER': 'robobin', 'GZ_CONFIG_PATH': '/opt/ros/jazzy/opt/sdformat_vendor/share/gz', 'XDG_SESSION_TYPE': 'wayland', 'SHLVL': '1', 'LD_LIBRARY_PATH': '/opt/ros/jazzy/opt/sdformat_vendor/lib:/opt/ros/jazzy/opt/rviz_ogre_vendor/lib:/opt/ros/jazzy/lib/aarch64-linux-gnu:/opt/ros/jazzy/opt/gz_math_vendor/lib:/opt/ros/jazzy/opt/gz_utils_vendor/lib:/opt/ros/jazzy/opt/gz_tools_vendor/lib:/opt/ros/jazzy/opt/gz_cmake_vendor/lib:/opt/ros/jazzy/lib', 'HOME': '/home/robobin', 'DESKTOP_SESSION': 'ubuntu', 'GIO_LAUNCHED_DESKTOP_FILE': '/usr/share/applications/terminator.desktop', 'ROS_PYTHON_VERSION': '3', 'GNOME_SHELL_SESSION_MODE': 'ubuntu', 'GTK_MODULES': 'gail:atk-bridge', 'MANAGERPID': '1422', 'SYSTEMD_EXEC_PID': '1633', 'GSM_SKIP_SSH_AGENT_WORKAROUND': 'true', 'DBUS_SESSION_BUS_ADDRESS': 'unix:path=/run/user/1002/bus', 'COLORTERM': 'truecolor', 'TERMINATOR_DBUS_NAME': 'net.tenshu.Terminator25ef4b219e3b005583550f2b0f9f990c3', 'GIO_LAUNCHED_DESKTOP_FILE_PID': '2410', 'DEBUGINFOD_URLS': 'https://debuginfod.ubuntu.com', 'IM_CONFIG_PHASE': '1', 'WAYLAND_DISPLAY': 'wayland-0', 'COLCON_PREFIX_PATH': '/home/robobin/Robobin_Project/ros2/robobin_final/install:/home/robobin/Robobin_Project/ros2/robobin_main/install', 'ROS_DISTRO': 'jazzy', 'LOGNAME': 'robobin', 'JOURNAL_STREAM': '8:14177', '_': '/usr/bin/colcon', 'ROS_VERSION': '2', 'MEMORY_PRESSURE_WATCH': '/sys/fs/cgroup/user.slice/user-1002.slice/user@1002.service/session.slice/org.gnome.Shell@wayland.service/memory.pressure', 'XDG_SESSION_CLASS': 'user', 'USERNAME': 'robobin', 'TERM': 'xterm-256color', 'GNOME_DESKTOP_SESSION_ID': 'this-is-deprecated', 'PATH': '/opt/ros/jazzy/opt/gz_tools_vendor/bin:/opt/ros/jazzy/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/snap/bin', 'SESSION_MANAGER': 'local/robobin-desktop:@/tmp/.ICE-unix/1596,unix/robobin-desktop:/tmp/.ICE-unix/1596', 'INVOCATION_ID': '9a58d1d4c5c4406f86851b1f6d40074e', 'XDG_MENU_PREFIX': 'gnome-', 'GNOME_SETUP_DISPLAY': ':1', 'XDG_RUNTIME_DIR': '/run/user/1002', 'DISPLAY': ':0', 'TERMINATOR_DBUS_PATH': '/net/tenshu/Terminator2', 'LANG': 'en_US.UTF-8', 'XDG_CURRENT_DESKTOP': 'ubuntu:GNOME', 'XMODIFIERS': '@im=ibus', 'XDG_SESSION_DESKTOP': 'ubuntu', 'XAUTHORITY': '/run/user/1002/.mutter-Xwaylandauth.X1BGZ2', 'LS_COLORS': 'rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=00:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.zst=01;31:*.tzst=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.avif=01;35:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.webp=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:*~=00;90:*#=00;90:*.bak=00;90:*.crdownload=00;90:*.dpkg-dist=00;90:*.dpkg-new=00;90:*.dpkg-old=00;90:*.dpkg-tmp=00;90:*.old=00;90:*.orig=00;90:*.part=00;90:*.rej=00;90:*.rpmnew=00;90:*.rpmorig=00;90:*.rpmsave=00;90:*.swp=00;90:*.tmp=00;90:*.ucf-dist=00;90:*.ucf-new=00;90:*.ucf-old=00;90:', 'SSH_AUTH_SOCK': '/run/user/1002/keyring/ssh', 'ROS_DOMAIN_ID': '3', 'AMENT_PREFIX_PATH': '/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot:/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2:/home/robobin/Robobin_Project/ros2/robobin_main/install/testing:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_localization_ekf:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_description:/home/robobin/Robobin_Project/ros2/robobin_main/install/odometry_publisher:/opt/ros/jazzy', 'SHELL': '/bin/bash', 'TERMINATOR_UUID': 'urn:uuid:10fd0f7e-0487-448f-9854-3e7a59bcf268', 'QT_ACCESSIBILITY': '1', 'GDMSESSION': 'ubuntu', 'LESSCLOSE': '/usr/bin/lesspipe %s %s', 'GJS_DEBUG_OUTPUT': 'stderr', 'ROS_AUTOMATIC_DISCOVERY_RANGE': 'SUBNET', 'QT_IM_MODULE': 'ibus', 'PWD': '/home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot', 'LC_ALL': 'en_US.UTF-8', 'XDG_CONFIG_DIRS': '/etc/xdg/xdg-ubuntu:/etc/xdg', 'XDG_DATA_DIRS': '/usr/share/ubuntu:/usr/share/gnome:/usr/local/share/:/usr/share/:/var/lib/snapd/desktop', 'PYTHONPATH': '/home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages:/home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot:/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages:/home/robobin/Robobin_Project/ros2/robobin_main/build/testing:/home/robobin/Robobin_Project/ros2/robobin_main/install/testing/lib/python3.12/site-packages:/home/robobin/Robobin_Project/ros2/robobin_main/build/robot_localization_ekf:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_localization_ekf/lib/python3.12/site-packages:/home/robobin/Robobin_Project/ros2/robobin_main/build/robot_description:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_description/lib/python3.12/site-packages:/home/robobin/Robobin_Project/ros2/robobin_main/build/odometry_publisher:/home/robobin/Robobin_Project/ros2/robobin_main/install/odometry_publisher/lib/python3.12/site-packages:/opt/ros/jazzy/lib/python3.12/site-packages', 'COLCON': '1', 'MEMORY_PRESSURE_WRITE': 'c29tZSAyMDAwMDAgMjAwMDAwMAA=', 'VTE_VERSION': '7600', 'CMAKE_PREFIX_PATH': '/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2:/opt/ros/jazzy/opt/sdformat_vendor:/opt/ros/jazzy/opt/gz_math_vendor:/opt/ros/jazzy/opt/gz_utils_vendor:/opt/ros/jazzy/opt/gz_tools_vendor:/opt/ros/jazzy/opt/gz_cmake_vendor'}, 'shell': False}
+[1.907668] (-) TimerEvent: {}
+[1.942553] (sllidar_ros2) StdoutLine: {'line': b'-- Found OpenSSL: /usr/lib/aarch64-linux-gnu/libcrypto.so (found version "3.0.13") \n'}
+[1.970574] (sllidar_ros2) StdoutLine: {'line': b'-- Found FastRTPS: /opt/ros/jazzy/include (Required is at least version "2.13") \n'}
+[2.007778] (-) TimerEvent: {}
+[2.010390] (sllidar_ros2) StdoutLine: {'line': b"-- Using RMW implementation 'rmw_fastrtps_cpp' as default\n"}
+[2.107882] (-) TimerEvent: {}
+[2.126565] (sllidar_ros2) StdoutLine: {'line': b'-- Found sensor_msgs: 5.3.5 (/opt/ros/jazzy/share/sensor_msgs/cmake)\n'}
+[2.207991] (-) TimerEvent: {}
+[2.209213] (sllidar_ros2) StdoutLine: {'line': b'-- Found std_srvs: 5.3.5 (/opt/ros/jazzy/share/std_srvs/cmake)\n'}
+[2.283415] (super_robot) StdoutLine: {'line': b'running egg_info\n'}
+[2.283939] (super_robot) StdoutLine: {'line': b'creating ../../build/super_robot/super_robot.egg-info\n'}
+[2.308113] (-) TimerEvent: {}
+[2.316869] (super_robot) StdoutLine: {'line': b'writing ../../build/super_robot/super_robot.egg-info/PKG-INFO\n'}
+[2.320965] (super_robot) StdoutLine: {'line': b'writing dependency_links to ../../build/super_robot/super_robot.egg-info/dependency_links.txt\n'}
+[2.321277] (super_robot) StdoutLine: {'line': b'writing entry points to ../../build/super_robot/super_robot.egg-info/entry_points.txt\n'}
+[2.321559] (super_robot) StdoutLine: {'line': b'writing requirements to ../../build/super_robot/super_robot.egg-info/requires.txt\n'}
+[2.321728] (super_robot) StdoutLine: {'line': b'writing top-level names to ../../build/super_robot/super_robot.egg-info/top_level.txt\n'}
+[2.321859] (super_robot) StdoutLine: {'line': b"writing manifest file '../../build/super_robot/super_robot.egg-info/SOURCES.txt'\n"}
+[2.380603] (super_robot) StdoutLine: {'line': b"reading manifest file '../../build/super_robot/super_robot.egg-info/SOURCES.txt'\n"}
+[2.381949] (super_robot) StdoutLine: {'line': b"writing manifest file '../../build/super_robot/super_robot.egg-info/SOURCES.txt'\n"}
+[2.382318] (super_robot) StdoutLine: {'line': b'running build\n'}
+[2.382797] (super_robot) StdoutLine: {'line': b'running build_py\n'}
+[2.383081] (super_robot) StdoutLine: {'line': b'creating /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/build\n'}
+[2.383399] (super_robot) StdoutLine: {'line': b'creating /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/build/lib\n'}
+[2.383559] (super_robot) StdoutLine: {'line': b'creating /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/build/lib/super_robot\n'}
+[2.383741] (super_robot) StdoutLine: {'line': b'copying super_robot/encoder.py -> /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/build/lib/super_robot\n'}
+[2.383857] (super_robot) StdoutLine: {'line': b'copying super_robot/motor_control_node.py -> /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/build/lib/super_robot\n'}
+[2.384021] (super_robot) StdoutLine: {'line': b'copying super_robot/__init__.py -> /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/build/lib/super_robot\n'}
+[2.384189] (super_robot) StdoutLine: {'line': b'copying super_robot/imu_node.py -> /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/build/lib/super_robot\n'}
+[2.384352] (super_robot) StdoutLine: {'line': b'copying super_robot/odometry_node.py -> /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/build/lib/super_robot\n'}
+[2.384544] (super_robot) StdoutLine: {'line': b'copying super_robot/route_filtered.py -> /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/build/lib/super_robot\n'}
+[2.384746] (super_robot) StdoutLine: {'line': b'copying super_robot/control_feedback.py -> /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/build/lib/super_robot\n'}
+[2.384949] (super_robot) StdoutLine: {'line': b'copying super_robot/route.py -> /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/build/lib/super_robot\n'}
+[2.385438] (super_robot) StdoutLine: {'line': b'running install\n'}
+[2.395655] (super_robot) StdoutLine: {'line': b'running install_lib\n'}
+[2.408228] (-) TimerEvent: {}
+[2.421369] (sllidar_ros2) StdoutLine: {'line': b'-- Configuring done (2.4s)\n'}
+[2.429219] (super_robot) StdoutLine: {'line': b'creating /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages/super_robot\n'}
+[2.429812] (super_robot) StdoutLine: {'line': b'copying /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/build/lib/super_robot/encoder.py -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages/super_robot\n'}
+[2.429993] (super_robot) StdoutLine: {'line': b'copying /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/build/lib/super_robot/motor_control_node.py -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages/super_robot\n'}
+[2.430735] (super_robot) StdoutLine: {'line': b'copying /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/build/lib/super_robot/__init__.py -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages/super_robot\n'}
+[2.430956] (super_robot) StdoutLine: {'line': b'copying /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/build/lib/super_robot/imu_node.py -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages/super_robot\n'}
+[2.431102] (super_robot) StdoutLine: {'line': b'copying /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/build/lib/super_robot/odometry_node.py -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages/super_robot\n'}
+[2.431209] (super_robot) StdoutLine: {'line': b'copying /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/build/lib/super_robot/route_filtered.py -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages/super_robot\n'}
+[2.431297] (super_robot) StdoutLine: {'line': b'copying /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/build/lib/super_robot/control_feedback.py -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages/super_robot\n'}
+[2.433459] (super_robot) StdoutLine: {'line': b'copying /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/build/lib/super_robot/route.py -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages/super_robot\n'}
+[2.433666] (super_robot) StdoutLine: {'line': b'byte-compiling /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages/super_robot/encoder.py to encoder.cpython-312.pyc\n'}
+[2.433810] (super_robot) StdoutLine: {'line': b'byte-compiling /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages/super_robot/motor_control_node.py to motor_control_node.cpython-312.pyc\n'}
+[2.434372] (super_robot) StdoutLine: {'line': b'byte-compiling /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages/super_robot/__init__.py to __init__.cpython-312.pyc\n'}
+[2.434665] (super_robot) StdoutLine: {'line': b'byte-compiling /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages/super_robot/imu_node.py to imu_node.cpython-312.pyc\n'}
+[2.436904] (super_robot) StdoutLine: {'line': b'byte-compiling /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages/super_robot/odometry_node.py to odometry_node.cpython-312.pyc\n'}
+[2.438660] (super_robot) StdoutLine: {'line': b'byte-compiling /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages/super_robot/route_filtered.py to route_filtered.cpython-312.pyc\n'}
+[2.440592] (super_robot) StdoutLine: {'line': b'byte-compiling /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages/super_robot/control_feedback.py to control_feedback.cpython-312.pyc\n'}
+[2.445307] (super_robot) StdoutLine: {'line': b'byte-compiling /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages/super_robot/route.py to route.cpython-312.pyc\n'}
+[2.445584] (super_robot) StdoutLine: {'line': b'running install_data\n'}
+[2.445703] (super_robot) StdoutLine: {'line': b'creating /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/ament_index\n'}
+[2.445805] (super_robot) StdoutLine: {'line': b'creating /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/ament_index/resource_index\n'}
+[2.445900] (super_robot) StdoutLine: {'line': b'creating /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/ament_index/resource_index/packages\n'}
+[2.446060] (super_robot) StdoutLine: {'line': b'copying resource/super_robot -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/ament_index/resource_index/packages\n'}
+[2.446267] (super_robot) StdoutLine: {'line': b'copying package.xml -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot\n'}
+[2.446496] (super_robot) StdoutLine: {'line': b'creating /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot/launch\n'}
+[2.446667] (super_robot) StdoutLine: {'line': b'copying launch/launch_lidar.py -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot/launch\n'}
+[2.446804] (super_robot) StdoutLine: {'line': b'copying launch/ekf_launch.py -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot/launch\n'}
+[2.446914] (super_robot) StdoutLine: {'line': b'copying launch/view_robot.py -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot/launch\n'}
+[2.447010] (super_robot) StdoutLine: {'line': b'creating /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot/config\n'}
+[2.447164] (super_robot) StdoutLine: {'line': b'copying config/robot.urdf -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot/config\n'}
+[2.447336] (super_robot) StdoutLine: {'line': b'copying config/ekf.yaml -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot/config\n'}
+[2.447474] (super_robot) StdoutLine: {'line': b'copying config/urdf_config.rviz -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot/config\n'}
+[2.447581] (super_robot) StdoutLine: {'line': b'copying config/scan_filter.yaml -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot/config\n'}
+[2.447670] (super_robot) StdoutLine: {'line': b'running install_egg_info\n'}
+[2.452081] (sllidar_ros2) StdoutLine: {'line': b'-- Generating done (0.0s)\n'}
+[2.461095] (sllidar_ros2) StdoutLine: {'line': b'-- Build files have been written to: /home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2\n'}
+[2.480876] (super_robot) StdoutLine: {'line': b'Copying ../../build/super_robot/super_robot.egg-info to /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages/super_robot-0.0.0-py3.12.egg-info\n'}
+[2.481587] (sllidar_ros2) CommandEnded: {'returncode': 0}
+[2.482182] (super_robot) StdoutLine: {'line': b'running install_scripts\n'}
+[2.484659] (sllidar_ros2) JobProgress: {'identifier': 'sllidar_ros2', 'progress': 'build'}
+[2.484721] (sllidar_ros2) Command: {'cmd': ['/usr/bin/cmake', '--build', '/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2', '--', '-j4', '-l4'], 'cwd': '/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2', 'env': OrderedDict({'GJS_DEBUG_TOPICS': 'JS ERROR;JS LOG', 'XDG_ACTIVATION_TOKEN': 'bef97eb0-e5e7-490a-85cc-20228fff4b34', 'LESSOPEN': '| /usr/bin/lesspipe %s', 'USER': 'robobin', 'GZ_CONFIG_PATH': '/opt/ros/jazzy/opt/sdformat_vendor/share/gz', 'XDG_SESSION_TYPE': 'wayland', 'SHLVL': '1', 'LD_LIBRARY_PATH': '/opt/ros/jazzy/opt/sdformat_vendor/lib:/opt/ros/jazzy/opt/rviz_ogre_vendor/lib:/opt/ros/jazzy/lib/aarch64-linux-gnu:/opt/ros/jazzy/opt/gz_math_vendor/lib:/opt/ros/jazzy/opt/gz_utils_vendor/lib:/opt/ros/jazzy/opt/gz_tools_vendor/lib:/opt/ros/jazzy/opt/gz_cmake_vendor/lib:/opt/ros/jazzy/lib', 'HOME': '/home/robobin', 'DESKTOP_SESSION': 'ubuntu', 'GIO_LAUNCHED_DESKTOP_FILE': '/usr/share/applications/terminator.desktop', 'ROS_PYTHON_VERSION': '3', 'GNOME_SHELL_SESSION_MODE': 'ubuntu', 'GTK_MODULES': 'gail:atk-bridge', 'MANAGERPID': '1422', 'SYSTEMD_EXEC_PID': '1633', 'GSM_SKIP_SSH_AGENT_WORKAROUND': 'true', 'DBUS_SESSION_BUS_ADDRESS': 'unix:path=/run/user/1002/bus', 'COLORTERM': 'truecolor', 'TERMINATOR_DBUS_NAME': 'net.tenshu.Terminator25ef4b219e3b005583550f2b0f9f990c3', 'GIO_LAUNCHED_DESKTOP_FILE_PID': '2410', 'DEBUGINFOD_URLS': 'https://debuginfod.ubuntu.com', 'IM_CONFIG_PHASE': '1', 'WAYLAND_DISPLAY': 'wayland-0', 'COLCON_PREFIX_PATH': '/home/robobin/Robobin_Project/ros2/robobin_final/install:/home/robobin/Robobin_Project/ros2/robobin_main/install', 'ROS_DISTRO': 'jazzy', 'LOGNAME': 'robobin', 'JOURNAL_STREAM': '8:14177', '_': '/usr/bin/colcon', 'ROS_VERSION': '2', 'MEMORY_PRESSURE_WATCH': '/sys/fs/cgroup/user.slice/user-1002.slice/user@1002.service/session.slice/org.gnome.Shell@wayland.service/memory.pressure', 'XDG_SESSION_CLASS': 'user', 'USERNAME': 'robobin', 'TERM': 'xterm-256color', 'GNOME_DESKTOP_SESSION_ID': 'this-is-deprecated', 'PATH': '/opt/ros/jazzy/opt/gz_tools_vendor/bin:/opt/ros/jazzy/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/snap/bin', 'SESSION_MANAGER': 'local/robobin-desktop:@/tmp/.ICE-unix/1596,unix/robobin-desktop:/tmp/.ICE-unix/1596', 'INVOCATION_ID': '9a58d1d4c5c4406f86851b1f6d40074e', 'XDG_MENU_PREFIX': 'gnome-', 'GNOME_SETUP_DISPLAY': ':1', 'XDG_RUNTIME_DIR': '/run/user/1002', 'DISPLAY': ':0', 'TERMINATOR_DBUS_PATH': '/net/tenshu/Terminator2', 'LANG': 'en_US.UTF-8', 'XDG_CURRENT_DESKTOP': 'ubuntu:GNOME', 'XMODIFIERS': '@im=ibus', 'XDG_SESSION_DESKTOP': 'ubuntu', 'XAUTHORITY': '/run/user/1002/.mutter-Xwaylandauth.X1BGZ2', 'LS_COLORS': 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'SSH_AUTH_SOCK': '/run/user/1002/keyring/ssh', 'ROS_DOMAIN_ID': '3', 'AMENT_PREFIX_PATH': '/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot:/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2:/home/robobin/Robobin_Project/ros2/robobin_main/install/testing:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_localization_ekf:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_description:/home/robobin/Robobin_Project/ros2/robobin_main/install/odometry_publisher:/opt/ros/jazzy', 'SHELL': '/bin/bash', 'TERMINATOR_UUID': 'urn:uuid:10fd0f7e-0487-448f-9854-3e7a59bcf268', 'QT_ACCESSIBILITY': '1', 'GDMSESSION': 'ubuntu', 'LESSCLOSE': '/usr/bin/lesspipe %s %s', 'GJS_DEBUG_OUTPUT': 'stderr', 'ROS_AUTOMATIC_DISCOVERY_RANGE': 'SUBNET', 'QT_IM_MODULE': 'ibus', 'PWD': '/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2', 'LC_ALL': 'en_US.UTF-8', 'XDG_CONFIG_DIRS': '/etc/xdg/xdg-ubuntu:/etc/xdg', 'XDG_DATA_DIRS': '/usr/share/ubuntu:/usr/share/gnome:/usr/local/share/:/usr/share/:/var/lib/snapd/desktop', 'PYTHONPATH': '/home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot:/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages:/home/robobin/Robobin_Project/ros2/robobin_main/build/testing:/home/robobin/Robobin_Project/ros2/robobin_main/install/testing/lib/python3.12/site-packages:/home/robobin/Robobin_Project/ros2/robobin_main/build/robot_localization_ekf:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_localization_ekf/lib/python3.12/site-packages:/home/robobin/Robobin_Project/ros2/robobin_main/build/robot_description:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_description/lib/python3.12/site-packages:/home/robobin/Robobin_Project/ros2/robobin_main/build/odometry_publisher:/home/robobin/Robobin_Project/ros2/robobin_main/install/odometry_publisher/lib/python3.12/site-packages:/opt/ros/jazzy/lib/python3.12/site-packages', 'COLCON': '1', 'MEMORY_PRESSURE_WRITE': 'c29tZSAyMDAwMDAgMjAwMDAwMAA=', 'VTE_VERSION': '7600', 'CMAKE_PREFIX_PATH': '/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2:/opt/ros/jazzy/opt/sdformat_vendor:/opt/ros/jazzy/opt/gz_math_vendor:/opt/ros/jazzy/opt/gz_utils_vendor:/opt/ros/jazzy/opt/gz_tools_vendor:/opt/ros/jazzy/opt/gz_cmake_vendor:/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot:/home/robobin/Robobin_Project/ros2/robobin_main/install/testing:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_localization_ekf:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_description:/home/robobin/Robobin_Project/ros2/robobin_main/install/odometry_publisher:/opt/ros/jazzy'}), 'shell': False}
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+[2.596341] (sllidar_ros2) StdoutLine: {'line': b'[ 5%] \x1b[32mBuilding CXX object CMakeFiles/sllidar_node.dir/src/sllidar_node.cpp.o\x1b[0m\n'}
+[2.596696] (sllidar_ros2) StdoutLine: {'line': b'[ 10%] \x1b[32mBuilding CXX object CMakeFiles/sllidar_client.dir/src/sllidar_client.cpp.o\x1b[0m\n'}
+[2.606149] (sllidar_ros2) StdoutLine: {'line': b'[ 15%] \x1b[32mBuilding CXX object CMakeFiles/sllidar_node.dir/sdk/src/arch/linux/net_serial.cpp.o\x1b[0m\n'}
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+[2.611711] (sllidar_ros2) StdoutLine: {'line': b'[ 20%] \x1b[32mBuilding CXX object CMakeFiles/sllidar_node.dir/sdk/src/arch/linux/net_socket.cpp.o\x1b[0m\n'}
+[2.708654] (-) TimerEvent: {}
+[2.809284] (-) TimerEvent: {}
+[2.879144] (super_robot) StdoutLine: {'line': b'Installing odometry_node script to /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/super_robot\n'}
+[2.879492] (super_robot) StdoutLine: {'line': b'Installing test_control_feedback script to /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/super_robot\n'}
+[2.880030] (super_robot) StdoutLine: {'line': b'Installing test_encoder_node script to /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/super_robot\n'}
+[2.880602] (super_robot) StdoutLine: {'line': b'Installing test_imu_node script to /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/super_robot\n'}
+[2.881096] (super_robot) StdoutLine: {'line': b'Installing test_motor_node script to /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/super_robot\n'}
+[2.881547] (super_robot) StdoutLine: {'line': b'Installing test_route script to /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/super_robot\n'}
+[2.882661] (super_robot) StdoutLine: {'line': b'Installing test_route_filter script to /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/super_robot\n'}
+[2.882846] (super_robot) StdoutLine: {'line': b"writing list of installed files to '/home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/install.log'\n"}
+[2.911442] (-) TimerEvent: {}
+[3.000040] (super_robot) CommandEnded: {'returncode': 0}
+[3.011585] (-) TimerEvent: {}
+[3.059786] (super_robot) JobEnded: {'identifier': 'super_robot', 'rc': 0}
+[3.112445] (-) TimerEvent: {}
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+[3.418486] (-) TimerEvent: {}
+[3.518982] (-) TimerEvent: {}
+[3.579582] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/arch/linux/net_serial.cpp:\x1b[m\x1b[K In member function \xe2\x80\x98\x1b[01m\x1b[Kbool rp::arch::net::raw_serial::\x1b[01;32m\x1b[Kopen\x1b[m\x1b[K(const char*, uint32_t, uint32_t)\x1b[m\x1b[K\xe2\x80\x99:\n'}
+[3.580102] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/arch/linux/net_serial.cpp:97:74:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[Kunused parameter \xe2\x80\x98\x1b[01m\x1b[Kflags\x1b[m\x1b[K\xe2\x80\x99 [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter\x07-Wunused-parameter\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[3.580321] (sllidar_ros2) StderrLine: {'line': b' 97 | bool raw_serial::open(const char * portname, uint32_t baudrate, \x1b[01;35m\x1b[Kuint32_t flags\x1b[m\x1b[K)\n'}
+[3.580543] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K~~~~~~~~~^~~~~\x1b[m\x1b[K\n'}
+[3.583192] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/arch/linux/net_serial.cpp:\x1b[m\x1b[K In member function \xe2\x80\x98\x1b[01m\x1b[Kvirtual void rp::arch::net::raw_serial::\x1b[01;32m\x1b[Kflush\x1b[m\x1b[K(_u32)\x1b[m\x1b[K\xe2\x80\x99:\n'}
+[3.583621] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/arch/linux/net_serial.cpp:281:30:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[Kunused parameter \xe2\x80\x98\x1b[01m\x1b[Kflags\x1b[m\x1b[K\xe2\x80\x99 [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter\x07-Wunused-parameter\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[3.583795] (sllidar_ros2) StderrLine: {'line': b' 281 | void raw_serial::flush( \x1b[01;35m\x1b[K_u32 flags\x1b[m\x1b[K)\n'}
+[3.583918] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K~~~~~^~~~~\x1b[m\x1b[K\n'}
+[3.585531] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/arch/linux/net_serial.cpp:\x1b[m\x1b[K In member function \xe2\x80\x98\x1b[01m\x1b[Kvirtual int rp::arch::net::raw_serial::\x1b[01;32m\x1b[Kwaitforsent\x1b[m\x1b[K(_u32, size_t*)\x1b[m\x1b[K\xe2\x80\x99:\n'}
+[3.586731] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/arch/linux/net_serial.cpp:286:34:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[Kunused parameter \xe2\x80\x98\x1b[01m\x1b[Ktimeout\x1b[m\x1b[K\xe2\x80\x99 [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter\x07-Wunused-parameter\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[3.587028] (sllidar_ros2) StderrLine: {'line': b' 286 | int raw_serial::waitforsent(\x1b[01;35m\x1b[K_u32 timeout\x1b[m\x1b[K, size_t * returned_size)\n'}
+[3.587190] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K~~~~~^~~~~~~\x1b[m\x1b[K\n'}
+[3.587320] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/arch/linux/net_serial.cpp:\x1b[m\x1b[K In member function \xe2\x80\x98\x1b[01m\x1b[Kvirtual int rp::arch::net::raw_serial::\x1b[01;32m\x1b[Kwaitforrecv\x1b[m\x1b[K(_u32, size_t*)\x1b[m\x1b[K\xe2\x80\x99:\n'}
+[3.587489] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/arch/linux/net_serial.cpp:292:34:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[Kunused parameter \xe2\x80\x98\x1b[01m\x1b[Ktimeout\x1b[m\x1b[K\xe2\x80\x99 [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter\x07-Wunused-parameter\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[3.587631] (sllidar_ros2) StderrLine: {'line': b' 292 | int raw_serial::waitforrecv(\x1b[01;35m\x1b[K_u32 timeout\x1b[m\x1b[K, size_t * returned_size)\n'}
+[3.587747] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K~~~~~^~~~~~~\x1b[m\x1b[K\n'}
+[3.596438] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/arch/linux/net_serial.cpp:\x1b[m\x1b[K In member function \xe2\x80\x98\x1b[01m\x1b[Kvirtual void rp::arch::net::raw_serial::\x1b[01;32m\x1b[KcancelOperation\x1b[m\x1b[K()\x1b[m\x1b[K\xe2\x80\x99:\n'}
+[3.596837] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/arch/linux/net_serial.cpp:427:5:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[Kvalue computed is not used [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-value\x07-Wunused-value\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[3.597030] (sllidar_ros2) StderrLine: {'line': b' 427 | \x1b[01;35m\x1b[K(int)::write(_selfpipe[1], "x", 1)\x1b[m\x1b[K;\n'}
+[3.597206] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~\x1b[m\x1b[K\n'}
+[3.621457] (-) TimerEvent: {}
+[3.689366] (sllidar_ros2) StderrLine: {'line': b'In file included from \x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar_protocol.h:36\x1b[m\x1b[K,\n'}
+[3.689819] (sllidar_ros2) StderrLine: {'line': b' from \x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar.h:39\x1b[m\x1b[K,\n'}
+[3.689944] (sllidar_ros2) StderrLine: {'line': b' from \x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/src/sdkcommon.h:49\x1b[m\x1b[K,\n'}
+[3.690050] (sllidar_ros2) StderrLine: {'line': b' from \x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/arch/linux/net_socket.cpp:10\x1b[m\x1b[K:\n'}
+[3.690157] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_protocol.h:66:16:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[KISO C++ forbids zero-size array \xe2\x80\x98\x1b[01m\x1b[Kdata\x1b[m\x1b[K\xe2\x80\x99 [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic\x07-Wpedantic\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[3.690311] (sllidar_ros2) StderrLine: {'line': b' 66 | sl_u8 data[\x1b[01;35m\x1b[K0\x1b[m\x1b[K];\n'}
+[3.690541] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K^\x1b[m\x1b[K\n'}
+[3.690720] (sllidar_ros2) StderrLine: {'line': b'In file included from \x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar_cmd.h:36\x1b[m\x1b[K,\n'}
+[3.692680] (sllidar_ros2) StderrLine: {'line': b' from \x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar.h:40\x1b[m\x1b[K:\n'}
+[3.692861] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_cmd.h:324:20:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[KISO C++ forbids zero-size array \xe2\x80\x98\x1b[01m\x1b[Kpayload\x1b[m\x1b[K\xe2\x80\x99 [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic\x07-Wpedantic\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[3.692983] (sllidar_ros2) StderrLine: {'line': b' 324 | sl_u8 payload[\x1b[01;35m\x1b[K0\x1b[m\x1b[K];\n'}
+[3.693096] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K^\x1b[m\x1b[K\n'}
+[3.721598] (-) TimerEvent: {}
+[3.782992] (sllidar_ros2) StderrLine: {'line': b'In file included from \x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/src/arch/linux/arch_linux.h:42\x1b[m\x1b[K,\n'}
+[3.784156] (sllidar_ros2) StderrLine: {'line': b' from \x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/src/sdkcommon.h:41\x1b[m\x1b[K:\n'}
+[3.784824] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/arch/linux/net_socket.cpp:\x1b[m\x1b[K In member function \xe2\x80\x98\x1b[01m\x1b[Kvirtual u_result rp::arch::net::DGramSocketImpl::\x1b[01;32m\x1b[KsendTo\x1b[m\x1b[K(const rp::net::SocketAddress*, const void*, size_t)\x1b[m\x1b[K\xe2\x80\x99:\n'}
+[3.785198] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/arch/linux/net_socket.cpp:733:24:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[Kcomparison of integer expressions of different signedness: \xe2\x80\x98\x1b[01m\x1b[Kint\x1b[m\x1b[K\xe2\x80\x99 and \xe2\x80\x98\x1b[01m\x1b[Ksize_t\x1b[m\x1b[K\xe2\x80\x99 {aka \xe2\x80\x98\x1b[01m\x1b[Klong unsigned int\x1b[m\x1b[K\xe2\x80\x99} [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wsign-compare\x07-Wsign-compare\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[3.785516] (sllidar_ros2) StderrLine: {'line': b' 733 | assert(\x1b[01;35m\x1b[Kans == len\x1b[m\x1b[K);\n'}
+[3.785755] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K~~~~^~~~~~\x1b[m\x1b[K\n'}
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+[5.134882] (-) TimerEvent: {}
+[5.215372] (sllidar_ros2) StderrLine: {'line': b'In file included from \x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar_protocol.h:36\x1b[m\x1b[K,\n'}
+[5.215778] (sllidar_ros2) StderrLine: {'line': b' from \x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar.h:39\x1b[m\x1b[K,\n'}
+[5.215945] (sllidar_ros2) StderrLine: {'line': b' from \x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/src/sdkcommon.h:49\x1b[m\x1b[K,\n'}
+[5.219925] (sllidar_ros2) StderrLine: {'line': b' from \x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/dataunnpacker_commondef.h:41\x1b[m\x1b[K,\n'}
+[5.220197] (sllidar_ros2) StderrLine: {'line': b' from \x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/dataunpacker.cpp:39\x1b[m\x1b[K:\n'}
+[5.220433] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_protocol.h:66:16:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[KISO C++ forbids zero-size array \xe2\x80\x98\x1b[01m\x1b[Kdata\x1b[m\x1b[K\xe2\x80\x99 [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic\x07-Wpedantic\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[5.220663] (sllidar_ros2) StderrLine: {'line': b' 66 | sl_u8 data[\x1b[01;35m\x1b[K0\x1b[m\x1b[K];\n'}
+[5.220779] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K^\x1b[m\x1b[K\n'}
+[5.220897] (sllidar_ros2) StderrLine: {'line': b'In file included from \x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar_cmd.h:36\x1b[m\x1b[K,\n'}
+[5.221004] (sllidar_ros2) StderrLine: {'line': b' from \x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar.h:40\x1b[m\x1b[K:\n'}
+[5.221102] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_cmd.h:324:20:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[KISO C++ forbids zero-size array \xe2\x80\x98\x1b[01m\x1b[Kpayload\x1b[m\x1b[K\xe2\x80\x99 [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic\x07-Wpedantic\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[5.221208] (sllidar_ros2) StderrLine: {'line': b' 324 | sl_u8 payload[\x1b[01;35m\x1b[K0\x1b[m\x1b[K];\n'}
+[5.221306] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K^\x1b[m\x1b[K\n'}
+[5.237457] (-) TimerEvent: {}
+[5.337917] (-) TimerEvent: {}
+[5.441671] (-) TimerEvent: {}
+[5.500401] (sllidar_ros2) StderrLine: {'line': b'In file included from \x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/dataunpacker.cpp:40\x1b[m\x1b[K:\n'}
+[5.500859] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/dataunpacker.h:\x1b[m\x1b[K In member function \xe2\x80\x98\x1b[01m\x1b[Kvirtual void sl::internal::LIDARSampleDataListener::\x1b[01;32m\x1b[KonCustomSampleDataDecoded\x1b[m\x1b[K(_u8, _u32, const void*, size_t)\x1b[m\x1b[K\xe2\x80\x99:\n'}
+[5.501088] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/dataunpacker.h:54:52:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[Kunused parameter \xe2\x80\x98\x1b[01m\x1b[KansType\x1b[m\x1b[K\xe2\x80\x99 [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter\x07-Wunused-parameter\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[5.501230] (sllidar_ros2) StderrLine: {'line': b' 54 | virtual void onCustomSampleDataDecoded(\x1b[01;35m\x1b[K_u8 ansType\x1b[m\x1b[K, _u32 customCode, const void* data, size_t size) {}\n'}
+[5.501343] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K~~~~^~~~~~~\x1b[m\x1b[K\n'}
+[5.501502] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/dataunpacker.h:54:66:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[Kunused parameter \xe2\x80\x98\x1b[01m\x1b[KcustomCode\x1b[m\x1b[K\xe2\x80\x99 [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter\x07-Wunused-parameter\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[5.501612] (sllidar_ros2) StderrLine: {'line': b' 54 | virtual void onCustomSampleDataDecoded(_u8 ansType, \x1b[01;35m\x1b[K_u32 customCode\x1b[m\x1b[K, const void* data, size_t size) {}\n'}
+[5.501713] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K~~~~~^~~~~~~~~~\x1b[m\x1b[K\n'}
+[5.501811] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/dataunpacker.h:54:90:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[Kunused parameter \xe2\x80\x98\x1b[01m\x1b[Kdata\x1b[m\x1b[K\xe2\x80\x99 [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter\x07-Wunused-parameter\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[5.501931] (sllidar_ros2) StderrLine: {'line': b' 54 | virtual void onCustomSampleDataDecoded(_u8 ansType, _u32 customCode, \x1b[01;35m\x1b[Kconst void* data\x1b[m\x1b[K, size_t size) {}\n'}
+[5.502028] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K~~~~~~~~~~~~^~~~\x1b[m\x1b[K\n'}
+[5.502118] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/dataunpacker.h:54:103:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[Kunused parameter \xe2\x80\x98\x1b[01m\x1b[Ksize\x1b[m\x1b[K\xe2\x80\x99 [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter\x07-Wunused-parameter\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[5.502217] (sllidar_ros2) StderrLine: {'line': b' 54 | virtual void onCustomSampleDataDecoded(_u8 ansType, _u32 customCode, const void* data, \x1b[01;35m\x1b[Ksize_t size\x1b[m\x1b[K) {}\n'}
+[5.502307] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K~~~~~~~^~~~\x1b[m\x1b[K\n'}
+[5.506458] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/dataunpacker.h:\x1b[m\x1b[K In member function \xe2\x80\x98\x1b[01m\x1b[Kvirtual void sl::internal::LIDARSampleDataListener::\x1b[01;32m\x1b[KonDecodingError\x1b[m\x1b[K(int, _u8, const void*, size_t)\x1b[m\x1b[K\xe2\x80\x99:\n'}
+[5.506863] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/dataunpacker.h:56:42:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[Kunused parameter \xe2\x80\x98\x1b[01m\x1b[KerrMsg\x1b[m\x1b[K\xe2\x80\x99 [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter\x07-Wunused-parameter\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[5.507022] (sllidar_ros2) StderrLine: {'line': b' 56 | virtual void onDecodingError(\x1b[01;35m\x1b[Kint errMsg\x1b[m\x1b[K, _u8 ansType, const void* payload, size_t size) {}\n'}
+[5.507127] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K~~~~^~~~~~\x1b[m\x1b[K\n'}
+[5.507221] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/dataunpacker.h:56:54:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[Kunused parameter \xe2\x80\x98\x1b[01m\x1b[KansType\x1b[m\x1b[K\xe2\x80\x99 [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter\x07-Wunused-parameter\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[5.507326] (sllidar_ros2) StderrLine: {'line': b' 56 | virtual void onDecodingError(int errMsg, \x1b[01;35m\x1b[K_u8 ansType\x1b[m\x1b[K, const void* payload, size_t size) {}\n'}
+[5.507474] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K~~~~^~~~~~~\x1b[m\x1b[K\n'}
+[5.507574] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/dataunpacker.h:56:75:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[Kunused parameter \xe2\x80\x98\x1b[01m\x1b[Kpayload\x1b[m\x1b[K\xe2\x80\x99 [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter\x07-Wunused-parameter\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[5.507691] (sllidar_ros2) StderrLine: {'line': b' 56 | virtual void onDecodingError(int errMsg, _u8 ansType, \x1b[01;35m\x1b[Kconst void* payload\x1b[m\x1b[K, size_t size) {}\n'}
+[5.507777] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K~~~~~~~~~~~~^~~~~~~\x1b[m\x1b[K\n'}
+[5.507866] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/dataunpacker.h:56:91:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[Kunused parameter \xe2\x80\x98\x1b[01m\x1b[Ksize\x1b[m\x1b[K\xe2\x80\x99 [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter\x07-Wunused-parameter\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[5.507959] (sllidar_ros2) StderrLine: {'line': b' 56 | virtual void onDecodingError(int errMsg, _u8 ansType, const void* payload, \x1b[01;35m\x1b[Ksize_t size\x1b[m\x1b[K) {}\n'}
+[5.508047] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K~~~~~~~^~~~\x1b[m\x1b[K\n'}
+[5.541812] (-) TimerEvent: {}
+[5.643461] (-) TimerEvent: {}
+[5.743950] (-) TimerEvent: {}
+[5.844460] (-) TimerEvent: {}
+[5.926570] (sllidar_ros2) StderrLine: {'line': b'In file included from \x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar_protocol.h:36\x1b[m\x1b[K,\n'}
+[5.926958] (sllidar_ros2) StderrLine: {'line': b' from \x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar.h:39\x1b[m\x1b[K,\n'}
+[5.927090] (sllidar_ros2) StderrLine: {'line': b' from \x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/src/sdkcommon.h:49\x1b[m\x1b[K,\n'}
+[5.927194] (sllidar_ros2) StderrLine: {'line': b' from \x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunnpacker_commondef.h:41\x1b[m\x1b[K,\n'}
+[5.927294] (sllidar_ros2) StderrLine: {'line': b' from \x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/handler_capsules.cpp:39\x1b[m\x1b[K:\n'}
+[5.927469] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_protocol.h:66:16:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[KISO C++ forbids zero-size array \xe2\x80\x98\x1b[01m\x1b[Kdata\x1b[m\x1b[K\xe2\x80\x99 [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic\x07-Wpedantic\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[5.927603] (sllidar_ros2) StderrLine: {'line': b' 66 | sl_u8 data[\x1b[01;35m\x1b[K0\x1b[m\x1b[K];\n'}
+[5.927700] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K^\x1b[m\x1b[K\n'}
+[5.927789] (sllidar_ros2) StderrLine: {'line': b'In file included from \x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar_cmd.h:36\x1b[m\x1b[K,\n'}
+[5.927888] (sllidar_ros2) StderrLine: {'line': b' from \x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar.h:40\x1b[m\x1b[K:\n'}
+[5.927987] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_cmd.h:324:20:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[KISO C++ forbids zero-size array \xe2\x80\x98\x1b[01m\x1b[Kpayload\x1b[m\x1b[K\xe2\x80\x99 [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic\x07-Wpedantic\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[5.928130] (sllidar_ros2) StderrLine: {'line': b' 324 | sl_u8 payload[\x1b[01;35m\x1b[K0\x1b[m\x1b[K];\n'}
+[5.928234] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K^\x1b[m\x1b[K\n'}
+[5.950474] (-) TimerEvent: {}
+[6.050919] (-) TimerEvent: {}
+[6.087767] (sllidar_ros2) StdoutLine: {'line': b'[ 40%] \x1b[32mBuilding CXX object CMakeFiles/sllidar_node.dir/sdk/src/dataunpacker/unpacker/handler_hqnode.cpp.o\x1b[0m\n'}
+[6.151065] (-) TimerEvent: {}
+[6.218897] (sllidar_ros2) StderrLine: {'line': b'In file included from \x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/handler_capsules.cpp:40\x1b[m\x1b[K:\n'}
+[6.219489] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:\x1b[m\x1b[K In member function \xe2\x80\x98\x1b[01m\x1b[Kvirtual void sl::internal::LIDARSampleDataListener::\x1b[01;32m\x1b[KonCustomSampleDataDecoded\x1b[m\x1b[K(_u8, _u32, const void*, size_t)\x1b[m\x1b[K\xe2\x80\x99:\n'}
+[6.219651] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:54:52:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[Kunused parameter \xe2\x80\x98\x1b[01m\x1b[KansType\x1b[m\x1b[K\xe2\x80\x99 [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter\x07-Wunused-parameter\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[6.219777] (sllidar_ros2) StderrLine: {'line': b' 54 | virtual void onCustomSampleDataDecoded(\x1b[01;35m\x1b[K_u8 ansType\x1b[m\x1b[K, _u32 customCode, const void* data, size_t size) {}\n'}
+[6.219899] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K~~~~^~~~~~~\x1b[m\x1b[K\n'}
+[6.219998] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:54:66:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[Kunused parameter \xe2\x80\x98\x1b[01m\x1b[KcustomCode\x1b[m\x1b[K\xe2\x80\x99 [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter\x07-Wunused-parameter\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[6.220109] (sllidar_ros2) StderrLine: {'line': b' 54 | virtual void onCustomSampleDataDecoded(_u8 ansType, \x1b[01;35m\x1b[K_u32 customCode\x1b[m\x1b[K, const void* data, size_t size) {}\n'}
+[6.220277] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K~~~~~^~~~~~~~~~\x1b[m\x1b[K\n'}
+[6.220429] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:54:90:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[Kunused parameter \xe2\x80\x98\x1b[01m\x1b[Kdata\x1b[m\x1b[K\xe2\x80\x99 [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter\x07-Wunused-parameter\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[6.220574] (sllidar_ros2) StderrLine: {'line': b' 54 | virtual void onCustomSampleDataDecoded(_u8 ansType, _u32 customCode, \x1b[01;35m\x1b[Kconst void* data\x1b[m\x1b[K, size_t size) {}\n'}
+[6.223682] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K~~~~~~~~~~~~^~~~\x1b[m\x1b[K\n'}
+[6.224087] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:54:103:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[Kunused parameter \xe2\x80\x98\x1b[01m\x1b[Ksize\x1b[m\x1b[K\xe2\x80\x99 [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter\x07-Wunused-parameter\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[6.224287] (sllidar_ros2) StderrLine: {'line': b' 54 | virtual void onCustomSampleDataDecoded(_u8 ansType, _u32 customCode, const void* data, \x1b[01;35m\x1b[Ksize_t size\x1b[m\x1b[K) {}\n'}
+[6.224493] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K~~~~~~~^~~~\x1b[m\x1b[K\n'}
+[6.224629] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:\x1b[m\x1b[K In member function \xe2\x80\x98\x1b[01m\x1b[Kvirtual void sl::internal::LIDARSampleDataListener::\x1b[01;32m\x1b[KonDecodingError\x1b[m\x1b[K(int, _u8, const void*, size_t)\x1b[m\x1b[K\xe2\x80\x99:\n'}
+[6.224792] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:56:42:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[Kunused parameter \xe2\x80\x98\x1b[01m\x1b[KerrMsg\x1b[m\x1b[K\xe2\x80\x99 [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter\x07-Wunused-parameter\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[6.224909] (sllidar_ros2) StderrLine: {'line': b' 56 | virtual void onDecodingError(\x1b[01;35m\x1b[Kint errMsg\x1b[m\x1b[K, _u8 ansType, const void* payload, size_t size) {}\n'}
+[6.225014] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K~~~~^~~~~~\x1b[m\x1b[K\n'}
+[6.225146] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:56:54:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[Kunused parameter \xe2\x80\x98\x1b[01m\x1b[KansType\x1b[m\x1b[K\xe2\x80\x99 [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter\x07-Wunused-parameter\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[6.225281] (sllidar_ros2) StderrLine: {'line': b' 56 | virtual void onDecodingError(int errMsg, \x1b[01;35m\x1b[K_u8 ansType\x1b[m\x1b[K, const void* payload, size_t size) {}\n'}
+[6.225432] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K~~~~^~~~~~~\x1b[m\x1b[K\n'}
+[6.225564] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:56:75:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[Kunused parameter \xe2\x80\x98\x1b[01m\x1b[Kpayload\x1b[m\x1b[K\xe2\x80\x99 [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter\x07-Wunused-parameter\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[6.225708] (sllidar_ros2) StderrLine: {'line': b' 56 | virtual void onDecodingError(int errMsg, _u8 ansType, \x1b[01;35m\x1b[Kconst void* payload\x1b[m\x1b[K, size_t size) {}\n'}
+[6.225817] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K~~~~~~~~~~~~^~~~~~~\x1b[m\x1b[K\n'}
+[6.225921] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:56:91:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[Kunused parameter \xe2\x80\x98\x1b[01m\x1b[Ksize\x1b[m\x1b[K\xe2\x80\x99 [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter\x07-Wunused-parameter\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[6.226049] (sllidar_ros2) StderrLine: {'line': b' 56 | virtual void onDecodingError(int errMsg, _u8 ansType, const void* payload, \x1b[01;35m\x1b[Ksize_t size\x1b[m\x1b[K) {}\n'}
+[6.226161] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K~~~~~~~^~~~\x1b[m\x1b[K\n'}
+[6.252451] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/handler_capsules.cpp:\x1b[m\x1b[K In member function \xe2\x80\x98\x1b[01m\x1b[Kvoid sl::internal::unpacker::UnpackerHandler_DenseCapsuleNode::\x1b[01;32m\x1b[K_onScanNodeDenseCapsuleData\x1b[m\x1b[K(rplidar_response_dense_capsule_measurement_nodes_t&, sl::internal::LIDARSampleDataUnpackerInner*)\x1b[m\x1b[K\xe2\x80\x99:\n'}
+[6.252867] (-) TimerEvent: {}
+[6.253037] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/handler_capsules.cpp:763:30:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[Ktype qualifiers ignored on cast result type [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wignored-qualifiers\x07-Wignored-qualifiers\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[6.253196] (sllidar_ros2) StderrLine: {'line': b' 763 | const int dist = \x1b[01;35m\x1b[Kstatic_cast<const int>(_cached_previous_dense_capsuledata.cabins[pos].distance)\x1b[m\x1b[K;\n'}
+[6.253305] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~\x1b[m\x1b[K\n'}
+[6.354458] (-) TimerEvent: {}
+[6.454941] (-) TimerEvent: {}
+[6.555453] (-) TimerEvent: {}
+[6.604200] (sllidar_ros2) StdoutLine: {'line': b'[ 45%] \x1b[32mBuilding CXX object CMakeFiles/sllidar_node.dir/sdk/src/dataunpacker/unpacker/handler_normalnode.cpp.o\x1b[0m\n'}
+[6.658446] (-) TimerEvent: {}
+[6.758964] (-) TimerEvent: {}
+[6.859489] (-) TimerEvent: {}
+[6.960007] (-) TimerEvent: {}
+[7.008373] (sllidar_ros2) StderrLine: {'line': b'In file included from \x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar_protocol.h:36\x1b[m\x1b[K,\n'}
+[7.008875] (sllidar_ros2) StderrLine: {'line': b' from \x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar.h:39\x1b[m\x1b[K,\n'}
+[7.009135] (sllidar_ros2) StderrLine: {'line': b' from \x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/src/sdkcommon.h:49\x1b[m\x1b[K,\n'}
+[7.009373] (sllidar_ros2) StderrLine: {'line': b' from \x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunnpacker_commondef.h:41\x1b[m\x1b[K,\n'}
+[7.010499] (sllidar_ros2) StderrLine: {'line': b' from \x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/handler_hqnode.cpp:39\x1b[m\x1b[K:\n'}
+[7.011439] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_protocol.h:66:16:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[KISO C++ forbids zero-size array \xe2\x80\x98\x1b[01m\x1b[Kdata\x1b[m\x1b[K\xe2\x80\x99 [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic\x07-Wpedantic\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[7.011697] (sllidar_ros2) StderrLine: {'line': b' 66 | sl_u8 data[\x1b[01;35m\x1b[K0\x1b[m\x1b[K];\n'}
+[7.011840] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K^\x1b[m\x1b[K\n'}
+[7.012025] (sllidar_ros2) StderrLine: {'line': b'In file included from \x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar_cmd.h:36\x1b[m\x1b[K,\n'}
+[7.012176] (sllidar_ros2) StderrLine: {'line': b' from \x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar.h:40\x1b[m\x1b[K:\n'}
+[7.012336] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_cmd.h:324:20:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[KISO C++ forbids zero-size array \xe2\x80\x98\x1b[01m\x1b[Kpayload\x1b[m\x1b[K\xe2\x80\x99 [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic\x07-Wpedantic\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[7.012528] (sllidar_ros2) StderrLine: {'line': b' 324 | sl_u8 payload[\x1b[01;35m\x1b[K0\x1b[m\x1b[K];\n'}
+[7.012650] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K^\x1b[m\x1b[K\n'}
+[7.062463] (-) TimerEvent: {}
+[7.162934] (-) TimerEvent: {}
+[7.235037] (sllidar_ros2) StderrLine: {'line': b'In file included from \x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/handler_hqnode.cpp:40\x1b[m\x1b[K:\n'}
+[7.235589] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:\x1b[m\x1b[K In member function \xe2\x80\x98\x1b[01m\x1b[Kvirtual void sl::internal::LIDARSampleDataListener::\x1b[01;32m\x1b[KonCustomSampleDataDecoded\x1b[m\x1b[K(_u8, _u32, const void*, size_t)\x1b[m\x1b[K\xe2\x80\x99:\n'}
+[7.236221] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:54:52:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[Kunused parameter \xe2\x80\x98\x1b[01m\x1b[KansType\x1b[m\x1b[K\xe2\x80\x99 [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter\x07-Wunused-parameter\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[7.236499] (sllidar_ros2) StderrLine: {'line': b' 54 | virtual void onCustomSampleDataDecoded(\x1b[01;35m\x1b[K_u8 ansType\x1b[m\x1b[K, _u32 customCode, const void* data, size_t size) {}\n'}
+[7.236670] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K~~~~^~~~~~~\x1b[m\x1b[K\n'}
+[7.236812] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:54:66:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[Kunused parameter \xe2\x80\x98\x1b[01m\x1b[KcustomCode\x1b[m\x1b[K\xe2\x80\x99 [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter\x07-Wunused-parameter\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[7.236959] (sllidar_ros2) StderrLine: {'line': b' 54 | virtual void onCustomSampleDataDecoded(_u8 ansType, \x1b[01;35m\x1b[K_u32 customCode\x1b[m\x1b[K, const void* data, size_t size) {}\n'}
+[7.237129] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K~~~~~^~~~~~~~~~\x1b[m\x1b[K\n'}
+[7.237252] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:54:90:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[Kunused parameter \xe2\x80\x98\x1b[01m\x1b[Kdata\x1b[m\x1b[K\xe2\x80\x99 [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter\x07-Wunused-parameter\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[7.237455] (sllidar_ros2) StderrLine: {'line': b' 54 | virtual void onCustomSampleDataDecoded(_u8 ansType, _u32 customCode, \x1b[01;35m\x1b[Kconst void* data\x1b[m\x1b[K, size_t size) {}\n'}
+[7.237583] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K~~~~~~~~~~~~^~~~\x1b[m\x1b[K\n'}
+[7.237701] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:54:103:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[Kunused parameter \xe2\x80\x98\x1b[01m\x1b[Ksize\x1b[m\x1b[K\xe2\x80\x99 [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter\x07-Wunused-parameter\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[7.240606] (sllidar_ros2) StderrLine: {'line': b' 54 | virtual void onCustomSampleDataDecoded(_u8 ansType, _u32 customCode, const void* data, \x1b[01;35m\x1b[Ksize_t size\x1b[m\x1b[K) {}\n'}
+[7.240959] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K~~~~~~~^~~~\x1b[m\x1b[K\n'}
+[7.241099] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:\x1b[m\x1b[K In member function \xe2\x80\x98\x1b[01m\x1b[Kvirtual void sl::internal::LIDARSampleDataListener::\x1b[01;32m\x1b[KonDecodingError\x1b[m\x1b[K(int, _u8, const void*, size_t)\x1b[m\x1b[K\xe2\x80\x99:\n'}
+[7.241264] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:56:42:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[Kunused parameter \xe2\x80\x98\x1b[01m\x1b[KerrMsg\x1b[m\x1b[K\xe2\x80\x99 [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter\x07-Wunused-parameter\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[7.241467] (sllidar_ros2) StderrLine: {'line': b' 56 | virtual void onDecodingError(\x1b[01;35m\x1b[Kint errMsg\x1b[m\x1b[K, _u8 ansType, const void* payload, size_t size) {}\n'}
+[7.241624] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K~~~~^~~~~~\x1b[m\x1b[K\n'}
+[7.241745] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:56:54:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[Kunused parameter \xe2\x80\x98\x1b[01m\x1b[KansType\x1b[m\x1b[K\xe2\x80\x99 [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter\x07-Wunused-parameter\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[7.241875] (sllidar_ros2) StderrLine: {'line': b' 56 | virtual void onDecodingError(int errMsg, \x1b[01;35m\x1b[K_u8 ansType\x1b[m\x1b[K, const void* payload, size_t size) {}\n'}
+[7.242001] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K~~~~^~~~~~~\x1b[m\x1b[K\n'}
+[7.242117] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:56:75:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[Kunused parameter \xe2\x80\x98\x1b[01m\x1b[Kpayload\x1b[m\x1b[K\xe2\x80\x99 [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter\x07-Wunused-parameter\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[7.242270] (sllidar_ros2) StderrLine: {'line': b' 56 | virtual void onDecodingError(int errMsg, _u8 ansType, \x1b[01;35m\x1b[Kconst void* payload\x1b[m\x1b[K, size_t size) {}\n'}
+[7.242433] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K~~~~~~~~~~~~^~~~~~~\x1b[m\x1b[K\n'}
+[7.242563] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:56:91:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[Kunused parameter \xe2\x80\x98\x1b[01m\x1b[Ksize\x1b[m\x1b[K\xe2\x80\x99 [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter\x07-Wunused-parameter\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[7.242682] (sllidar_ros2) StderrLine: {'line': b' 56 | virtual void onDecodingError(int errMsg, _u8 ansType, const void* payload, \x1b[01;35m\x1b[Ksize_t size\x1b[m\x1b[K) {}\n'}
+[7.242784] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K~~~~~~~^~~~\x1b[m\x1b[K\n'}
+[7.265452] (-) TimerEvent: {}
+[7.368741] (-) TimerEvent: {}
+[7.472707] (-) TimerEvent: {}
+[7.549588] (sllidar_ros2) StdoutLine: {'line': b'[ 50%] \x1b[32mBuilding CXX object CMakeFiles/sllidar_node.dir/sdk/src/hal/thread.cpp.o\x1b[0m\n'}
+[7.572872] (-) TimerEvent: {}
+[7.605524] (sllidar_ros2) StderrLine: {'line': b'In file included from \x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar_protocol.h:36\x1b[m\x1b[K,\n'}
+[7.605906] (sllidar_ros2) StderrLine: {'line': b' from \x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar.h:39\x1b[m\x1b[K,\n'}
+[7.606029] (sllidar_ros2) StderrLine: {'line': b' from \x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/src/sdkcommon.h:49\x1b[m\x1b[K,\n'}
+[7.606127] (sllidar_ros2) StderrLine: {'line': b' from \x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunnpacker_commondef.h:41\x1b[m\x1b[K,\n'}
+[7.606246] (sllidar_ros2) StderrLine: {'line': b' from \x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/handler_normalnode.cpp:39\x1b[m\x1b[K:\n'}
+[7.606336] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_protocol.h:66:16:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[KISO C++ forbids zero-size array \xe2\x80\x98\x1b[01m\x1b[Kdata\x1b[m\x1b[K\xe2\x80\x99 [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic\x07-Wpedantic\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[7.606474] (sllidar_ros2) StderrLine: {'line': b' 66 | sl_u8 data[\x1b[01;35m\x1b[K0\x1b[m\x1b[K];\n'}
+[7.606565] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K^\x1b[m\x1b[K\n'}
+[7.609233] (sllidar_ros2) StderrLine: {'line': b'In file included from \x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar_cmd.h:36\x1b[m\x1b[K,\n'}
+[7.609587] (sllidar_ros2) StderrLine: {'line': b' from \x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar.h:40\x1b[m\x1b[K:\n'}
+[7.609722] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_cmd.h:324:20:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[KISO C++ forbids zero-size array \xe2\x80\x98\x1b[01m\x1b[Kpayload\x1b[m\x1b[K\xe2\x80\x99 [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic\x07-Wpedantic\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[7.609911] (sllidar_ros2) StderrLine: {'line': b' 324 | sl_u8 payload[\x1b[01;35m\x1b[K0\x1b[m\x1b[K];\n'}
+[7.610044] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K^\x1b[m\x1b[K\n'}
+[7.673029] (-) TimerEvent: {}
+[7.776856] (-) TimerEvent: {}
+[7.839970] (sllidar_ros2) StderrLine: {'line': b'In file included from \x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/handler_normalnode.cpp:40\x1b[m\x1b[K:\n'}
+[7.840389] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:\x1b[m\x1b[K In member function \xe2\x80\x98\x1b[01m\x1b[Kvirtual void sl::internal::LIDARSampleDataListener::\x1b[01;32m\x1b[KonCustomSampleDataDecoded\x1b[m\x1b[K(_u8, _u32, const void*, size_t)\x1b[m\x1b[K\xe2\x80\x99:\n'}
+[7.840612] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:54:52:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[Kunused parameter \xe2\x80\x98\x1b[01m\x1b[KansType\x1b[m\x1b[K\xe2\x80\x99 [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter\x07-Wunused-parameter\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[7.840760] (sllidar_ros2) StderrLine: {'line': b' 54 | virtual void onCustomSampleDataDecoded(\x1b[01;35m\x1b[K_u8 ansType\x1b[m\x1b[K, _u32 customCode, const void* data, size_t size) {}\n'}
+[7.840897] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K~~~~^~~~~~~\x1b[m\x1b[K\n'}
+[7.844520] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:54:66:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[Kunused parameter \xe2\x80\x98\x1b[01m\x1b[KcustomCode\x1b[m\x1b[K\xe2\x80\x99 [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter\x07-Wunused-parameter\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[7.844945] (sllidar_ros2) StderrLine: {'line': b' 54 | virtual void onCustomSampleDataDecoded(_u8 ansType, \x1b[01;35m\x1b[K_u32 customCode\x1b[m\x1b[K, const void* data, size_t size) {}\n'}
+[7.845102] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K~~~~~^~~~~~~~~~\x1b[m\x1b[K\n'}
+[7.845226] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:54:90:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[Kunused parameter \xe2\x80\x98\x1b[01m\x1b[Kdata\x1b[m\x1b[K\xe2\x80\x99 [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter\x07-Wunused-parameter\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[7.845398] (sllidar_ros2) StderrLine: {'line': b' 54 | virtual void onCustomSampleDataDecoded(_u8 ansType, _u32 customCode, \x1b[01;35m\x1b[Kconst void* data\x1b[m\x1b[K, size_t size) {}\n'}
+[7.845589] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K~~~~~~~~~~~~^~~~\x1b[m\x1b[K\n'}
+[7.845722] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:54:103:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[Kunused parameter \xe2\x80\x98\x1b[01m\x1b[Ksize\x1b[m\x1b[K\xe2\x80\x99 [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter\x07-Wunused-parameter\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[7.845887] (sllidar_ros2) StderrLine: {'line': b' 54 | virtual void onCustomSampleDataDecoded(_u8 ansType, _u32 customCode, const void* data, \x1b[01;35m\x1b[Ksize_t size\x1b[m\x1b[K) {}\n'}
+[7.846012] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K~~~~~~~^~~~\x1b[m\x1b[K\n'}
+[7.846141] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:\x1b[m\x1b[K In member function \xe2\x80\x98\x1b[01m\x1b[Kvirtual void sl::internal::LIDARSampleDataListener::\x1b[01;32m\x1b[KonDecodingError\x1b[m\x1b[K(int, _u8, const void*, size_t)\x1b[m\x1b[K\xe2\x80\x99:\n'}
+[7.846274] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:56:42:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[Kunused parameter \xe2\x80\x98\x1b[01m\x1b[KerrMsg\x1b[m\x1b[K\xe2\x80\x99 [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter\x07-Wunused-parameter\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[7.846440] (sllidar_ros2) StderrLine: {'line': b' 56 | virtual void onDecodingError(\x1b[01;35m\x1b[Kint errMsg\x1b[m\x1b[K, _u8 ansType, const void* payload, size_t size) {}\n'}
+[7.846574] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K~~~~^~~~~~\x1b[m\x1b[K\n'}
+[7.846699] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:56:54:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[Kunused parameter \xe2\x80\x98\x1b[01m\x1b[KansType\x1b[m\x1b[K\xe2\x80\x99 [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter\x07-Wunused-parameter\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[7.846843] (sllidar_ros2) StderrLine: {'line': b' 56 | virtual void onDecodingError(int errMsg, \x1b[01;35m\x1b[K_u8 ansType\x1b[m\x1b[K, const void* payload, size_t size) {}\n'}
+[7.846989] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K~~~~^~~~~~~\x1b[m\x1b[K\n'}
+[7.847112] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:56:75:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[Kunused parameter \xe2\x80\x98\x1b[01m\x1b[Kpayload\x1b[m\x1b[K\xe2\x80\x99 [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter\x07-Wunused-parameter\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[7.847236] (sllidar_ros2) StderrLine: {'line': b' 56 | virtual void onDecodingError(int errMsg, _u8 ansType, \x1b[01;35m\x1b[Kconst void* payload\x1b[m\x1b[K, size_t size) {}\n'}
+[7.853483] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K~~~~~~~~~~~~^~~~~~~\x1b[m\x1b[K\n'}
+[7.853851] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:56:91:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[Kunused parameter \xe2\x80\x98\x1b[01m\x1b[Ksize\x1b[m\x1b[K\xe2\x80\x99 [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter\x07-Wunused-parameter\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[7.854030] (sllidar_ros2) StderrLine: {'line': b' 56 | virtual void onDecodingError(int errMsg, _u8 ansType, const void* payload, \x1b[01;35m\x1b[Ksize_t size\x1b[m\x1b[K) {}\n'}
+[7.854154] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K~~~~~~~^~~~\x1b[m\x1b[K\n'}
+[7.877463] (-) TimerEvent: {}
+[7.978870] (-) TimerEvent: {}
+[8.082865] (-) TimerEvent: {}
+[8.114504] (sllidar_ros2) StdoutLine: {'line': b'[ 55%] \x1b[32mBuilding CXX object CMakeFiles/sllidar_node.dir/sdk/src/rplidar_driver.cpp.o\x1b[0m\n'}
+[8.184495] (-) TimerEvent: {}
+[8.284973] (-) TimerEvent: {}
+[8.388683] (-) TimerEvent: {}
+[8.442096] (sllidar_ros2) StderrLine: {'line': b'In file included from \x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar_protocol.h:36\x1b[m\x1b[K,\n'}
+[8.442650] (sllidar_ros2) StderrLine: {'line': b' from \x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar.h:39\x1b[m\x1b[K,\n'}
+[8.442931] (sllidar_ros2) StderrLine: {'line': b' from \x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/src/sdkcommon.h:49\x1b[m\x1b[K,\n'}
+[8.443153] (sllidar_ros2) StderrLine: {'line': b' from \x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/hal/thread.cpp:35\x1b[m\x1b[K:\n'}
+[8.443381] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_protocol.h:66:16:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[KISO C++ forbids zero-size array \xe2\x80\x98\x1b[01m\x1b[Kdata\x1b[m\x1b[K\xe2\x80\x99 [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic\x07-Wpedantic\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[8.443622] (sllidar_ros2) StderrLine: {'line': b' 66 | sl_u8 data[\x1b[01;35m\x1b[K0\x1b[m\x1b[K];\n'}
+[8.443872] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K^\x1b[m\x1b[K\n'}
+[8.444961] (sllidar_ros2) StderrLine: {'line': b'In file included from \x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar_cmd.h:36\x1b[m\x1b[K,\n'}
+[8.447563] (sllidar_ros2) StderrLine: {'line': b' from \x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar.h:40\x1b[m\x1b[K:\n'}
+[8.447911] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_cmd.h:324:20:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[KISO C++ forbids zero-size array \xe2\x80\x98\x1b[01m\x1b[Kpayload\x1b[m\x1b[K\xe2\x80\x99 [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic\x07-Wpedantic\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[8.448046] (sllidar_ros2) StderrLine: {'line': b' 324 | sl_u8 payload[\x1b[01;35m\x1b[K0\x1b[m\x1b[K];\n'}
+[8.448207] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K^\x1b[m\x1b[K\n'}
+[8.488842] (-) TimerEvent: {}
+[8.503289] (sllidar_ros2) StderrLine: {'line': b'In file included from \x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/hal/thread.cpp:43\x1b[m\x1b[K:\n'}
+[8.503707] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/src/arch/linux/thread.hpp:\x1b[m\x1b[K In static member function \xe2\x80\x98\x1b[01m\x1b[Kstatic rp::hal::Thread rp::hal::Thread::\x1b[01;32m\x1b[Kcreate\x1b[m\x1b[K(thread_proc_t, void*)\x1b[m\x1b[K\xe2\x80\x99:\n'}
+[8.503875] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/src/arch/linux/thread.hpp:52:57:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[Kcast between incompatible function types from \xe2\x80\x98\x1b[01m\x1b[Kthread_proc_t\x1b[m\x1b[K\xe2\x80\x99 {aka \xe2\x80\x98\x1b[01m\x1b[Klong unsigned int (*)(void*)\x1b[m\x1b[K\xe2\x80\x99} to \xe2\x80\x98\x1b[01m\x1b[Kvoid* (*)(void*)\x1b[m\x1b[K\xe2\x80\x99 [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wcast-function-type\x07-Wcast-function-type\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[8.504035] (sllidar_ros2) StderrLine: {'line': b' 52 | pthread_create((pthread_t *)&newborn._handle, NULL, \x1b[01;35m\x1b[K(void * (*)(void *))proc\x1b[m\x1b[K, data);\n'}
+[8.504177] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K^~~~~~~~~~~~~~~~~~~~~~~~\x1b[m\x1b[K\n'}
+[8.508465] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/src/arch/linux/thread.hpp:\x1b[m\x1b[K In member function \xe2\x80\x98\x1b[01m\x1b[Ku_result rp::hal::Thread::\x1b[01;32m\x1b[Kjoin\x1b[m\x1b[K(long unsigned int)\x1b[m\x1b[K\xe2\x80\x99:\n'}
+[8.508942] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/src/arch/linux/thread.hpp:176:37:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[Kunused parameter \xe2\x80\x98\x1b[01m\x1b[Ktimeout\x1b[m\x1b[K\xe2\x80\x99 [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter\x07-Wunused-parameter\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[8.509117] (sllidar_ros2) StderrLine: {'line': b' 176 | u_result Thread::join(\x1b[01;35m\x1b[Kunsigned long timeout\x1b[m\x1b[K)\n'}
+[8.509249] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K~~~~~~~~~~~~~~^~~~~~~\x1b[m\x1b[K\n'}
+[8.588970] (-) TimerEvent: {}
+[8.689469] (-) TimerEvent: {}
+[8.693020] (sllidar_ros2) StdoutLine: {'line': b'[ 60%] \x1b[32mBuilding CXX object CMakeFiles/sllidar_node.dir/sdk/src/sl_async_transceiver.cpp.o\x1b[0m\n'}
+[8.789611] (-) TimerEvent: {}
+[8.823304] (sllidar_ros2) StderrLine: {'line': b'In file included from \x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_cmd.h:41\x1b[m\x1b[K,\n'}
+[8.823704] (sllidar_ros2) StderrLine: {'line': b' from \x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_driver.h:54\x1b[m\x1b[K,\n'}
+[8.823838] (sllidar_ros2) StderrLine: {'line': b' from \x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar.h:36\x1b[m\x1b[K,\n'}
+[8.823975] (sllidar_ros2) StderrLine: {'line': b' from \x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/src/sllidar_node.cpp:38\x1b[m\x1b[K:\n'}
+[8.826831] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_protocol.h:66:16:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[KISO C++ forbids zero-size array \xe2\x80\x98\x1b[01m\x1b[Kdata\x1b[m\x1b[K\xe2\x80\x99 [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic\x07-Wpedantic\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[8.827021] (sllidar_ros2) StderrLine: {'line': b' 66 | sl_u8 data[\x1b[01;35m\x1b[K0\x1b[m\x1b[K];\n'}
+[8.827180] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K^\x1b[m\x1b[K\n'}
+[8.827323] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_cmd.h:324:20:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[KISO C++ forbids zero-size array \xe2\x80\x98\x1b[01m\x1b[Kpayload\x1b[m\x1b[K\xe2\x80\x99 [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic\x07-Wpedantic\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[8.827525] (sllidar_ros2) StderrLine: {'line': b' 324 | sl_u8 payload[\x1b[01;35m\x1b[K0\x1b[m\x1b[K];\n'}
+[8.827662] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K^\x1b[m\x1b[K\n'}
+[8.891447] (-) TimerEvent: {}
+[8.991896] (-) TimerEvent: {}
+[9.029530] (sllidar_ros2) StderrLine: {'line': b'In file included from \x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar_protocol.h:36\x1b[m\x1b[K,\n'}
+[9.030082] (sllidar_ros2) StderrLine: {'line': b' from \x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar.h:39\x1b[m\x1b[K,\n'}
+[9.031584] (sllidar_ros2) StderrLine: {'line': b' from \x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sdkcommon.h:49\x1b[m\x1b[K,\n'}
+[9.031930] (sllidar_ros2) StderrLine: {'line': b' from \x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/rplidar_driver.cpp:33\x1b[m\x1b[K:\n'}
+[9.032078] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_protocol.h:66:16:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[KISO C++ forbids zero-size array \xe2\x80\x98\x1b[01m\x1b[Kdata\x1b[m\x1b[K\xe2\x80\x99 [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic\x07-Wpedantic\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[9.032204] (sllidar_ros2) StderrLine: {'line': b' 66 | sl_u8 data[\x1b[01;35m\x1b[K0\x1b[m\x1b[K];\n'}
+[9.032322] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K^\x1b[m\x1b[K\n'}
+[9.032483] (sllidar_ros2) StderrLine: {'line': b'In file included from \x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar_cmd.h:36\x1b[m\x1b[K,\n'}
+[9.034099] (sllidar_ros2) StderrLine: {'line': b' from \x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar.h:40\x1b[m\x1b[K:\n'}
+[9.034431] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_cmd.h:324:20:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[KISO C++ forbids zero-size array \xe2\x80\x98\x1b[01m\x1b[Kpayload\x1b[m\x1b[K\xe2\x80\x99 [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic\x07-Wpedantic\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[9.034693] (sllidar_ros2) StderrLine: {'line': b' 324 | sl_u8 payload[\x1b[01;35m\x1b[K0\x1b[m\x1b[K];\n'}
+[9.034866] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K^\x1b[m\x1b[K\n'}
+[9.092051] (-) TimerEvent: {}
+[9.137583] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/rplidar_driver.cpp:\x1b[m\x1b[K In member function \xe2\x80\x98\x1b[01m\x1b[Ku_result rp::standalone::rplidar::RPlidarDriver::\x1b[01;32m\x1b[Kconnect\x1b[m\x1b[K(const char*, _u32, _u32)\x1b[m\x1b[K\xe2\x80\x99:\n'}
+[9.138118] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/rplidar_driver.cpp:67:77:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[Kunused parameter \xe2\x80\x98\x1b[01m\x1b[Kflag\x1b[m\x1b[K\xe2\x80\x99 [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter\x07-Wunused-parameter\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[9.139047] (sllidar_ros2) StderrLine: {'line': b' 67 | u_result RPlidarDriver::connect(const char *path, _u32 portOrBaud, \x1b[01;35m\x1b[K_u32 flag\x1b[m\x1b[K)\n'}
+[9.139385] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K~~~~~^~~~\x1b[m\x1b[K\n'}
+[9.141449] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/rplidar_driver.cpp:\x1b[m\x1b[K In member function \xe2\x80\x98\x1b[01m\x1b[Ku_result rp::standalone::rplidar::RPlidarDriver::\x1b[01;32m\x1b[Kreset\x1b[m\x1b[K(_u32)\x1b[m\x1b[K\xe2\x80\x99:\n'}
+[9.141798] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/rplidar_driver.cpp:101:40:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[Kunused parameter \xe2\x80\x98\x1b[01m\x1b[Ktimeout\x1b[m\x1b[K\xe2\x80\x99 [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter\x07-Wunused-parameter\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[9.141986] (sllidar_ros2) StderrLine: {'line': b' 101 | u_result RPlidarDriver::reset(\x1b[01;35m\x1b[K_u32 timeout\x1b[m\x1b[K)\n'}
+[9.142091] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K~~~~~^~~~~~~\x1b[m\x1b[K\n'}
+[9.142472] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/rplidar_driver.cpp:\x1b[m\x1b[K In member function \xe2\x80\x98\x1b[01m\x1b[Ku_result rp::standalone::rplidar::RPlidarDriver::\x1b[01;32m\x1b[KgetScanDataWithInterval\x1b[m\x1b[K(rplidar_response_measurement_node_t*, size_t&)\x1b[m\x1b[K\xe2\x80\x99:\n'}
+[9.143014] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/rplidar_driver.cpp:180:91:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[Kunused parameter \xe2\x80\x98\x1b[01m\x1b[Knodebuffer\x1b[m\x1b[K\xe2\x80\x99 [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter\x07-Wunused-parameter\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[9.143567] (sllidar_ros2) StderrLine: {'line': b' 180 | u_result RPlidarDriver::getScanDataWithInterval(\x1b[01;35m\x1b[Krplidar_response_measurement_node_t * nodebuffer\x1b[m\x1b[K, size_t & count)\n'}
+[9.146768] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~\x1b[m\x1b[K\n'}
+[9.146988] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/rplidar_driver.cpp:180:112:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[Kunused parameter \xe2\x80\x98\x1b[01m\x1b[Kcount\x1b[m\x1b[K\xe2\x80\x99 [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter\x07-Wunused-parameter\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[9.147600] (sllidar_ros2) StderrLine: {'line': b' 180 | u_result RPlidarDriver::getScanDataWithInterval(rplidar_response_measurement_node_t * nodebuffer, \x1b[01;35m\x1b[Ksize_t & count\x1b[m\x1b[K)\n'}
+[9.147947] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K~~~~~~~~~^~~~~\x1b[m\x1b[K\n'}
+[9.192207] (-) TimerEvent: {}
+[9.292737] (-) TimerEvent: {}
+[9.397799] (-) TimerEvent: {}
+[9.471550] (sllidar_ros2) StdoutLine: {'line': b'[ 65%] \x1b[32mBuilding CXX object CMakeFiles/sllidar_node.dir/sdk/src/sl_crc.cpp.o\x1b[0m\n'}
+[9.498230] (-) TimerEvent: {}
+[9.540286] (sllidar_ros2) StderrLine: {'line': b'In file included from \x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_cmd.h:41\x1b[m\x1b[K,\n'}
+[9.541052] (sllidar_ros2) StderrLine: {'line': b' from \x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_crc.h:36\x1b[m\x1b[K,\n'}
+[9.541635] (sllidar_ros2) StderrLine: {'line': b' from \x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_crc.cpp:33\x1b[m\x1b[K:\n'}
+[9.541859] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_protocol.h:66:16:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[KISO C++ forbids zero-size array \xe2\x80\x98\x1b[01m\x1b[Kdata\x1b[m\x1b[K\xe2\x80\x99 [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic\x07-Wpedantic\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[9.542083] (sllidar_ros2) StderrLine: {'line': b' 66 | sl_u8 data[\x1b[01;35m\x1b[K0\x1b[m\x1b[K];\n'}
+[9.545734] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K^\x1b[m\x1b[K\n'}
+[9.546027] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_cmd.h:324:20:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[KISO C++ forbids zero-size array \xe2\x80\x98\x1b[01m\x1b[Kpayload\x1b[m\x1b[K\xe2\x80\x99 [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic\x07-Wpedantic\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[9.546289] (sllidar_ros2) StderrLine: {'line': b' 324 | sl_u8 payload[\x1b[01;35m\x1b[K0\x1b[m\x1b[K];\n'}
+[9.546547] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K^\x1b[m\x1b[K\n'}
+[9.591059] (sllidar_ros2) StdoutLine: {'line': b'[ 70%] \x1b[32mBuilding CXX object CMakeFiles/sllidar_node.dir/sdk/src/sl_lidar_driver.cpp.o\x1b[0m\n'}
+[9.598338] (-) TimerEvent: {}
+[9.665561] (sllidar_ros2) StderrLine: {'line': b'In file included from \x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar_protocol.h:36\x1b[m\x1b[K,\n'}
+[9.666557] (sllidar_ros2) StderrLine: {'line': b' from \x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar.h:39\x1b[m\x1b[K,\n'}
+[9.669674] (sllidar_ros2) StderrLine: {'line': b' from \x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sdkcommon.h:49\x1b[m\x1b[K,\n'}
+[9.669903] (sllidar_ros2) StderrLine: {'line': b' from \x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_async_transceiver.cpp:35\x1b[m\x1b[K:\n'}
+[9.670046] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_protocol.h:66:16:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[KISO C++ forbids zero-size array \xe2\x80\x98\x1b[01m\x1b[Kdata\x1b[m\x1b[K\xe2\x80\x99 [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic\x07-Wpedantic\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[9.670193] (sllidar_ros2) StderrLine: {'line': b' 66 | sl_u8 data[\x1b[01;35m\x1b[K0\x1b[m\x1b[K];\n'}
+[9.670332] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K^\x1b[m\x1b[K\n'}
+[9.670523] (sllidar_ros2) StderrLine: {'line': b'In file included from \x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar_cmd.h:36\x1b[m\x1b[K,\n'}
+[9.670668] (sllidar_ros2) StderrLine: {'line': b' from \x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar.h:40\x1b[m\x1b[K:\n'}
+[9.670792] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_cmd.h:324:20:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[KISO C++ forbids zero-size array \xe2\x80\x98\x1b[01m\x1b[Kpayload\x1b[m\x1b[K\xe2\x80\x99 [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic\x07-Wpedantic\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[9.670916] (sllidar_ros2) StderrLine: {'line': b' 324 | sl_u8 payload[\x1b[01;35m\x1b[K0\x1b[m\x1b[K];\n'}
+[9.671016] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K^\x1b[m\x1b[K\n'}
+[9.698462] (-) TimerEvent: {}
+[9.798940] (-) TimerEvent: {}
+[9.850267] (sllidar_ros2) StderrLine: {'line': b'In file included from \x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_async_transceiver.cpp:44\x1b[m\x1b[K:\n'}
+[9.850662] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_async_transceiver.h:\x1b[m\x1b[K In member function \xe2\x80\x98\x1b[01m\x1b[Kvirtual void sl::internal::IAsyncProtocolCodec::\x1b[01;32m\x1b[KonChannelError\x1b[m\x1b[K(u_result)\x1b[m\x1b[K\xe2\x80\x99:\n'}
+[9.850816] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_async_transceiver.h:90:48:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[Kunused parameter \xe2\x80\x98\x1b[01m\x1b[KerrCode\x1b[m\x1b[K\xe2\x80\x99 [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter\x07-Wunused-parameter\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[9.850976] (sllidar_ros2) StderrLine: {'line': b' 90 | virtual void onChannelError(\x1b[01;35m\x1b[Ku_result errCode\x1b[m\x1b[K) {}\n'}
+[9.851092] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K~~~~~~~~~^~~~~~~\x1b[m\x1b[K\n'}
+[9.899074] (-) TimerEvent: {}
+[9.999554] (-) TimerEvent: {}
+[10.100050] (-) TimerEvent: {}
+[10.178318] (sllidar_ros2) StdoutLine: {'line': b'[ 75%] \x1b[32mBuilding CXX object CMakeFiles/sllidar_node.dir/sdk/src/sl_lidarprotocol_codec.cpp.o\x1b[0m\n'}
+[10.201455] (-) TimerEvent: {}
+[10.304778] (-) TimerEvent: {}
+[10.405523] (-) TimerEvent: {}
+[10.510622] (-) TimerEvent: {}
+[10.611107] (-) TimerEvent: {}
+[10.679172] (sllidar_ros2) StderrLine: {'line': b'In file included from \x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar_protocol.h:36\x1b[m\x1b[K,\n'}
+[10.679549] (sllidar_ros2) StderrLine: {'line': b' from \x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar.h:39\x1b[m\x1b[K,\n'}
+[10.679675] (sllidar_ros2) StderrLine: {'line': b' from \x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sdkcommon.h:49\x1b[m\x1b[K,\n'}
+[10.679777] (sllidar_ros2) StderrLine: {'line': b' from \x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidar_driver.cpp:33\x1b[m\x1b[K:\n'}
+[10.679879] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_protocol.h:66:16:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[KISO C++ forbids zero-size array \xe2\x80\x98\x1b[01m\x1b[Kdata\x1b[m\x1b[K\xe2\x80\x99 [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic\x07-Wpedantic\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[10.680013] (sllidar_ros2) StderrLine: {'line': b' 66 | sl_u8 data[\x1b[01;35m\x1b[K0\x1b[m\x1b[K];\n'}
+[10.680112] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K^\x1b[m\x1b[K\n'}
+[10.681428] (sllidar_ros2) StderrLine: {'line': b'In file included from \x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar_cmd.h:36\x1b[m\x1b[K,\n'}
+[10.681756] (sllidar_ros2) StderrLine: {'line': b' from \x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar.h:40\x1b[m\x1b[K:\n'}
+[10.681876] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_cmd.h:324:20:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[KISO C++ forbids zero-size array \xe2\x80\x98\x1b[01m\x1b[Kpayload\x1b[m\x1b[K\xe2\x80\x99 [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic\x07-Wpedantic\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[10.681982] (sllidar_ros2) StderrLine: {'line': b' 324 | sl_u8 payload[\x1b[01;35m\x1b[K0\x1b[m\x1b[K];\n'}
+[10.682089] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K^\x1b[m\x1b[K\n'}
+[10.713459] (-) TimerEvent: {}
+[10.813931] (-) TimerEvent: {}
+[10.914457] (-) TimerEvent: {}
+[11.016456] (-) TimerEvent: {}
+[11.081446] (sllidar_ros2) StderrLine: {'line': b'In file included from \x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidar_driver.cpp:50\x1b[m\x1b[K:\n'}
+[11.081895] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/dataunpacker.h:\x1b[m\x1b[K In member function \xe2\x80\x98\x1b[01m\x1b[Kvirtual void sl::internal::LIDARSampleDataListener::\x1b[01;32m\x1b[KonCustomSampleDataDecoded\x1b[m\x1b[K(_u8, _u32, const void*, size_t)\x1b[m\x1b[K\xe2\x80\x99:\n'}
+[11.082076] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/dataunpacker.h:54:52:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[Kunused parameter \xe2\x80\x98\x1b[01m\x1b[KansType\x1b[m\x1b[K\xe2\x80\x99 [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter\x07-Wunused-parameter\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[11.082223] (sllidar_ros2) StderrLine: {'line': b' 54 | virtual void onCustomSampleDataDecoded(\x1b[01;35m\x1b[K_u8 ansType\x1b[m\x1b[K, _u32 customCode, const void* data, size_t size) {}\n'}
+[11.082396] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K~~~~^~~~~~~\x1b[m\x1b[K\n'}
+[11.082577] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/dataunpacker.h:54:66:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[Kunused parameter \xe2\x80\x98\x1b[01m\x1b[KcustomCode\x1b[m\x1b[K\xe2\x80\x99 [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter\x07-Wunused-parameter\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[11.082704] (sllidar_ros2) StderrLine: {'line': b' 54 | virtual void onCustomSampleDataDecoded(_u8 ansType, \x1b[01;35m\x1b[K_u32 customCode\x1b[m\x1b[K, const void* data, size_t size) {}\n'}
+[11.082819] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K~~~~~^~~~~~~~~~\x1b[m\x1b[K\n'}
+[11.082935] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/dataunpacker.h:54:90:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[Kunused parameter \xe2\x80\x98\x1b[01m\x1b[Kdata\x1b[m\x1b[K\xe2\x80\x99 [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter\x07-Wunused-parameter\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[11.083057] (sllidar_ros2) StderrLine: {'line': b' 54 | virtual void onCustomSampleDataDecoded(_u8 ansType, _u32 customCode, \x1b[01;35m\x1b[Kconst void* data\x1b[m\x1b[K, size_t size) {}\n'}
+[11.083166] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K~~~~~~~~~~~~^~~~\x1b[m\x1b[K\n'}
+[11.083316] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/dataunpacker.h:54:103:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[Kunused parameter \xe2\x80\x98\x1b[01m\x1b[Ksize\x1b[m\x1b[K\xe2\x80\x99 [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter\x07-Wunused-parameter\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[11.083535] (sllidar_ros2) StderrLine: {'line': b' 54 | virtual void onCustomSampleDataDecoded(_u8 ansType, _u32 customCode, const void* data, \x1b[01;35m\x1b[Ksize_t size\x1b[m\x1b[K) {}\n'}
+[11.083701] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K~~~~~~~^~~~\x1b[m\x1b[K\n'}
+[11.083862] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/dataunpacker.h:\x1b[m\x1b[K In member function \xe2\x80\x98\x1b[01m\x1b[Kvirtual void sl::internal::LIDARSampleDataListener::\x1b[01;32m\x1b[KonDecodingError\x1b[m\x1b[K(int, _u8, const void*, size_t)\x1b[m\x1b[K\xe2\x80\x99:\n'}
+[11.085885] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/dataunpacker.h:56:42:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[Kunused parameter \xe2\x80\x98\x1b[01m\x1b[KerrMsg\x1b[m\x1b[K\xe2\x80\x99 [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter\x07-Wunused-parameter\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[11.086086] (sllidar_ros2) StderrLine: {'line': b' 56 | virtual void onDecodingError(\x1b[01;35m\x1b[Kint errMsg\x1b[m\x1b[K, _u8 ansType, const void* payload, size_t size) {}\n'}
+[11.086189] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K~~~~^~~~~~\x1b[m\x1b[K\n'}
+[11.086293] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/dataunpacker.h:56:54:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[Kunused parameter \xe2\x80\x98\x1b[01m\x1b[KansType\x1b[m\x1b[K\xe2\x80\x99 [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter\x07-Wunused-parameter\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[11.086422] (sllidar_ros2) StderrLine: {'line': b' 56 | virtual void onDecodingError(int errMsg, \x1b[01;35m\x1b[K_u8 ansType\x1b[m\x1b[K, const void* payload, size_t size) {}\n'}
+[11.086545] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K~~~~^~~~~~~\x1b[m\x1b[K\n'}
+[11.086684] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/dataunpacker.h:56:75:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[Kunused parameter \xe2\x80\x98\x1b[01m\x1b[Kpayload\x1b[m\x1b[K\xe2\x80\x99 [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter\x07-Wunused-parameter\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[11.089901] (sllidar_ros2) StderrLine: {'line': b' 56 | virtual void onDecodingError(int errMsg, _u8 ansType, \x1b[01;35m\x1b[Kconst void* payload\x1b[m\x1b[K, size_t size) {}\n'}
+[11.090094] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K~~~~~~~~~~~~^~~~~~~\x1b[m\x1b[K\n'}
+[11.090201] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/dataunpacker.h:56:91:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[Kunused parameter \xe2\x80\x98\x1b[01m\x1b[Ksize\x1b[m\x1b[K\xe2\x80\x99 [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter\x07-Wunused-parameter\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[11.090310] (sllidar_ros2) StderrLine: {'line': b' 56 | virtual void onDecodingError(int errMsg, _u8 ansType, const void* payload, \x1b[01;35m\x1b[Ksize_t size\x1b[m\x1b[K) {}\n'}
+[11.090493] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K~~~~~~~^~~~\x1b[m\x1b[K\n'}
+[11.118460] (-) TimerEvent: {}
+[11.125759] (sllidar_ros2) StderrLine: {'line': b'In file included from \x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidar_driver.cpp:51\x1b[m\x1b[K:\n'}
+[11.126141] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_async_transceiver.h:\x1b[m\x1b[K In member function \xe2\x80\x98\x1b[01m\x1b[Kvirtual void sl::internal::IAsyncProtocolCodec::\x1b[01;32m\x1b[KonChannelError\x1b[m\x1b[K(u_result)\x1b[m\x1b[K\xe2\x80\x99:\n'}
+[11.126329] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_async_transceiver.h:90:48:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[Kunused parameter \xe2\x80\x98\x1b[01m\x1b[KerrCode\x1b[m\x1b[K\xe2\x80\x99 [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter\x07-Wunused-parameter\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[11.129858] (sllidar_ros2) StderrLine: {'line': b' 90 | virtual void onChannelError(\x1b[01;35m\x1b[Ku_result errCode\x1b[m\x1b[K) {}\n'}
+[11.130021] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K~~~~~~~~~^~~~~~~\x1b[m\x1b[K\n'}
+[11.188287] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidar_driver.cpp:\x1b[m\x1b[K In member function \xe2\x80\x98\x1b[01m\x1b[Kvirtual sl_result sl::SlamtecLidarDriver::\x1b[01;32m\x1b[Kreset\x1b[m\x1b[K(sl_u32)\x1b[m\x1b[K\xe2\x80\x99:\n'}
+[11.188702] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidar_driver.cpp:511:32:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[Kunused parameter \xe2\x80\x98\x1b[01m\x1b[KtimeoutInMs\x1b[m\x1b[K\xe2\x80\x99 [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter\x07-Wunused-parameter\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[11.188868] (sllidar_ros2) StderrLine: {'line': b' 511 | sl_result reset(\x1b[01;35m\x1b[Ksl_u32 timeoutInMs = DEFAULT_TIMEOUT\x1b[m\x1b[K)\n'}
+[11.188992] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~\x1b[m\x1b[K\n'}
+[11.198459] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidar_driver.cpp:\x1b[m\x1b[K In member function \xe2\x80\x98\x1b[01m\x1b[Kvirtual sl_result sl::SlamtecLidarDriver::\x1b[01;32m\x1b[KstartScan\x1b[m\x1b[K(bool, bool, sl_u32, sl::LidarScanMode*)\x1b[m\x1b[K\xe2\x80\x99:\n'}
+[11.198921] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidar_driver.cpp:586:69:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[Kunused parameter \xe2\x80\x98\x1b[01m\x1b[Koptions\x1b[m\x1b[K\xe2\x80\x99 [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter\x07-Wunused-parameter\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[11.199121] (sllidar_ros2) StderrLine: {'line': b' 586 | sl_result startScan(bool force, bool useTypicalScan, \x1b[01;35m\x1b[Ksl_u32 options = 0\x1b[m\x1b[K, LidarScanMode* outUsedScanMode = nullptr)\n'}
+[11.199268] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K~~~~~~~^~~~~~~~~~~\x1b[m\x1b[K\n'}
+[11.202123] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidar_driver.cpp:\x1b[m\x1b[K In member function \xe2\x80\x98\x1b[01m\x1b[Kvirtual sl_result sl::SlamtecLidarDriver::\x1b[01;32m\x1b[Kstop\x1b[m\x1b[K(sl_u32)\x1b[m\x1b[K\xe2\x80\x99:\n'}
+[11.202545] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidar_driver.cpp:763:31:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[Kunused parameter \xe2\x80\x98\x1b[01m\x1b[Ktimeout\x1b[m\x1b[K\xe2\x80\x99 [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter\x07-Wunused-parameter\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[11.202716] (sllidar_ros2) StderrLine: {'line': b' 763 | sl_result stop(\x1b[01;35m\x1b[Ksl_u32 timeout = DEFAULT_TIMEOUT\x1b[m\x1b[K)\n'}
+[11.202837] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~\x1b[m\x1b[K\n'}
+[11.210819] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidar_driver.cpp:\x1b[m\x1b[K In member function \xe2\x80\x98\x1b[01m\x1b[Kvirtual sl_result sl::SlamtecLidarDriver::\x1b[01;32m\x1b[KgetFrequency\x1b[m\x1b[K(const sl::LidarScanMode&, const sl_lidar_response_measurement_node_hq_t*, size_t, float&)\x1b[m\x1b[K\xe2\x80\x99:\n'}
+[11.215042] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidar_driver.cpp:880:110:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[Kunused parameter \xe2\x80\x98\x1b[01m\x1b[Knodes\x1b[m\x1b[K\xe2\x80\x99 [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter\x07-Wunused-parameter\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[11.215604] (sllidar_ros2) StderrLine: {'line': b' 880 | sl_result getFrequency(const LidarScanMode& scanMode, \x1b[01;35m\x1b[Kconst sl_lidar_response_measurement_node_hq_t* nodes\x1b[m\x1b[K, size_t count, float& frequency)\n'}
+[11.215850] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~\x1b[m\x1b[K\n'}
+[11.218660] (-) TimerEvent: {}
+[11.223426] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidar_driver.cpp:\x1b[m\x1b[K In member function \xe2\x80\x98\x1b[01m\x1b[Kvirtual sl_result sl::SlamtecLidarDriver::\x1b[01;32m\x1b[KgetMotorInfo\x1b[m\x1b[K(sl::LidarMotorInfo&, sl_u32)\x1b[m\x1b[K\xe2\x80\x99:\n'}
+[11.223997] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidar_driver.cpp:1023:66:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[Kunused parameter \xe2\x80\x98\x1b[01m\x1b[KtimeoutInMs\x1b[m\x1b[K\xe2\x80\x99 [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter\x07-Wunused-parameter\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[11.224196] (sllidar_ros2) StderrLine: {'line': b' 1023 | sl_result getMotorInfo(LidarMotorInfo &motorInfo, \x1b[01;35m\x1b[Ksl_u32 timeoutInMs\x1b[m\x1b[K)\n'}
+[11.224397] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K~~~~~~~^~~~~~~~~~~\x1b[m\x1b[K\n'}
+[11.229716] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidar_driver.cpp:\x1b[m\x1b[K In member function \xe2\x80\x98\x1b[01m\x1b[Ku_result sl::SlamtecLidarDriver::\x1b[01;32m\x1b[KgetScanModeCount\x1b[m\x1b[K(sl_u16&, sl_u32)\x1b[m\x1b[K\xe2\x80\x99:\n'}
+[11.230276] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidar_driver.cpp:1199:61:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[Kunused parameter \xe2\x80\x98\x1b[01m\x1b[KtimeoutInMs\x1b[m\x1b[K\xe2\x80\x99 [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter\x07-Wunused-parameter\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[11.230557] (sllidar_ros2) StderrLine: {'line': b' 1199 | u_result getScanModeCount(sl_u16& modeCount, \x1b[01;35m\x1b[Ksl_u32 timeoutInMs = DEFAULT_TIMEOUT\x1b[m\x1b[K)\n'}
+[11.232291] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~\x1b[m\x1b[K\n'}
+[11.250968] (sllidar_ros2) StderrLine: {'line': b'In file included from \x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar_protocol.h:36\x1b[m\x1b[K,\n'}
+[11.251568] (sllidar_ros2) StderrLine: {'line': b' from \x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar.h:39\x1b[m\x1b[K,\n'}
+[11.251853] (sllidar_ros2) StderrLine: {'line': b' from \x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sdkcommon.h:49\x1b[m\x1b[K,\n'}
+[11.252096] (sllidar_ros2) StderrLine: {'line': b' from \x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidarprotocol_codec.cpp:35\x1b[m\x1b[K:\n'}
+[11.252310] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_protocol.h:66:16:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[KISO C++ forbids zero-size array \xe2\x80\x98\x1b[01m\x1b[Kdata\x1b[m\x1b[K\xe2\x80\x99 [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic\x07-Wpedantic\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[11.256970] (sllidar_ros2) StderrLine: {'line': b' 66 | sl_u8 data[\x1b[01;35m\x1b[K0\x1b[m\x1b[K];\n'}
+[11.257719] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K^\x1b[m\x1b[K\n'}
+[11.257960] (sllidar_ros2) StderrLine: {'line': b'In file included from \x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar_cmd.h:36\x1b[m\x1b[K,\n'}
+[11.258104] (sllidar_ros2) StderrLine: {'line': b' from \x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar.h:40\x1b[m\x1b[K:\n'}
+[11.258230] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_cmd.h:324:20:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[KISO C++ forbids zero-size array \xe2\x80\x98\x1b[01m\x1b[Kpayload\x1b[m\x1b[K\xe2\x80\x99 [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic\x07-Wpedantic\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[11.258401] (sllidar_ros2) StderrLine: {'line': b' 324 | sl_u8 payload[\x1b[01;35m\x1b[K0\x1b[m\x1b[K];\n'}
+[11.258594] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K^\x1b[m\x1b[K\n'}
+[11.321547] (-) TimerEvent: {}
+[11.352099] (sllidar_ros2) StderrLine: {'line': b'/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidar_driver.cpp: In instantiation of \xe2\x80\x98\x1b[01m\x1b[Kvoid sl::RawSampleNodeHolder<T>::\x1b[01;32m\x1b[KpushNode\x1b[m\x1b[K(_u64, const T*) \x1b[35m\x1b[K[with T = sl_lidar_response_measurement_node_hq_t; _u64 = long unsigned int]\x1b[m\x1b[K\x1b[m\x1b[K\xe2\x80\x99:\n'}
+[11.353053] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidar_driver.cpp:1648:42:\x1b[m\x1b[K required from here\n'}
+[11.353460] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidar_driver.cpp:202:28:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[Kunused parameter \xe2\x80\x98\x1b[01m\x1b[Ktimestamp_uS\x1b[m\x1b[K\xe2\x80\x99 [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter\x07-Wunused-parameter\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[11.353718] (sllidar_ros2) StderrLine: {'line': b' 202 | void pushNode(\x1b[01;35m\x1b[K_u64 timestamp_uS\x1b[m\x1b[K, const T* node)\n'}
+[11.353880] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K~~~~~^~~~~~~~~~~~\x1b[m\x1b[K\n'}
+[11.421660] (-) TimerEvent: {}
+[11.522173] (-) TimerEvent: {}
+[11.532405] (sllidar_ros2) StderrLine: {'line': b'In file included from \x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidarprotocol_codec.cpp:49\x1b[m\x1b[K:\n'}
+[11.532862] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_async_transceiver.h:\x1b[m\x1b[K In member function \xe2\x80\x98\x1b[01m\x1b[Kvirtual void sl::internal::IAsyncProtocolCodec::\x1b[01;32m\x1b[KonChannelError\x1b[m\x1b[K(u_result)\x1b[m\x1b[K\xe2\x80\x99:\n'}
+[11.533044] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_async_transceiver.h:90:48:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[Kunused parameter \xe2\x80\x98\x1b[01m\x1b[KerrCode\x1b[m\x1b[K\xe2\x80\x99 [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter\x07-Wunused-parameter\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[11.533225] (sllidar_ros2) StderrLine: {'line': b' 90 | virtual void onChannelError(\x1b[01;35m\x1b[Ku_result errCode\x1b[m\x1b[K) {}\n'}
+[11.533418] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K~~~~~~~~~^~~~~~~\x1b[m\x1b[K\n'}
+[11.630472] (-) TimerEvent: {}
+[11.634595] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidar_driver.cpp:\x1b[m\x1b[K At global scope:\n'}
+[11.635426] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidar_driver.cpp:83:17:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[K\xe2\x80\x98\x1b[01m\x1b[Kvoid sl::\x1b[01;32m\x1b[Kconvert\x1b[m\x1b[K(const sl_lidar_response_measurement_node_hq_t&, sl_lidar_response_measurement_node_t&)\x1b[m\x1b[K\xe2\x80\x99 defined but not used [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-function\x07-Wunused-function\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[11.635678] (sllidar_ros2) StderrLine: {'line': b' 83 | static void \x1b[01;35m\x1b[Kconvert\x1b[m\x1b[K(const sl_lidar_response_measurement_node_hq_t& from, sl_lidar_response_measurement_node_t& to)\n'}
+[11.635819] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K^~~~~~~\x1b[m\x1b[K\n'}
+[11.638395] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidar_driver.cpp:75:17:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[K\xe2\x80\x98\x1b[01m\x1b[Kvoid sl::\x1b[01;32m\x1b[Kconvert\x1b[m\x1b[K(const sl_lidar_response_measurement_node_t&, sl_lidar_response_measurement_node_hq_t&)\x1b[m\x1b[K\xe2\x80\x99 defined but not used [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-function\x07-Wunused-function\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[11.638846] (sllidar_ros2) StderrLine: {'line': b' 75 | static void \x1b[01;35m\x1b[Kconvert\x1b[m\x1b[K(const sl_lidar_response_measurement_node_t& from, sl_lidar_response_measurement_node_hq_t& to)\n'}
+[11.639054] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K^~~~~~~\x1b[m\x1b[K\n'}
+[11.639241] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidar_driver.cpp:70:17:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[K\xe2\x80\x98\x1b[01m\x1b[Kvoid sl::\x1b[01;32m\x1b[KprintDeprecationWarn\x1b[m\x1b[K(const char*, const char*)\x1b[m\x1b[K\xe2\x80\x99 defined but not used [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-function\x07-Wunused-function\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[11.639652] (sllidar_ros2) StderrLine: {'line': b' 70 | static void \x1b[01;35m\x1b[KprintDeprecationWarn\x1b[m\x1b[K(const char* fn, const char* replacement)\n'}
+[11.639846] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K^~~~~~~~~~~~~~~~~~~~\x1b[m\x1b[K\n'}
+[11.732525] (-) TimerEvent: {}
+[11.835842] (-) TimerEvent: {}
+[11.900244] (sllidar_ros2) StdoutLine: {'line': b'[ 80%] \x1b[32mBuilding CXX object CMakeFiles/sllidar_node.dir/sdk/src/sl_serial_channel.cpp.o\x1b[0m\n'}
+[11.935970] (-) TimerEvent: {}
+[12.036701] (-) TimerEvent: {}
+[12.137466] (-) TimerEvent: {}
+[12.238868] (-) TimerEvent: {}
+[12.342499] (-) TimerEvent: {}
+[12.443318] (-) TimerEvent: {}
+[12.546945] (-) TimerEvent: {}
+[12.647751] (-) TimerEvent: {}
+[12.681679] (sllidar_ros2) StderrLine: {'line': b'In file included from \x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_cmd.h:41\x1b[m\x1b[K,\n'}
+[12.683854] (sllidar_ros2) StderrLine: {'line': b' from \x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_driver.h:54\x1b[m\x1b[K,\n'}
+[12.684194] (sllidar_ros2) StderrLine: {'line': b' from \x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_serial_channel.cpp:33\x1b[m\x1b[K:\n'}
+[12.684393] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_protocol.h:66:16:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[KISO C++ forbids zero-size array \xe2\x80\x98\x1b[01m\x1b[Kdata\x1b[m\x1b[K\xe2\x80\x99 [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic\x07-Wpedantic\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[12.684574] (sllidar_ros2) StderrLine: {'line': b' 66 | sl_u8 data[\x1b[01;35m\x1b[K0\x1b[m\x1b[K];\n'}
+[12.684695] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K^\x1b[m\x1b[K\n'}
+[12.684801] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_cmd.h:324:20:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[KISO C++ forbids zero-size array \xe2\x80\x98\x1b[01m\x1b[Kpayload\x1b[m\x1b[K\xe2\x80\x99 [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic\x07-Wpedantic\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[12.689474] (sllidar_ros2) StderrLine: {'line': b' 324 | sl_u8 payload[\x1b[01;35m\x1b[K0\x1b[m\x1b[K];\n'}
+[12.689921] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K^\x1b[m\x1b[K\n'}
+[12.747898] (-) TimerEvent: {}
+[12.750161] (sllidar_ros2) StdoutLine: {'line': b'[ 85%] \x1b[32mBuilding CXX object CMakeFiles/sllidar_node.dir/sdk/src/sl_tcp_channel.cpp.o\x1b[0m\n'}
+[12.848098] (-) TimerEvent: {}
+[12.885975] (sllidar_ros2) StdoutLine: {'line': b'[ 90%] \x1b[32mBuilding CXX object CMakeFiles/sllidar_node.dir/sdk/src/sl_udp_channel.cpp.o\x1b[0m\n'}
+[12.954802] (-) TimerEvent: {}
+[13.055800] (-) TimerEvent: {}
+[13.156242] (-) TimerEvent: {}
+[13.263497] (-) TimerEvent: {}
+[13.364054] (-) TimerEvent: {}
+[13.464479] (-) TimerEvent: {}
+[13.499540] (sllidar_ros2) StderrLine: {'line': b'In file included from \x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_cmd.h:41\x1b[m\x1b[K,\n'}
+[13.503002] (sllidar_ros2) StderrLine: {'line': b' from \x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_driver.h:54\x1b[m\x1b[K,\n'}
+[13.503186] (sllidar_ros2) StderrLine: {'line': b' from \x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_tcp_channel.cpp:33\x1b[m\x1b[K:\n'}
+[13.503328] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_protocol.h:66:16:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[KISO C++ forbids zero-size array \xe2\x80\x98\x1b[01m\x1b[Kdata\x1b[m\x1b[K\xe2\x80\x99 [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic\x07-Wpedantic\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[13.503527] (sllidar_ros2) StderrLine: {'line': b' 66 | sl_u8 data[\x1b[01;35m\x1b[K0\x1b[m\x1b[K];\n'}
+[13.503669] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K^\x1b[m\x1b[K\n'}
+[13.503792] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_cmd.h:324:20:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[KISO C++ forbids zero-size array \xe2\x80\x98\x1b[01m\x1b[Kpayload\x1b[m\x1b[K\xe2\x80\x99 [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic\x07-Wpedantic\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[13.503952] (sllidar_ros2) StderrLine: {'line': b' 324 | sl_u8 payload[\x1b[01;35m\x1b[K0\x1b[m\x1b[K];\n'}
+[13.504099] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K^\x1b[m\x1b[K\n'}
+[13.511574] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_tcp_channel.cpp:\x1b[m\x1b[K In member function \xe2\x80\x98\x1b[01m\x1b[Kvoid sl::TcpChannel::\x1b[01;32m\x1b[KsetStatus\x1b[m\x1b[K(_u32)\x1b[m\x1b[K\xe2\x80\x99:\n'}
+[13.511971] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_tcp_channel.cpp:109:29:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[Kunused parameter \xe2\x80\x98\x1b[01m\x1b[Kflag\x1b[m\x1b[K\xe2\x80\x99 [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter\x07-Wunused-parameter\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[13.512180] (sllidar_ros2) StderrLine: {'line': b' 109 | void setStatus(\x1b[01;35m\x1b[K_u32 flag\x1b[m\x1b[K){}\n'}
+[13.512291] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K~~~~~^~~~\x1b[m\x1b[K\n'}
+[13.564619] (-) TimerEvent: {}
+[13.667832] (-) TimerEvent: {}
+[13.698766] (sllidar_ros2) StderrLine: {'line': b'In file included from \x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_cmd.h:41\x1b[m\x1b[K,\n'}
+[13.700139] (sllidar_ros2) StderrLine: {'line': b' from \x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_driver.h:54\x1b[m\x1b[K,\n'}
+[13.701015] (sllidar_ros2) StderrLine: {'line': b' from \x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_udp_channel.cpp:33\x1b[m\x1b[K:\n'}
+[13.702642] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_protocol.h:66:16:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[KISO C++ forbids zero-size array \xe2\x80\x98\x1b[01m\x1b[Kdata\x1b[m\x1b[K\xe2\x80\x99 [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic\x07-Wpedantic\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[13.706088] (sllidar_ros2) StderrLine: {'line': b' 66 | sl_u8 data[\x1b[01;35m\x1b[K0\x1b[m\x1b[K];\n'}
+[13.706383] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K^\x1b[m\x1b[K\n'}
+[13.709014] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_cmd.h:324:20:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[KISO C++ forbids zero-size array \xe2\x80\x98\x1b[01m\x1b[Kpayload\x1b[m\x1b[K\xe2\x80\x99 [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic\x07-Wpedantic\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[13.709760] (sllidar_ros2) StderrLine: {'line': b' 324 | sl_u8 payload[\x1b[01;35m\x1b[K0\x1b[m\x1b[K];\n'}
+[13.710032] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K^\x1b[m\x1b[K\n'}
+[13.716580] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_udp_channel.cpp:\x1b[m\x1b[K In member function \xe2\x80\x98\x1b[01m\x1b[Kvoid sl::UdpChannel::\x1b[01;32m\x1b[KsetStatus\x1b[m\x1b[K(_u32)\x1b[m\x1b[K\xe2\x80\x99:\n'}
+[13.716969] (sllidar_ros2) StderrLine: {'line': b'\x1b[01m\x1b[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_udp_channel.cpp:112:29:\x1b[m\x1b[K \x1b[01;35m\x1b[Kwarning: \x1b[m\x1b[Kunused parameter \xe2\x80\x98\x1b[01m\x1b[Kflag\x1b[m\x1b[K\xe2\x80\x99 [\x1b[01;35m\x1b[K\x1b]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter\x07-Wunused-parameter\x1b]8;;\x07\x1b[m\x1b[K]\n'}
+[13.717148] (sllidar_ros2) StderrLine: {'line': b' 112 | void setStatus(\x1b[01;35m\x1b[K_u32 flag\x1b[m\x1b[K){}\n'}
+[13.717291] (sllidar_ros2) StderrLine: {'line': b' | \x1b[01;35m\x1b[K~~~~~^~~~\x1b[m\x1b[K\n'}
+[13.767978] (-) TimerEvent: {}
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+[14.069392] (-) TimerEvent: {}
+[14.169838] (-) TimerEvent: {}
+[14.270908] (-) TimerEvent: {}
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+[14.676889] (-) TimerEvent: {}
+[14.777849] (-) TimerEvent: {}
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+[15.203595] (-) TimerEvent: {}
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+[16.019831] (-) TimerEvent: {}
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+[17.554077] (-) TimerEvent: {}
+[17.657747] (-) TimerEvent: {}
+[17.758407] (-) TimerEvent: {}
+[17.811225] (sllidar_ros2) StdoutLine: {'line': b'[ 95%] \x1b[32m\x1b[1mLinking CXX executable sllidar_node\x1b[0m\n'}
+[17.858532] (-) TimerEvent: {}
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+[18.575474] (-) TimerEvent: {}
+[18.675915] (-) TimerEvent: {}
+[18.776410] (-) TimerEvent: {}
+[18.841226] (sllidar_ros2) StdoutLine: {'line': b'[ 95%] Built target sllidar_node\n'}
+[18.876482] (-) TimerEvent: {}
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+[22.110970] (sllidar_ros2) StdoutLine: {'line': b'[100%] \x1b[32m\x1b[1mLinking CXX executable sllidar_client\x1b[0m\n'}
+[22.200127] (-) TimerEvent: {}
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+[23.006073] (-) TimerEvent: {}
+[23.080526] (sllidar_ros2) StdoutLine: {'line': b'[100%] Built target sllidar_client\n'}
+[23.102064] (sllidar_ros2) CommandEnded: {'returncode': 0}
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'SSH_AUTH_SOCK': '/run/user/1002/keyring/ssh', 'ROS_DOMAIN_ID': '3', 'AMENT_PREFIX_PATH': '/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot:/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2:/home/robobin/Robobin_Project/ros2/robobin_main/install/testing:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_localization_ekf:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_description:/home/robobin/Robobin_Project/ros2/robobin_main/install/odometry_publisher:/opt/ros/jazzy', 'SHELL': '/bin/bash', 'TERMINATOR_UUID': 'urn:uuid:10fd0f7e-0487-448f-9854-3e7a59bcf268', 'QT_ACCESSIBILITY': '1', 'GDMSESSION': 'ubuntu', 'LESSCLOSE': '/usr/bin/lesspipe %s %s', 'GJS_DEBUG_OUTPUT': 'stderr', 'ROS_AUTOMATIC_DISCOVERY_RANGE': 'SUBNET', 'QT_IM_MODULE': 'ibus', 'PWD': '/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2', 'LC_ALL': 'en_US.UTF-8', 'XDG_CONFIG_DIRS': '/etc/xdg/xdg-ubuntu:/etc/xdg', 'XDG_DATA_DIRS': '/usr/share/ubuntu:/usr/share/gnome:/usr/local/share/:/usr/share/:/var/lib/snapd/desktop', 'PYTHONPATH': '/home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot:/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages:/home/robobin/Robobin_Project/ros2/robobin_main/build/testing:/home/robobin/Robobin_Project/ros2/robobin_main/install/testing/lib/python3.12/site-packages:/home/robobin/Robobin_Project/ros2/robobin_main/build/robot_localization_ekf:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_localization_ekf/lib/python3.12/site-packages:/home/robobin/Robobin_Project/ros2/robobin_main/build/robot_description:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_description/lib/python3.12/site-packages:/home/robobin/Robobin_Project/ros2/robobin_main/build/odometry_publisher:/home/robobin/Robobin_Project/ros2/robobin_main/install/odometry_publisher/lib/python3.12/site-packages:/opt/ros/jazzy/lib/python3.12/site-packages', 'COLCON': '1', 'MEMORY_PRESSURE_WRITE': 'c29tZSAyMDAwMDAgMjAwMDAwMAA=', 'VTE_VERSION': '7600', 'CMAKE_PREFIX_PATH': '/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2:/opt/ros/jazzy/opt/sdformat_vendor:/opt/ros/jazzy/opt/gz_math_vendor:/opt/ros/jazzy/opt/gz_utils_vendor:/opt/ros/jazzy/opt/gz_tools_vendor:/opt/ros/jazzy/opt/gz_cmake_vendor:/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot:/home/robobin/Robobin_Project/ros2/robobin_main/install/testing:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_localization_ekf:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_description:/home/robobin/Robobin_Project/ros2/robobin_main/install/odometry_publisher:/opt/ros/jazzy'}), 'shell': False}
+[23.143228] (sllidar_ros2) StdoutLine: {'line': b'-- Install configuration: ""\n'}
+[23.143767] (sllidar_ros2) StdoutLine: {'line': b'-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch\n'}
+[23.144128] (sllidar_ros2) StdoutLine: {'line': b'-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_t1_launch.py\n'}
+[23.144392] (sllidar_ros2) StdoutLine: {'line': b'-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_s2e_launch.py\n'}
+[23.144629] (sllidar_ros2) StdoutLine: {'line': b'-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_s2e_launch.py\n'}
+[23.144813] (sllidar_ros2) StdoutLine: {'line': b'-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_a2m12_launch .py\n'}
+[23.145028] (sllidar_ros2) StdoutLine: {'line': b'-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_a3_launch.py\n'}
+[23.145191] (sllidar_ros2) StdoutLine: {'line': b'-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_a2m8_launch.py\n'}
+[23.145358] (sllidar_ros2) StdoutLine: {'line': b'-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_s1_tcp_launch.py\n'}
+[23.145513] (sllidar_ros2) StdoutLine: {'line': b'-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_c1_launch.py\n'}
+[23.145619] (sllidar_ros2) StdoutLine: {'line': b'-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_s2_launch.py\n'}
+[23.145767] (sllidar_ros2) StdoutLine: {'line': b'-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_a2m7_launch.py\n'}
+[23.145881] (sllidar_ros2) StdoutLine: {'line': b'-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_s3_launch.py\n'}
+[23.145995] (sllidar_ros2) StdoutLine: {'line': b'-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_c1_launch.py\n'}
+[23.146121] (sllidar_ros2) StdoutLine: {'line': b'-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_s1_tcp_launch.py\n'}
+[23.146210] (sllidar_ros2) StdoutLine: {'line': b'-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_a2m8_launch.py\n'}
+[23.146312] (sllidar_ros2) StdoutLine: {'line': b'-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_s1_launch.py\n'}
+[23.146713] (sllidar_ros2) StdoutLine: {'line': b'-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_a3_launch.py\n'}
+[23.146928] (sllidar_ros2) StdoutLine: {'line': b'-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_s2_launch.py\n'}
+[23.147036] (sllidar_ros2) StdoutLine: {'line': b'-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_t1_launch.py\n'}
+[23.147206] (sllidar_ros2) StdoutLine: {'line': b'-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_a1_launch.py\n'}
+[23.147371] (sllidar_ros2) StdoutLine: {'line': b'-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_a1_launch.py\n'}
+[23.147596] (sllidar_ros2) StdoutLine: {'line': b'-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_a2m7_launch.py\n'}
+[23.147709] (sllidar_ros2) StdoutLine: {'line': b'-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_s1_launch.py\n'}
+[23.147804] (sllidar_ros2) StdoutLine: {'line': b'-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_s3_launch.py\n'}
+[23.147977] (sllidar_ros2) StdoutLine: {'line': b'-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_a2m12_launch.py\n'}
+[23.148100] (sllidar_ros2) StdoutLine: {'line': b'-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/rviz\n'}
+[23.148188] (sllidar_ros2) StdoutLine: {'line': b'-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/rviz/sllidar_ros2.rviz\n'}
+[23.149253] (sllidar_ros2) StdoutLine: {'line': b'-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/lib/sllidar_ros2/sllidar_node\n'}
+[23.154053] (sllidar_ros2) StdoutLine: {'line': b'-- Set non-toolchain portion of runtime path of "/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/lib/sllidar_ros2/sllidar_node" to ""\n'}
+[23.154281] (sllidar_ros2) StdoutLine: {'line': b'-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/lib/sllidar_ros2/sllidar_client\n'}
+[23.163791] (sllidar_ros2) StdoutLine: {'line': b'-- Set non-toolchain portion of runtime path of "/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/lib/sllidar_ros2/sllidar_client" to ""\n'}
+[23.164338] (sllidar_ros2) StdoutLine: {'line': b'-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/ament_index/resource_index/package_run_dependencies/sllidar_ros2\n'}
+[23.164519] (sllidar_ros2) StdoutLine: {'line': b'-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/ament_index/resource_index/parent_prefix_path/sllidar_ros2\n'}
+[23.164644] (sllidar_ros2) StdoutLine: {'line': b'-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/environment/ament_prefix_path.sh\n'}
+[23.164808] (sllidar_ros2) StdoutLine: {'line': b'-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/environment/ament_prefix_path.dsv\n'}
+[23.164989] (sllidar_ros2) StdoutLine: {'line': b'-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/environment/path.sh\n'}
+[23.165161] (sllidar_ros2) StdoutLine: {'line': b'-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/environment/path.dsv\n'}
+[23.165332] (sllidar_ros2) StdoutLine: {'line': b'-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/local_setup.bash\n'}
+[23.165543] (sllidar_ros2) StdoutLine: {'line': b'-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/local_setup.sh\n'}
+[23.165724] (sllidar_ros2) StdoutLine: {'line': b'-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/local_setup.zsh\n'}
+[23.165896] (sllidar_ros2) StdoutLine: {'line': b'-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/local_setup.dsv\n'}
+[23.166072] (sllidar_ros2) StdoutLine: {'line': b'-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/package.dsv\n'}
+[23.166306] (sllidar_ros2) StdoutLine: {'line': b'-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/ament_index/resource_index/packages/sllidar_ros2\n'}
+[23.166541] (sllidar_ros2) StdoutLine: {'line': b'-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/cmake/ament_cmake_export_dependencies-extras.cmake\n'}
+[23.166738] (sllidar_ros2) StdoutLine: {'line': b'-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/cmake/ament_cmake_export_include_directories-extras.cmake\n'}
+[23.166902] (sllidar_ros2) StdoutLine: {'line': b'-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/cmake/sllidar_ros2Config.cmake\n'}
+[23.167039] (sllidar_ros2) StdoutLine: {'line': b'-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/cmake/sllidar_ros2Config-version.cmake\n'}
+[23.167204] (sllidar_ros2) StdoutLine: {'line': b'-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/package.xml\n'}
+[23.170510] (sllidar_ros2) CommandEnded: {'returncode': 0}
+[23.192480] (sllidar_ros2) JobEnded: {'identifier': 'sllidar_ros2', 'rc': 0}
+[23.217864] (-) TimerEvent: {}
+[23.218165] (-) EventReactorShutdown: {}
diff --git a/robobin_final/log/build_2024-12-19_19-14-25/logger_all.log b/robobin_final/log/build_2024-12-19_19-14-25/logger_all.log
new file mode 100644
index 00000000..e98740ad
--- /dev/null
+++ b/robobin_final/log/build_2024-12-19_19-14-25/logger_all.log
@@ -0,0 +1,197 @@
+[0.160s] DEBUG:colcon:Command line arguments: ['/usr/bin/colcon', 'build']
+[0.160s] DEBUG:colcon:Parsed command line arguments: Namespace(log_base=None, log_level=None, verb_name='build', build_base='build', install_base='install', merge_install=False, symlink_install=False, test_result_base=None, continue_on_error=False, executor='parallel', parallel_workers=4, event_handlers=None, ignore_user_meta=False, metas=['./colcon.meta'], base_paths=['.'], packages_ignore=None, packages_ignore_regex=None, paths=None, packages_up_to=None, packages_up_to_regex=None, packages_above=None, packages_above_and_dependencies=None, packages_above_depth=None, packages_select_by_dep=None, packages_skip_by_dep=None, packages_skip_up_to=None, packages_select_build_failed=False, packages_skip_build_finished=False, packages_select_test_failures=False, packages_skip_test_passed=False, packages_select=None, packages_skip=None, packages_select_regex=None, packages_skip_regex=None, packages_start=None, packages_end=None, allow_overriding=[], cmake_args=None, cmake_target=None, cmake_target_skip_unavailable=False, cmake_clean_cache=False, cmake_clean_first=False, cmake_force_configure=False, ament_cmake_args=None, catkin_cmake_args=None, catkin_skip_building_tests=False, mixin_files=None, mixin=None, verb_parser=<colcon_mixin.mixin.mixin_argument.MixinArgumentDecorator object at 0xffffae2e1820>, verb_extension=<colcon_core.verb.build.BuildVerb object at 0xffffae2e14c0>, main=<bound method BuildVerb.main of <colcon_core.verb.build.BuildVerb object at 0xffffae2e14c0>>, mixin_verb=('build',))
+[0.226s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) check parameters
+[0.227s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) check parameters
+[0.227s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) check parameters
+[0.227s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) check parameters
+[0.227s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) discover
+[0.227s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) discover
+[0.227s] INFO:colcon.colcon_core.package_discovery:Crawling recursively for packages in '/home/robobin/Robobin_Project/ros2/robobin_final'
+[0.227s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ignore', 'ignore_ament_install']
+[0.227s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore'
+[0.227s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore_ament_install'
+[0.227s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_pkg']
+[0.227s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_pkg'
+[0.228s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_meta']
+[0.228s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_meta'
+[0.228s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ros']
+[0.228s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ros'
+[0.270s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['cmake', 'python']
+[0.270s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'cmake'
+[0.270s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'python'
+[0.270s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['python_setup_py']
+[0.270s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'python_setup_py'
+[0.270s] Level 1:colcon.colcon_core.package_identification:_identify(build) by extensions ['ignore', 'ignore_ament_install']
+[0.270s] Level 1:colcon.colcon_core.package_identification:_identify(build) by extension 'ignore'
+[0.270s] Level 1:colcon.colcon_core.package_identification:_identify(build) ignored
+[0.270s] Level 1:colcon.colcon_core.package_identification:_identify(install) by extensions ['ignore', 'ignore_ament_install']
+[0.271s] Level 1:colcon.colcon_core.package_identification:_identify(install) by extension 'ignore'
+[0.271s] Level 1:colcon.colcon_core.package_identification:_identify(install) ignored
+[0.271s] Level 1:colcon.colcon_core.package_identification:_identify(log) by extensions ['ignore', 'ignore_ament_install']
+[0.271s] Level 1:colcon.colcon_core.package_identification:_identify(log) by extension 'ignore'
+[0.271s] Level 1:colcon.colcon_core.package_identification:_identify(log) ignored
+[0.271s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['ignore', 'ignore_ament_install']
+[0.271s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'ignore'
+[0.271s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'ignore_ament_install'
+[0.271s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['colcon_pkg']
+[0.271s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'colcon_pkg'
+[0.271s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['colcon_meta']
+[0.271s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'colcon_meta'
+[0.271s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['ros']
+[0.271s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'ros'
+[0.271s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['cmake', 'python']
+[0.272s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'cmake'
+[0.272s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'python'
+[0.272s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['python_setup_py']
+[0.272s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'python_setup_py'
+[0.272s] Level 1:colcon.colcon_core.package_identification:_identify(src/sllidar_ros2) by extensions ['ignore', 'ignore_ament_install']
+[0.272s] Level 1:colcon.colcon_core.package_identification:_identify(src/sllidar_ros2) by extension 'ignore'
+[0.272s] Level 1:colcon.colcon_core.package_identification:_identify(src/sllidar_ros2) by extension 'ignore_ament_install'
+[0.272s] Level 1:colcon.colcon_core.package_identification:_identify(src/sllidar_ros2) by extensions ['colcon_pkg']
+[0.272s] Level 1:colcon.colcon_core.package_identification:_identify(src/sllidar_ros2) by extension 'colcon_pkg'
+[0.272s] Level 1:colcon.colcon_core.package_identification:_identify(src/sllidar_ros2) by extensions ['colcon_meta']
+[0.272s] Level 1:colcon.colcon_core.package_identification:_identify(src/sllidar_ros2) by extension 'colcon_meta'
+[0.272s] Level 1:colcon.colcon_core.package_identification:_identify(src/sllidar_ros2) by extensions ['ros']
+[0.272s] Level 1:colcon.colcon_core.package_identification:_identify(src/sllidar_ros2) by extension 'ros'
+[0.275s] DEBUG:colcon.colcon_core.package_identification:Package 'src/sllidar_ros2' with type 'ros.ament_cmake' and name 'sllidar_ros2'
+[0.276s] Level 1:colcon.colcon_core.package_identification:_identify(src/super_robot) by extensions ['ignore', 'ignore_ament_install']
+[0.276s] Level 1:colcon.colcon_core.package_identification:_identify(src/super_robot) by extension 'ignore'
+[0.276s] Level 1:colcon.colcon_core.package_identification:_identify(src/super_robot) by extension 'ignore_ament_install'
+[0.276s] Level 1:colcon.colcon_core.package_identification:_identify(src/super_robot) by extensions ['colcon_pkg']
+[0.276s] Level 1:colcon.colcon_core.package_identification:_identify(src/super_robot) by extension 'colcon_pkg'
+[0.276s] Level 1:colcon.colcon_core.package_identification:_identify(src/super_robot) by extensions ['colcon_meta']
+[0.276s] Level 1:colcon.colcon_core.package_identification:_identify(src/super_robot) by extension 'colcon_meta'
+[0.276s] Level 1:colcon.colcon_core.package_identification:_identify(src/super_robot) by extensions ['ros']
+[0.276s] Level 1:colcon.colcon_core.package_identification:_identify(src/super_robot) by extension 'ros'
+[0.277s] DEBUG:colcon.colcon_core.package_identification:Package 'src/super_robot' with type 'ros.ament_python' and name 'super_robot'
+[0.277s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) using defaults
+[0.277s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) discover
+[0.277s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) using defaults
+[0.277s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) discover
+[0.277s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) using defaults
+[0.302s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) check parameters
+[0.302s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) discover
+[0.303s] WARNING:colcon.colcon_ros.prefix_path.ament:The path '/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot' in the environment variable AMENT_PREFIX_PATH doesn't exist
+[0.304s] WARNING:colcon.colcon_ros.prefix_path.ament:The path '/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2' in the environment variable AMENT_PREFIX_PATH doesn't exist
+[0.304s] WARNING:colcon.colcon_ros.prefix_path.catkin:The path '/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2' in the environment variable CMAKE_PREFIX_PATH doesn't exist
+[0.306s] DEBUG:colcon.colcon_installed_package_information.package_discovery:Found 0 installed packages in /home/robobin/Robobin_Project/ros2/robobin_final/install
+[0.307s] DEBUG:colcon.colcon_installed_package_information.package_discovery:Found 4 installed packages in /home/robobin/Robobin_Project/ros2/robobin_main/install
+[0.310s] DEBUG:colcon.colcon_installed_package_information.package_discovery:Found 336 installed packages in /opt/ros/jazzy
+[0.316s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) using defaults
+[0.385s] Level 5:colcon.colcon_core.verb:set package 'sllidar_ros2' build argument 'cmake_args' from command line to 'None'
+[0.385s] Level 5:colcon.colcon_core.verb:set package 'sllidar_ros2' build argument 'cmake_target' from command line to 'None'
+[0.385s] Level 5:colcon.colcon_core.verb:set package 'sllidar_ros2' build argument 'cmake_target_skip_unavailable' from command line to 'False'
+[0.385s] Level 5:colcon.colcon_core.verb:set package 'sllidar_ros2' build argument 'cmake_clean_cache' from command line to 'False'
+[0.385s] Level 5:colcon.colcon_core.verb:set package 'sllidar_ros2' build argument 'cmake_clean_first' from command line to 'False'
+[0.385s] Level 5:colcon.colcon_core.verb:set package 'sllidar_ros2' build argument 'cmake_force_configure' from command line to 'False'
+[0.385s] Level 5:colcon.colcon_core.verb:set package 'sllidar_ros2' build argument 'ament_cmake_args' from command line to 'None'
+[0.385s] Level 5:colcon.colcon_core.verb:set package 'sllidar_ros2' build argument 'catkin_cmake_args' from command line to 'None'
+[0.386s] Level 5:colcon.colcon_core.verb:set package 'sllidar_ros2' build argument 'catkin_skip_building_tests' from command line to 'False'
+[0.386s] DEBUG:colcon.colcon_core.verb:Building package 'sllidar_ros2' with the following arguments: {'ament_cmake_args': None, 'build_base': '/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2', 'catkin_cmake_args': None, 'catkin_skip_building_tests': False, 'cmake_args': None, 'cmake_clean_cache': False, 'cmake_clean_first': False, 'cmake_force_configure': False, 'cmake_target': None, 'cmake_target_skip_unavailable': False, 'install_base': '/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2', 'merge_install': False, 'path': '/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2', 'symlink_install': False, 'test_result_base': None}
+[0.386s] Level 5:colcon.colcon_core.verb:set package 'super_robot' build argument 'cmake_args' from command line to 'None'
+[0.386s] Level 5:colcon.colcon_core.verb:set package 'super_robot' build argument 'cmake_target' from command line to 'None'
+[0.386s] Level 5:colcon.colcon_core.verb:set package 'super_robot' build argument 'cmake_target_skip_unavailable' from command line to 'False'
+[0.386s] Level 5:colcon.colcon_core.verb:set package 'super_robot' build argument 'cmake_clean_cache' from command line to 'False'
+[0.386s] Level 5:colcon.colcon_core.verb:set package 'super_robot' build argument 'cmake_clean_first' from command line to 'False'
+[0.386s] Level 5:colcon.colcon_core.verb:set package 'super_robot' build argument 'cmake_force_configure' from command line to 'False'
+[0.386s] Level 5:colcon.colcon_core.verb:set package 'super_robot' build argument 'ament_cmake_args' from command line to 'None'
+[0.386s] Level 5:colcon.colcon_core.verb:set package 'super_robot' build argument 'catkin_cmake_args' from command line to 'None'
+[0.386s] Level 5:colcon.colcon_core.verb:set package 'super_robot' build argument 'catkin_skip_building_tests' from command line to 'False'
+[0.386s] DEBUG:colcon.colcon_core.verb:Building package 'super_robot' with the following arguments: {'ament_cmake_args': None, 'build_base': '/home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot', 'catkin_cmake_args': None, 'catkin_skip_building_tests': False, 'cmake_args': None, 'cmake_clean_cache': False, 'cmake_clean_first': False, 'cmake_force_configure': False, 'cmake_target': None, 'cmake_target_skip_unavailable': False, 'install_base': '/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot', 'merge_install': False, 'path': '/home/robobin/Robobin_Project/ros2/robobin_final/src/super_robot', 'symlink_install': False, 'test_result_base': None}
+[0.386s] INFO:colcon.colcon_core.executor:Executing jobs using 'parallel' executor
+[0.388s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete
+[0.388s] INFO:colcon.colcon_ros.task.ament_cmake.build:Building ROS package in '/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2' with build type 'ament_cmake'
+[0.389s] INFO:colcon.colcon_cmake.task.cmake.build:Building CMake package in '/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2'
+[0.393s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_core.shell.bat': Not used on non-Windows systems
+[0.394s] INFO:colcon.colcon_core.shell:Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell
+[0.394s] DEBUG:colcon.colcon_core.shell:Skip shell extension 'dsv' for command environment
+[0.402s] INFO:colcon.colcon_ros.task.ament_python.build:Building ROS package in '/home/robobin/Robobin_Project/ros2/robobin_final/src/super_robot' with build type 'ament_python'
+[0.402s] Level 1:colcon.colcon_core.shell:create_environment_hook('super_robot', 'ament_prefix_path')
+[0.403s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot/hook/ament_prefix_path.ps1'
+[0.404s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot/hook/ament_prefix_path.dsv'
+[0.405s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot/hook/ament_prefix_path.sh'
+[0.406s] INFO:colcon.colcon_core.shell:Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell
+[0.406s] DEBUG:colcon.colcon_core.shell:Skip shell extension 'dsv' for command environment
+[0.420s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoking command in '/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot:/home/robobin/Robobin_Project/ros2/robobin_main/install/testing:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_localization_ekf:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_description:/home/robobin/Robobin_Project/ros2/robobin_main/install/odometry_publisher:/opt/ros/jazzy DEBUGINFOD_URLS=https://debuginfod.ubuntu.com /usr/bin/cmake /home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2 -DCMAKE_INSTALL_PREFIX=/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2
+[1.003s] INFO:colcon.colcon_core.task.python.build:Building Python package in '/home/robobin/Robobin_Project/ros2/robobin_final/src/super_robot'
+[1.004s] INFO:colcon.colcon_core.shell:Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell
+[1.004s] DEBUG:colcon.colcon_core.shell:Skip shell extension 'dsv' for command environment
+[2.235s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoking command in '/home/robobin/Robobin_Project/ros2/robobin_final/src/super_robot': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../../build/super_robot build --build-base /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/build install --record /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/install.log --single-version-externally-managed install_data
+[2.869s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoked command in '/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot:/home/robobin/Robobin_Project/ros2/robobin_main/install/testing:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_localization_ekf:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_description:/home/robobin/Robobin_Project/ros2/robobin_main/install/odometry_publisher:/opt/ros/jazzy DEBUGINFOD_URLS=https://debuginfod.ubuntu.com /usr/bin/cmake /home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2 -DCMAKE_INSTALL_PREFIX=/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2
+[2.873s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoking command in '/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot:/home/robobin/Robobin_Project/ros2/robobin_main/install/testing:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_localization_ekf:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_description:/home/robobin/Robobin_Project/ros2/robobin_main/install/odometry_publisher:/opt/ros/jazzy DEBUGINFOD_URLS=https://debuginfod.ubuntu.com /usr/bin/cmake --build /home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2 -- -j4 -l4
+[3.388s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoked command in '/home/robobin/Robobin_Project/ros2/robobin_final/src/super_robot' returned '0': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../../build/super_robot build --build-base /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/build install --record /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/install.log --single-version-externally-managed install_data
+[3.405s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot' for CMake module files
+[3.406s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot' for CMake config files
+[3.412s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib'
+[3.415s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/bin'
+[3.415s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/pkgconfig/super_robot.pc'
+[3.416s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages'
+[3.417s] Level 1:colcon.colcon_core.shell:create_environment_hook('super_robot', 'pythonpath')
+[3.420s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot/hook/pythonpath.ps1'
+[3.421s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot/hook/pythonpath.dsv'
+[3.422s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot/hook/pythonpath.sh'
+[3.427s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/bin'
+[3.427s] Level 1:colcon.colcon_core.environment:create_environment_scripts_only(super_robot)
+[3.428s] INFO:colcon.colcon_core.shell:Creating package script '/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot/package.ps1'
+[3.433s] INFO:colcon.colcon_core.shell:Creating package descriptor '/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot/package.dsv'
+[3.437s] INFO:colcon.colcon_core.shell:Creating package script '/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot/package.sh'
+[3.438s] INFO:colcon.colcon_core.shell:Creating package script '/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot/package.bash'
+[3.439s] INFO:colcon.colcon_core.shell:Creating package script '/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot/package.zsh'
+[3.444s] Level 1:colcon.colcon_core.environment:create_file_with_runtime_dependencies(/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/colcon-core/packages/super_robot)
+[23.490s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoked command in '/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot:/home/robobin/Robobin_Project/ros2/robobin_main/install/testing:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_localization_ekf:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_description:/home/robobin/Robobin_Project/ros2/robobin_main/install/odometry_publisher:/opt/ros/jazzy DEBUGINFOD_URLS=https://debuginfod.ubuntu.com /usr/bin/cmake --build /home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2 -- -j4 -l4
+[23.516s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoking command in '/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot:/home/robobin/Robobin_Project/ros2/robobin_main/install/testing:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_localization_ekf:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_description:/home/robobin/Robobin_Project/ros2/robobin_main/install/odometry_publisher:/opt/ros/jazzy DEBUGINFOD_URLS=https://debuginfod.ubuntu.com /usr/bin/cmake --install /home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2
+[23.558s] Level 1:colcon.colcon_core.environment:create_environment_scripts_only(sllidar_ros2)
+[23.558s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2' for CMake module files
+[23.559s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoked command in '/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot:/home/robobin/Robobin_Project/ros2/robobin_main/install/testing:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_localization_ekf:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_description:/home/robobin/Robobin_Project/ros2/robobin_main/install/odometry_publisher:/opt/ros/jazzy DEBUGINFOD_URLS=https://debuginfod.ubuntu.com /usr/bin/cmake --install /home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2
+[23.560s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2' for CMake config files
+[23.560s] Level 1:colcon.colcon_core.shell:create_environment_hook('sllidar_ros2', 'cmake_prefix_path')
+[23.560s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/hook/cmake_prefix_path.ps1'
+[23.561s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/hook/cmake_prefix_path.dsv'
+[23.561s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/hook/cmake_prefix_path.sh'
+[23.562s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/lib'
+[23.562s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/bin'
+[23.562s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/lib/pkgconfig/sllidar_ros2.pc'
+[23.562s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/lib/python3.12/site-packages'
+[23.562s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/bin'
+[23.563s] INFO:colcon.colcon_core.shell:Creating package script '/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/package.ps1'
+[23.563s] INFO:colcon.colcon_core.shell:Creating package descriptor '/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/package.dsv'
+[23.564s] INFO:colcon.colcon_core.shell:Creating package script '/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/package.sh'
+[23.564s] INFO:colcon.colcon_core.shell:Creating package script '/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/package.bash'
+[23.565s] INFO:colcon.colcon_core.shell:Creating package script '/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/package.zsh'
+[23.565s] Level 1:colcon.colcon_core.environment:create_file_with_runtime_dependencies(/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/colcon-core/packages/sllidar_ros2)
+[23.566s] Level 1:colcon.colcon_core.environment:create_environment_scripts_only(sllidar_ros2)
+[23.566s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2' for CMake module files
+[23.567s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2' for CMake config files
+[23.567s] Level 1:colcon.colcon_core.shell:create_environment_hook('sllidar_ros2', 'cmake_prefix_path')
+[23.567s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/hook/cmake_prefix_path.ps1'
+[23.568s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/hook/cmake_prefix_path.dsv'
+[23.568s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/hook/cmake_prefix_path.sh'
+[23.570s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/lib'
+[23.570s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/bin'
+[23.570s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/lib/pkgconfig/sllidar_ros2.pc'
+[23.570s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/lib/python3.12/site-packages'
+[23.571s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/bin'
+[23.571s] INFO:colcon.colcon_core.shell:Creating package script '/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/package.ps1'
+[23.573s] INFO:colcon.colcon_core.shell:Creating package descriptor '/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/package.dsv'
+[23.574s] INFO:colcon.colcon_core.shell:Creating package script '/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/package.sh'
+[23.575s] INFO:colcon.colcon_core.shell:Creating package script '/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/package.bash'
+[23.577s] INFO:colcon.colcon_core.shell:Creating package script '/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/package.zsh'
+[23.578s] Level 1:colcon.colcon_core.environment:create_file_with_runtime_dependencies(/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/colcon-core/packages/sllidar_ros2)
+[23.580s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:closing loop
+[23.581s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:loop closed
+[23.582s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete finished with '0'
+[23.582s] DEBUG:colcon.colcon_core.event_reactor:joining thread
+[23.620s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.terminal_notifier': Not used on non-Darwin systems
+[23.621s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.win32': Not used on non-Windows systems
+[23.621s] INFO:colcon.colcon_notification.desktop_notification:Sending desktop notification using 'notify2'
+[23.652s] DEBUG:colcon.colcon_core.event_reactor:joined thread
+[23.653s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/robobin/Robobin_Project/ros2/robobin_final/install/local_setup.ps1'
+[23.654s] INFO:colcon.colcon_core.shell:Creating prefix util module '/home/robobin/Robobin_Project/ros2/robobin_final/install/_local_setup_util_ps1.py'
+[23.655s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/robobin/Robobin_Project/ros2/robobin_final/install/setup.ps1'
+[23.657s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/robobin/Robobin_Project/ros2/robobin_final/install/local_setup.sh'
+[23.658s] INFO:colcon.colcon_core.shell:Creating prefix util module '/home/robobin/Robobin_Project/ros2/robobin_final/install/_local_setup_util_sh.py'
+[23.659s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/robobin/Robobin_Project/ros2/robobin_final/install/setup.sh'
+[23.661s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/robobin/Robobin_Project/ros2/robobin_final/install/local_setup.bash'
+[23.661s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/robobin/Robobin_Project/ros2/robobin_final/install/setup.bash'
+[23.663s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/robobin/Robobin_Project/ros2/robobin_final/install/local_setup.zsh'
+[23.663s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/robobin/Robobin_Project/ros2/robobin_final/install/setup.zsh'
diff --git a/robobin_final/log/build_2024-12-19_19-14-25/sllidar_ros2/command.log b/robobin_final/log/build_2024-12-19_19-14-25/sllidar_ros2/command.log
new file mode 100644
index 00000000..f61edc2b
--- /dev/null
+++ b/robobin_final/log/build_2024-12-19_19-14-25/sllidar_ros2/command.log
@@ -0,0 +1,6 @@
+Invoking command in '/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot:/home/robobin/Robobin_Project/ros2/robobin_main/install/testing:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_localization_ekf:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_description:/home/robobin/Robobin_Project/ros2/robobin_main/install/odometry_publisher:/opt/ros/jazzy DEBUGINFOD_URLS=https://debuginfod.ubuntu.com /usr/bin/cmake /home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2 -DCMAKE_INSTALL_PREFIX=/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2
+Invoked command in '/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot:/home/robobin/Robobin_Project/ros2/robobin_main/install/testing:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_localization_ekf:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_description:/home/robobin/Robobin_Project/ros2/robobin_main/install/odometry_publisher:/opt/ros/jazzy DEBUGINFOD_URLS=https://debuginfod.ubuntu.com /usr/bin/cmake /home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2 -DCMAKE_INSTALL_PREFIX=/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2
+Invoking command in '/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot:/home/robobin/Robobin_Project/ros2/robobin_main/install/testing:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_localization_ekf:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_description:/home/robobin/Robobin_Project/ros2/robobin_main/install/odometry_publisher:/opt/ros/jazzy DEBUGINFOD_URLS=https://debuginfod.ubuntu.com /usr/bin/cmake --build /home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2 -- -j4 -l4
+Invoked command in '/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot:/home/robobin/Robobin_Project/ros2/robobin_main/install/testing:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_localization_ekf:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_description:/home/robobin/Robobin_Project/ros2/robobin_main/install/odometry_publisher:/opt/ros/jazzy DEBUGINFOD_URLS=https://debuginfod.ubuntu.com /usr/bin/cmake --build /home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2 -- -j4 -l4
+Invoking command in '/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot:/home/robobin/Robobin_Project/ros2/robobin_main/install/testing:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_localization_ekf:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_description:/home/robobin/Robobin_Project/ros2/robobin_main/install/odometry_publisher:/opt/ros/jazzy DEBUGINFOD_URLS=https://debuginfod.ubuntu.com /usr/bin/cmake --install /home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2
+Invoked command in '/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot:/home/robobin/Robobin_Project/ros2/robobin_main/install/testing:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_localization_ekf:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_description:/home/robobin/Robobin_Project/ros2/robobin_main/install/odometry_publisher:/opt/ros/jazzy DEBUGINFOD_URLS=https://debuginfod.ubuntu.com /usr/bin/cmake --install /home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2
diff --git a/robobin_final/log/build_2024-12-19_19-14-25/sllidar_ros2/stderr.log b/robobin_final/log/build_2024-12-19_19-14-25/sllidar_ros2/stderr.log
new file mode 100644
index 00000000..8b1d4432
--- /dev/null
+++ b/robobin_final/log/build_2024-12-19_19-14-25/sllidar_ros2/stderr.log
@@ -0,0 +1,421 @@
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/arch/linux/net_serial.cpp:[m[K In member function ‘[01m[Kbool rp::arch::net::raw_serial::[01;32m[Kopen[m[K(const char*, uint32_t, uint32_t)[m[K’:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/arch/linux/net_serial.cpp:97:74:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Kflags[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 97 | bool raw_serial::open(const char * portname, uint32_t baudrate, [01;35m[Kuint32_t flags[m[K)
+ | [01;35m[K~~~~~~~~~^~~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/arch/linux/net_serial.cpp:[m[K In member function ‘[01m[Kvirtual void rp::arch::net::raw_serial::[01;32m[Kflush[m[K(_u32)[m[K’:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/arch/linux/net_serial.cpp:281:30:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Kflags[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 281 | void raw_serial::flush( [01;35m[K_u32 flags[m[K)
+ | [01;35m[K~~~~~^~~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/arch/linux/net_serial.cpp:[m[K In member function ‘[01m[Kvirtual int rp::arch::net::raw_serial::[01;32m[Kwaitforsent[m[K(_u32, size_t*)[m[K’:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/arch/linux/net_serial.cpp:286:34:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Ktimeout[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 286 | int raw_serial::waitforsent([01;35m[K_u32 timeout[m[K, size_t * returned_size)
+ | [01;35m[K~~~~~^~~~~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/arch/linux/net_serial.cpp:[m[K In member function ‘[01m[Kvirtual int rp::arch::net::raw_serial::[01;32m[Kwaitforrecv[m[K(_u32, size_t*)[m[K’:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/arch/linux/net_serial.cpp:292:34:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Ktimeout[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 292 | int raw_serial::waitforrecv([01;35m[K_u32 timeout[m[K, size_t * returned_size)
+ | [01;35m[K~~~~~^~~~~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/arch/linux/net_serial.cpp:[m[K In member function ‘[01m[Kvirtual void rp::arch::net::raw_serial::[01;32m[KcancelOperation[m[K()[m[K’:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/arch/linux/net_serial.cpp:427:5:[m[K [01;35m[Kwarning: [m[Kvalue computed is not used [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-value-Wunused-value]8;;[m[K]
+ 427 | [01;35m[K(int)::write(_selfpipe[1], "x", 1)[m[K;
+ | [01;35m[K^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~[m[K
+In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar_protocol.h:36[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar.h:39[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/src/sdkcommon.h:49[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/arch/linux/net_socket.cpp:10[m[K:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_protocol.h:66:16:[m[K [01;35m[Kwarning: [m[KISO C++ forbids zero-size array ‘[01m[Kdata[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic-Wpedantic]8;;[m[K]
+ 66 | sl_u8 data[[01;35m[K0[m[K];
+ | [01;35m[K^[m[K
+In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar_cmd.h:36[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar.h:40[m[K:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_cmd.h:324:20:[m[K [01;35m[Kwarning: [m[KISO C++ forbids zero-size array ‘[01m[Kpayload[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic-Wpedantic]8;;[m[K]
+ 324 | sl_u8 payload[[01;35m[K0[m[K];
+ | [01;35m[K^[m[K
+In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/src/arch/linux/arch_linux.h:42[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/src/sdkcommon.h:41[m[K:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/arch/linux/net_socket.cpp:[m[K In member function ‘[01m[Kvirtual u_result rp::arch::net::DGramSocketImpl::[01;32m[KsendTo[m[K(const rp::net::SocketAddress*, const void*, size_t)[m[K’:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/arch/linux/net_socket.cpp:733:24:[m[K [01;35m[Kwarning: [m[Kcomparison of integer expressions of different signedness: ‘[01m[Kint[m[K’ and ‘[01m[Ksize_t[m[K’ {aka ‘[01m[Klong unsigned int[m[K’} [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wsign-compare-Wsign-compare]8;;[m[K]
+ 733 | assert([01;35m[Kans == len[m[K);
+ | [01;35m[K~~~~^~~~~~[m[K
+In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar_protocol.h:36[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar.h:39[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/src/sdkcommon.h:49[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/dataunnpacker_commondef.h:41[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/dataunpacker.cpp:39[m[K:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_protocol.h:66:16:[m[K [01;35m[Kwarning: [m[KISO C++ forbids zero-size array ‘[01m[Kdata[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic-Wpedantic]8;;[m[K]
+ 66 | sl_u8 data[[01;35m[K0[m[K];
+ | [01;35m[K^[m[K
+In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar_cmd.h:36[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar.h:40[m[K:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_cmd.h:324:20:[m[K [01;35m[Kwarning: [m[KISO C++ forbids zero-size array ‘[01m[Kpayload[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic-Wpedantic]8;;[m[K]
+ 324 | sl_u8 payload[[01;35m[K0[m[K];
+ | [01;35m[K^[m[K
+In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/dataunpacker.cpp:40[m[K:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/dataunpacker.h:[m[K In member function ‘[01m[Kvirtual void sl::internal::LIDARSampleDataListener::[01;32m[KonCustomSampleDataDecoded[m[K(_u8, _u32, const void*, size_t)[m[K’:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/dataunpacker.h:54:52:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[KansType[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 54 | virtual void onCustomSampleDataDecoded([01;35m[K_u8 ansType[m[K, _u32 customCode, const void* data, size_t size) {}
+ | [01;35m[K~~~~^~~~~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/dataunpacker.h:54:66:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[KcustomCode[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 54 | virtual void onCustomSampleDataDecoded(_u8 ansType, [01;35m[K_u32 customCode[m[K, const void* data, size_t size) {}
+ | [01;35m[K~~~~~^~~~~~~~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/dataunpacker.h:54:90:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Kdata[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 54 | virtual void onCustomSampleDataDecoded(_u8 ansType, _u32 customCode, [01;35m[Kconst void* data[m[K, size_t size) {}
+ | [01;35m[K~~~~~~~~~~~~^~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/dataunpacker.h:54:103:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Ksize[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 54 | virtual void onCustomSampleDataDecoded(_u8 ansType, _u32 customCode, const void* data, [01;35m[Ksize_t size[m[K) {}
+ | [01;35m[K~~~~~~~^~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/dataunpacker.h:[m[K In member function ‘[01m[Kvirtual void sl::internal::LIDARSampleDataListener::[01;32m[KonDecodingError[m[K(int, _u8, const void*, size_t)[m[K’:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/dataunpacker.h:56:42:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[KerrMsg[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 56 | virtual void onDecodingError([01;35m[Kint errMsg[m[K, _u8 ansType, const void* payload, size_t size) {}
+ | [01;35m[K~~~~^~~~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/dataunpacker.h:56:54:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[KansType[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 56 | virtual void onDecodingError(int errMsg, [01;35m[K_u8 ansType[m[K, const void* payload, size_t size) {}
+ | [01;35m[K~~~~^~~~~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/dataunpacker.h:56:75:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Kpayload[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 56 | virtual void onDecodingError(int errMsg, _u8 ansType, [01;35m[Kconst void* payload[m[K, size_t size) {}
+ | [01;35m[K~~~~~~~~~~~~^~~~~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/dataunpacker.h:56:91:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Ksize[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 56 | virtual void onDecodingError(int errMsg, _u8 ansType, const void* payload, [01;35m[Ksize_t size[m[K) {}
+ | [01;35m[K~~~~~~~^~~~[m[K
+In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar_protocol.h:36[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar.h:39[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/src/sdkcommon.h:49[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunnpacker_commondef.h:41[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/handler_capsules.cpp:39[m[K:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_protocol.h:66:16:[m[K [01;35m[Kwarning: [m[KISO C++ forbids zero-size array ‘[01m[Kdata[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic-Wpedantic]8;;[m[K]
+ 66 | sl_u8 data[[01;35m[K0[m[K];
+ | [01;35m[K^[m[K
+In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar_cmd.h:36[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar.h:40[m[K:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_cmd.h:324:20:[m[K [01;35m[Kwarning: [m[KISO C++ forbids zero-size array ‘[01m[Kpayload[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic-Wpedantic]8;;[m[K]
+ 324 | sl_u8 payload[[01;35m[K0[m[K];
+ | [01;35m[K^[m[K
+In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/handler_capsules.cpp:40[m[K:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:[m[K In member function ‘[01m[Kvirtual void sl::internal::LIDARSampleDataListener::[01;32m[KonCustomSampleDataDecoded[m[K(_u8, _u32, const void*, size_t)[m[K’:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:54:52:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[KansType[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 54 | virtual void onCustomSampleDataDecoded([01;35m[K_u8 ansType[m[K, _u32 customCode, const void* data, size_t size) {}
+ | [01;35m[K~~~~^~~~~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:54:66:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[KcustomCode[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 54 | virtual void onCustomSampleDataDecoded(_u8 ansType, [01;35m[K_u32 customCode[m[K, const void* data, size_t size) {}
+ | [01;35m[K~~~~~^~~~~~~~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:54:90:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Kdata[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 54 | virtual void onCustomSampleDataDecoded(_u8 ansType, _u32 customCode, [01;35m[Kconst void* data[m[K, size_t size) {}
+ | [01;35m[K~~~~~~~~~~~~^~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:54:103:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Ksize[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 54 | virtual void onCustomSampleDataDecoded(_u8 ansType, _u32 customCode, const void* data, [01;35m[Ksize_t size[m[K) {}
+ | [01;35m[K~~~~~~~^~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:[m[K In member function ‘[01m[Kvirtual void sl::internal::LIDARSampleDataListener::[01;32m[KonDecodingError[m[K(int, _u8, const void*, size_t)[m[K’:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:56:42:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[KerrMsg[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 56 | virtual void onDecodingError([01;35m[Kint errMsg[m[K, _u8 ansType, const void* payload, size_t size) {}
+ | [01;35m[K~~~~^~~~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:56:54:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[KansType[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 56 | virtual void onDecodingError(int errMsg, [01;35m[K_u8 ansType[m[K, const void* payload, size_t size) {}
+ | [01;35m[K~~~~^~~~~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:56:75:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Kpayload[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 56 | virtual void onDecodingError(int errMsg, _u8 ansType, [01;35m[Kconst void* payload[m[K, size_t size) {}
+ | [01;35m[K~~~~~~~~~~~~^~~~~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:56:91:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Ksize[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 56 | virtual void onDecodingError(int errMsg, _u8 ansType, const void* payload, [01;35m[Ksize_t size[m[K) {}
+ | [01;35m[K~~~~~~~^~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/handler_capsules.cpp:[m[K In member function ‘[01m[Kvoid sl::internal::unpacker::UnpackerHandler_DenseCapsuleNode::[01;32m[K_onScanNodeDenseCapsuleData[m[K(rplidar_response_dense_capsule_measurement_nodes_t&, sl::internal::LIDARSampleDataUnpackerInner*)[m[K’:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/handler_capsules.cpp:763:30:[m[K [01;35m[Kwarning: [m[Ktype qualifiers ignored on cast result type [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wignored-qualifiers-Wignored-qualifiers]8;;[m[K]
+ 763 | const int dist = [01;35m[Kstatic_cast<const int>(_cached_previous_dense_capsuledata.cabins[pos].distance)[m[K;
+ | [01;35m[K^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~[m[K
+In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar_protocol.h:36[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar.h:39[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/src/sdkcommon.h:49[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunnpacker_commondef.h:41[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/handler_hqnode.cpp:39[m[K:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_protocol.h:66:16:[m[K [01;35m[Kwarning: [m[KISO C++ forbids zero-size array ‘[01m[Kdata[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic-Wpedantic]8;;[m[K]
+ 66 | sl_u8 data[[01;35m[K0[m[K];
+ | [01;35m[K^[m[K
+In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar_cmd.h:36[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar.h:40[m[K:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_cmd.h:324:20:[m[K [01;35m[Kwarning: [m[KISO C++ forbids zero-size array ‘[01m[Kpayload[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic-Wpedantic]8;;[m[K]
+ 324 | sl_u8 payload[[01;35m[K0[m[K];
+ | [01;35m[K^[m[K
+In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/handler_hqnode.cpp:40[m[K:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:[m[K In member function ‘[01m[Kvirtual void sl::internal::LIDARSampleDataListener::[01;32m[KonCustomSampleDataDecoded[m[K(_u8, _u32, const void*, size_t)[m[K’:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:54:52:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[KansType[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 54 | virtual void onCustomSampleDataDecoded([01;35m[K_u8 ansType[m[K, _u32 customCode, const void* data, size_t size) {}
+ | [01;35m[K~~~~^~~~~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:54:66:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[KcustomCode[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 54 | virtual void onCustomSampleDataDecoded(_u8 ansType, [01;35m[K_u32 customCode[m[K, const void* data, size_t size) {}
+ | [01;35m[K~~~~~^~~~~~~~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:54:90:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Kdata[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 54 | virtual void onCustomSampleDataDecoded(_u8 ansType, _u32 customCode, [01;35m[Kconst void* data[m[K, size_t size) {}
+ | [01;35m[K~~~~~~~~~~~~^~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:54:103:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Ksize[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 54 | virtual void onCustomSampleDataDecoded(_u8 ansType, _u32 customCode, const void* data, [01;35m[Ksize_t size[m[K) {}
+ | [01;35m[K~~~~~~~^~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:[m[K In member function ‘[01m[Kvirtual void sl::internal::LIDARSampleDataListener::[01;32m[KonDecodingError[m[K(int, _u8, const void*, size_t)[m[K’:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:56:42:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[KerrMsg[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 56 | virtual void onDecodingError([01;35m[Kint errMsg[m[K, _u8 ansType, const void* payload, size_t size) {}
+ | [01;35m[K~~~~^~~~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:56:54:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[KansType[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 56 | virtual void onDecodingError(int errMsg, [01;35m[K_u8 ansType[m[K, const void* payload, size_t size) {}
+ | [01;35m[K~~~~^~~~~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:56:75:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Kpayload[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 56 | virtual void onDecodingError(int errMsg, _u8 ansType, [01;35m[Kconst void* payload[m[K, size_t size) {}
+ | [01;35m[K~~~~~~~~~~~~^~~~~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:56:91:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Ksize[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 56 | virtual void onDecodingError(int errMsg, _u8 ansType, const void* payload, [01;35m[Ksize_t size[m[K) {}
+ | [01;35m[K~~~~~~~^~~~[m[K
+In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar_protocol.h:36[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar.h:39[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/src/sdkcommon.h:49[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunnpacker_commondef.h:41[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/handler_normalnode.cpp:39[m[K:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_protocol.h:66:16:[m[K [01;35m[Kwarning: [m[KISO C++ forbids zero-size array ‘[01m[Kdata[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic-Wpedantic]8;;[m[K]
+ 66 | sl_u8 data[[01;35m[K0[m[K];
+ | [01;35m[K^[m[K
+In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar_cmd.h:36[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar.h:40[m[K:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_cmd.h:324:20:[m[K [01;35m[Kwarning: [m[KISO C++ forbids zero-size array ‘[01m[Kpayload[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic-Wpedantic]8;;[m[K]
+ 324 | sl_u8 payload[[01;35m[K0[m[K];
+ | [01;35m[K^[m[K
+In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/handler_normalnode.cpp:40[m[K:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:[m[K In member function ‘[01m[Kvirtual void sl::internal::LIDARSampleDataListener::[01;32m[KonCustomSampleDataDecoded[m[K(_u8, _u32, const void*, size_t)[m[K’:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:54:52:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[KansType[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 54 | virtual void onCustomSampleDataDecoded([01;35m[K_u8 ansType[m[K, _u32 customCode, const void* data, size_t size) {}
+ | [01;35m[K~~~~^~~~~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:54:66:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[KcustomCode[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 54 | virtual void onCustomSampleDataDecoded(_u8 ansType, [01;35m[K_u32 customCode[m[K, const void* data, size_t size) {}
+ | [01;35m[K~~~~~^~~~~~~~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:54:90:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Kdata[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 54 | virtual void onCustomSampleDataDecoded(_u8 ansType, _u32 customCode, [01;35m[Kconst void* data[m[K, size_t size) {}
+ | [01;35m[K~~~~~~~~~~~~^~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:54:103:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Ksize[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 54 | virtual void onCustomSampleDataDecoded(_u8 ansType, _u32 customCode, const void* data, [01;35m[Ksize_t size[m[K) {}
+ | [01;35m[K~~~~~~~^~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:[m[K In member function ‘[01m[Kvirtual void sl::internal::LIDARSampleDataListener::[01;32m[KonDecodingError[m[K(int, _u8, const void*, size_t)[m[K’:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:56:42:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[KerrMsg[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 56 | virtual void onDecodingError([01;35m[Kint errMsg[m[K, _u8 ansType, const void* payload, size_t size) {}
+ | [01;35m[K~~~~^~~~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:56:54:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[KansType[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 56 | virtual void onDecodingError(int errMsg, [01;35m[K_u8 ansType[m[K, const void* payload, size_t size) {}
+ | [01;35m[K~~~~^~~~~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:56:75:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Kpayload[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 56 | virtual void onDecodingError(int errMsg, _u8 ansType, [01;35m[Kconst void* payload[m[K, size_t size) {}
+ | [01;35m[K~~~~~~~~~~~~^~~~~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:56:91:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Ksize[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 56 | virtual void onDecodingError(int errMsg, _u8 ansType, const void* payload, [01;35m[Ksize_t size[m[K) {}
+ | [01;35m[K~~~~~~~^~~~[m[K
+In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar_protocol.h:36[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar.h:39[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/src/sdkcommon.h:49[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/hal/thread.cpp:35[m[K:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_protocol.h:66:16:[m[K [01;35m[Kwarning: [m[KISO C++ forbids zero-size array ‘[01m[Kdata[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic-Wpedantic]8;;[m[K]
+ 66 | sl_u8 data[[01;35m[K0[m[K];
+ | [01;35m[K^[m[K
+In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar_cmd.h:36[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar.h:40[m[K:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_cmd.h:324:20:[m[K [01;35m[Kwarning: [m[KISO C++ forbids zero-size array ‘[01m[Kpayload[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic-Wpedantic]8;;[m[K]
+ 324 | sl_u8 payload[[01;35m[K0[m[K];
+ | [01;35m[K^[m[K
+In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/hal/thread.cpp:43[m[K:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/src/arch/linux/thread.hpp:[m[K In static member function ‘[01m[Kstatic rp::hal::Thread rp::hal::Thread::[01;32m[Kcreate[m[K(thread_proc_t, void*)[m[K’:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/src/arch/linux/thread.hpp:52:57:[m[K [01;35m[Kwarning: [m[Kcast between incompatible function types from ‘[01m[Kthread_proc_t[m[K’ {aka ‘[01m[Klong unsigned int (*)(void*)[m[K’} to ‘[01m[Kvoid* (*)(void*)[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wcast-function-type-Wcast-function-type]8;;[m[K]
+ 52 | pthread_create((pthread_t *)&newborn._handle, NULL, [01;35m[K(void * (*)(void *))proc[m[K, data);
+ | [01;35m[K^~~~~~~~~~~~~~~~~~~~~~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/src/arch/linux/thread.hpp:[m[K In member function ‘[01m[Ku_result rp::hal::Thread::[01;32m[Kjoin[m[K(long unsigned int)[m[K’:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/src/arch/linux/thread.hpp:176:37:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Ktimeout[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 176 | u_result Thread::join([01;35m[Kunsigned long timeout[m[K)
+ | [01;35m[K~~~~~~~~~~~~~~^~~~~~~[m[K
+In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_cmd.h:41[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_driver.h:54[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar.h:36[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/src/sllidar_node.cpp:38[m[K:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_protocol.h:66:16:[m[K [01;35m[Kwarning: [m[KISO C++ forbids zero-size array ‘[01m[Kdata[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic-Wpedantic]8;;[m[K]
+ 66 | sl_u8 data[[01;35m[K0[m[K];
+ | [01;35m[K^[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_cmd.h:324:20:[m[K [01;35m[Kwarning: [m[KISO C++ forbids zero-size array ‘[01m[Kpayload[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic-Wpedantic]8;;[m[K]
+ 324 | sl_u8 payload[[01;35m[K0[m[K];
+ | [01;35m[K^[m[K
+In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar_protocol.h:36[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar.h:39[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sdkcommon.h:49[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/rplidar_driver.cpp:33[m[K:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_protocol.h:66:16:[m[K [01;35m[Kwarning: [m[KISO C++ forbids zero-size array ‘[01m[Kdata[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic-Wpedantic]8;;[m[K]
+ 66 | sl_u8 data[[01;35m[K0[m[K];
+ | [01;35m[K^[m[K
+In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar_cmd.h:36[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar.h:40[m[K:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_cmd.h:324:20:[m[K [01;35m[Kwarning: [m[KISO C++ forbids zero-size array ‘[01m[Kpayload[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic-Wpedantic]8;;[m[K]
+ 324 | sl_u8 payload[[01;35m[K0[m[K];
+ | [01;35m[K^[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/rplidar_driver.cpp:[m[K In member function ‘[01m[Ku_result rp::standalone::rplidar::RPlidarDriver::[01;32m[Kconnect[m[K(const char*, _u32, _u32)[m[K’:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/rplidar_driver.cpp:67:77:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Kflag[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 67 | u_result RPlidarDriver::connect(const char *path, _u32 portOrBaud, [01;35m[K_u32 flag[m[K)
+ | [01;35m[K~~~~~^~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/rplidar_driver.cpp:[m[K In member function ‘[01m[Ku_result rp::standalone::rplidar::RPlidarDriver::[01;32m[Kreset[m[K(_u32)[m[K’:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/rplidar_driver.cpp:101:40:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Ktimeout[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 101 | u_result RPlidarDriver::reset([01;35m[K_u32 timeout[m[K)
+ | [01;35m[K~~~~~^~~~~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/rplidar_driver.cpp:[m[K In member function ‘[01m[Ku_result rp::standalone::rplidar::RPlidarDriver::[01;32m[KgetScanDataWithInterval[m[K(rplidar_response_measurement_node_t*, size_t&)[m[K’:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/rplidar_driver.cpp:180:91:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Knodebuffer[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 180 | u_result RPlidarDriver::getScanDataWithInterval([01;35m[Krplidar_response_measurement_node_t * nodebuffer[m[K, size_t & count)
+ | [01;35m[K~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/rplidar_driver.cpp:180:112:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Kcount[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 180 | u_result RPlidarDriver::getScanDataWithInterval(rplidar_response_measurement_node_t * nodebuffer, [01;35m[Ksize_t & count[m[K)
+ | [01;35m[K~~~~~~~~~^~~~~[m[K
+In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_cmd.h:41[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_crc.h:36[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_crc.cpp:33[m[K:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_protocol.h:66:16:[m[K [01;35m[Kwarning: [m[KISO C++ forbids zero-size array ‘[01m[Kdata[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic-Wpedantic]8;;[m[K]
+ 66 | sl_u8 data[[01;35m[K0[m[K];
+ | [01;35m[K^[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_cmd.h:324:20:[m[K [01;35m[Kwarning: [m[KISO C++ forbids zero-size array ‘[01m[Kpayload[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic-Wpedantic]8;;[m[K]
+ 324 | sl_u8 payload[[01;35m[K0[m[K];
+ | [01;35m[K^[m[K
+In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar_protocol.h:36[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar.h:39[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sdkcommon.h:49[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_async_transceiver.cpp:35[m[K:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_protocol.h:66:16:[m[K [01;35m[Kwarning: [m[KISO C++ forbids zero-size array ‘[01m[Kdata[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic-Wpedantic]8;;[m[K]
+ 66 | sl_u8 data[[01;35m[K0[m[K];
+ | [01;35m[K^[m[K
+In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar_cmd.h:36[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar.h:40[m[K:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_cmd.h:324:20:[m[K [01;35m[Kwarning: [m[KISO C++ forbids zero-size array ‘[01m[Kpayload[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic-Wpedantic]8;;[m[K]
+ 324 | sl_u8 payload[[01;35m[K0[m[K];
+ | [01;35m[K^[m[K
+In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_async_transceiver.cpp:44[m[K:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_async_transceiver.h:[m[K In member function ‘[01m[Kvirtual void sl::internal::IAsyncProtocolCodec::[01;32m[KonChannelError[m[K(u_result)[m[K’:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_async_transceiver.h:90:48:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[KerrCode[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 90 | virtual void onChannelError([01;35m[Ku_result errCode[m[K) {}
+ | [01;35m[K~~~~~~~~~^~~~~~~[m[K
+In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar_protocol.h:36[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar.h:39[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sdkcommon.h:49[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidar_driver.cpp:33[m[K:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_protocol.h:66:16:[m[K [01;35m[Kwarning: [m[KISO C++ forbids zero-size array ‘[01m[Kdata[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic-Wpedantic]8;;[m[K]
+ 66 | sl_u8 data[[01;35m[K0[m[K];
+ | [01;35m[K^[m[K
+In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar_cmd.h:36[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar.h:40[m[K:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_cmd.h:324:20:[m[K [01;35m[Kwarning: [m[KISO C++ forbids zero-size array ‘[01m[Kpayload[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic-Wpedantic]8;;[m[K]
+ 324 | sl_u8 payload[[01;35m[K0[m[K];
+ | [01;35m[K^[m[K
+In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidar_driver.cpp:50[m[K:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/dataunpacker.h:[m[K In member function ‘[01m[Kvirtual void sl::internal::LIDARSampleDataListener::[01;32m[KonCustomSampleDataDecoded[m[K(_u8, _u32, const void*, size_t)[m[K’:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/dataunpacker.h:54:52:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[KansType[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 54 | virtual void onCustomSampleDataDecoded([01;35m[K_u8 ansType[m[K, _u32 customCode, const void* data, size_t size) {}
+ | [01;35m[K~~~~^~~~~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/dataunpacker.h:54:66:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[KcustomCode[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 54 | virtual void onCustomSampleDataDecoded(_u8 ansType, [01;35m[K_u32 customCode[m[K, const void* data, size_t size) {}
+ | [01;35m[K~~~~~^~~~~~~~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/dataunpacker.h:54:90:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Kdata[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 54 | virtual void onCustomSampleDataDecoded(_u8 ansType, _u32 customCode, [01;35m[Kconst void* data[m[K, size_t size) {}
+ | [01;35m[K~~~~~~~~~~~~^~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/dataunpacker.h:54:103:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Ksize[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 54 | virtual void onCustomSampleDataDecoded(_u8 ansType, _u32 customCode, const void* data, [01;35m[Ksize_t size[m[K) {}
+ | [01;35m[K~~~~~~~^~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/dataunpacker.h:[m[K In member function ‘[01m[Kvirtual void sl::internal::LIDARSampleDataListener::[01;32m[KonDecodingError[m[K(int, _u8, const void*, size_t)[m[K’:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/dataunpacker.h:56:42:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[KerrMsg[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 56 | virtual void onDecodingError([01;35m[Kint errMsg[m[K, _u8 ansType, const void* payload, size_t size) {}
+ | [01;35m[K~~~~^~~~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/dataunpacker.h:56:54:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[KansType[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 56 | virtual void onDecodingError(int errMsg, [01;35m[K_u8 ansType[m[K, const void* payload, size_t size) {}
+ | [01;35m[K~~~~^~~~~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/dataunpacker.h:56:75:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Kpayload[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 56 | virtual void onDecodingError(int errMsg, _u8 ansType, [01;35m[Kconst void* payload[m[K, size_t size) {}
+ | [01;35m[K~~~~~~~~~~~~^~~~~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/dataunpacker.h:56:91:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Ksize[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 56 | virtual void onDecodingError(int errMsg, _u8 ansType, const void* payload, [01;35m[Ksize_t size[m[K) {}
+ | [01;35m[K~~~~~~~^~~~[m[K
+In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidar_driver.cpp:51[m[K:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_async_transceiver.h:[m[K In member function ‘[01m[Kvirtual void sl::internal::IAsyncProtocolCodec::[01;32m[KonChannelError[m[K(u_result)[m[K’:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_async_transceiver.h:90:48:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[KerrCode[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 90 | virtual void onChannelError([01;35m[Ku_result errCode[m[K) {}
+ | [01;35m[K~~~~~~~~~^~~~~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidar_driver.cpp:[m[K In member function ‘[01m[Kvirtual sl_result sl::SlamtecLidarDriver::[01;32m[Kreset[m[K(sl_u32)[m[K’:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidar_driver.cpp:511:32:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[KtimeoutInMs[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 511 | sl_result reset([01;35m[Ksl_u32 timeoutInMs = DEFAULT_TIMEOUT[m[K)
+ | [01;35m[K~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidar_driver.cpp:[m[K In member function ‘[01m[Kvirtual sl_result sl::SlamtecLidarDriver::[01;32m[KstartScan[m[K(bool, bool, sl_u32, sl::LidarScanMode*)[m[K’:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidar_driver.cpp:586:69:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Koptions[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 586 | sl_result startScan(bool force, bool useTypicalScan, [01;35m[Ksl_u32 options = 0[m[K, LidarScanMode* outUsedScanMode = nullptr)
+ | [01;35m[K~~~~~~~^~~~~~~~~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidar_driver.cpp:[m[K In member function ‘[01m[Kvirtual sl_result sl::SlamtecLidarDriver::[01;32m[Kstop[m[K(sl_u32)[m[K’:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidar_driver.cpp:763:31:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Ktimeout[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 763 | sl_result stop([01;35m[Ksl_u32 timeout = DEFAULT_TIMEOUT[m[K)
+ | [01;35m[K~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidar_driver.cpp:[m[K In member function ‘[01m[Kvirtual sl_result sl::SlamtecLidarDriver::[01;32m[KgetFrequency[m[K(const sl::LidarScanMode&, const sl_lidar_response_measurement_node_hq_t*, size_t, float&)[m[K’:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidar_driver.cpp:880:110:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Knodes[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 880 | sl_result getFrequency(const LidarScanMode& scanMode, [01;35m[Kconst sl_lidar_response_measurement_node_hq_t* nodes[m[K, size_t count, float& frequency)
+ | [01;35m[K~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidar_driver.cpp:[m[K In member function ‘[01m[Kvirtual sl_result sl::SlamtecLidarDriver::[01;32m[KgetMotorInfo[m[K(sl::LidarMotorInfo&, sl_u32)[m[K’:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidar_driver.cpp:1023:66:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[KtimeoutInMs[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 1023 | sl_result getMotorInfo(LidarMotorInfo &motorInfo, [01;35m[Ksl_u32 timeoutInMs[m[K)
+ | [01;35m[K~~~~~~~^~~~~~~~~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidar_driver.cpp:[m[K In member function ‘[01m[Ku_result sl::SlamtecLidarDriver::[01;32m[KgetScanModeCount[m[K(sl_u16&, sl_u32)[m[K’:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidar_driver.cpp:1199:61:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[KtimeoutInMs[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 1199 | u_result getScanModeCount(sl_u16& modeCount, [01;35m[Ksl_u32 timeoutInMs = DEFAULT_TIMEOUT[m[K)
+ | [01;35m[K~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~[m[K
+In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar_protocol.h:36[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar.h:39[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sdkcommon.h:49[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidarprotocol_codec.cpp:35[m[K:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_protocol.h:66:16:[m[K [01;35m[Kwarning: [m[KISO C++ forbids zero-size array ‘[01m[Kdata[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic-Wpedantic]8;;[m[K]
+ 66 | sl_u8 data[[01;35m[K0[m[K];
+ | [01;35m[K^[m[K
+In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar_cmd.h:36[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar.h:40[m[K:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_cmd.h:324:20:[m[K [01;35m[Kwarning: [m[KISO C++ forbids zero-size array ‘[01m[Kpayload[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic-Wpedantic]8;;[m[K]
+ 324 | sl_u8 payload[[01;35m[K0[m[K];
+ | [01;35m[K^[m[K
+/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidar_driver.cpp: In instantiation of ‘[01m[Kvoid sl::RawSampleNodeHolder<T>::[01;32m[KpushNode[m[K(_u64, const T*) [35m[K[with T = sl_lidar_response_measurement_node_hq_t; _u64 = long unsigned int][m[K[m[K’:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidar_driver.cpp:1648:42:[m[K required from here
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidar_driver.cpp:202:28:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Ktimestamp_uS[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 202 | void pushNode([01;35m[K_u64 timestamp_uS[m[K, const T* node)
+ | [01;35m[K~~~~~^~~~~~~~~~~~[m[K
+In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidarprotocol_codec.cpp:49[m[K:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_async_transceiver.h:[m[K In member function ‘[01m[Kvirtual void sl::internal::IAsyncProtocolCodec::[01;32m[KonChannelError[m[K(u_result)[m[K’:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_async_transceiver.h:90:48:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[KerrCode[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 90 | virtual void onChannelError([01;35m[Ku_result errCode[m[K) {}
+ | [01;35m[K~~~~~~~~~^~~~~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidar_driver.cpp:[m[K At global scope:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidar_driver.cpp:83:17:[m[K [01;35m[Kwarning: [m[K‘[01m[Kvoid sl::[01;32m[Kconvert[m[K(const sl_lidar_response_measurement_node_hq_t&, sl_lidar_response_measurement_node_t&)[m[K’ defined but not used [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-function-Wunused-function]8;;[m[K]
+ 83 | static void [01;35m[Kconvert[m[K(const sl_lidar_response_measurement_node_hq_t& from, sl_lidar_response_measurement_node_t& to)
+ | [01;35m[K^~~~~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidar_driver.cpp:75:17:[m[K [01;35m[Kwarning: [m[K‘[01m[Kvoid sl::[01;32m[Kconvert[m[K(const sl_lidar_response_measurement_node_t&, sl_lidar_response_measurement_node_hq_t&)[m[K’ defined but not used [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-function-Wunused-function]8;;[m[K]
+ 75 | static void [01;35m[Kconvert[m[K(const sl_lidar_response_measurement_node_t& from, sl_lidar_response_measurement_node_hq_t& to)
+ | [01;35m[K^~~~~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidar_driver.cpp:70:17:[m[K [01;35m[Kwarning: [m[K‘[01m[Kvoid sl::[01;32m[KprintDeprecationWarn[m[K(const char*, const char*)[m[K’ defined but not used [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-function-Wunused-function]8;;[m[K]
+ 70 | static void [01;35m[KprintDeprecationWarn[m[K(const char* fn, const char* replacement)
+ | [01;35m[K^~~~~~~~~~~~~~~~~~~~[m[K
+In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_cmd.h:41[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_driver.h:54[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_serial_channel.cpp:33[m[K:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_protocol.h:66:16:[m[K [01;35m[Kwarning: [m[KISO C++ forbids zero-size array ‘[01m[Kdata[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic-Wpedantic]8;;[m[K]
+ 66 | sl_u8 data[[01;35m[K0[m[K];
+ | [01;35m[K^[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_cmd.h:324:20:[m[K [01;35m[Kwarning: [m[KISO C++ forbids zero-size array ‘[01m[Kpayload[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic-Wpedantic]8;;[m[K]
+ 324 | sl_u8 payload[[01;35m[K0[m[K];
+ | [01;35m[K^[m[K
+In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_cmd.h:41[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_driver.h:54[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_tcp_channel.cpp:33[m[K:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_protocol.h:66:16:[m[K [01;35m[Kwarning: [m[KISO C++ forbids zero-size array ‘[01m[Kdata[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic-Wpedantic]8;;[m[K]
+ 66 | sl_u8 data[[01;35m[K0[m[K];
+ | [01;35m[K^[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_cmd.h:324:20:[m[K [01;35m[Kwarning: [m[KISO C++ forbids zero-size array ‘[01m[Kpayload[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic-Wpedantic]8;;[m[K]
+ 324 | sl_u8 payload[[01;35m[K0[m[K];
+ | [01;35m[K^[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_tcp_channel.cpp:[m[K In member function ‘[01m[Kvoid sl::TcpChannel::[01;32m[KsetStatus[m[K(_u32)[m[K’:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_tcp_channel.cpp:109:29:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Kflag[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 109 | void setStatus([01;35m[K_u32 flag[m[K){}
+ | [01;35m[K~~~~~^~~~[m[K
+In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_cmd.h:41[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_driver.h:54[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_udp_channel.cpp:33[m[K:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_protocol.h:66:16:[m[K [01;35m[Kwarning: [m[KISO C++ forbids zero-size array ‘[01m[Kdata[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic-Wpedantic]8;;[m[K]
+ 66 | sl_u8 data[[01;35m[K0[m[K];
+ | [01;35m[K^[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_cmd.h:324:20:[m[K [01;35m[Kwarning: [m[KISO C++ forbids zero-size array ‘[01m[Kpayload[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic-Wpedantic]8;;[m[K]
+ 324 | sl_u8 payload[[01;35m[K0[m[K];
+ | [01;35m[K^[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_udp_channel.cpp:[m[K In member function ‘[01m[Kvoid sl::UdpChannel::[01;32m[KsetStatus[m[K(_u32)[m[K’:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_udp_channel.cpp:112:29:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Kflag[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 112 | void setStatus([01;35m[K_u32 flag[m[K){}
+ | [01;35m[K~~~~~^~~~[m[K
diff --git a/robobin_final/log/build_2024-12-19_19-14-25/sllidar_ros2/stdout.log b/robobin_final/log/build_2024-12-19_19-14-25/sllidar_ros2/stdout.log
new file mode 100644
index 00000000..9908d50a
--- /dev/null
+++ b/robobin_final/log/build_2024-12-19_19-14-25/sllidar_ros2/stdout.log
@@ -0,0 +1,100 @@
+-- The C compiler identification is GNU 13.3.0
+-- The CXX compiler identification is GNU 13.3.0
+-- Detecting C compiler ABI info
+-- Detecting C compiler ABI info - done
+-- Check for working C compiler: /usr/bin/cc - skipped
+-- Detecting C compile features
+-- Detecting C compile features - done
+-- Detecting CXX compiler ABI info
+-- Detecting CXX compiler ABI info - done
+-- Check for working CXX compiler: /usr/bin/c++ - skipped
+-- Detecting CXX compile features
+-- Detecting CXX compile features - done
+-- Found ament_cmake: 2.5.2 (/opt/ros/jazzy/share/ament_cmake/cmake)
+-- Found Python3: /usr/bin/python3 (found version "3.12.3") found components: Interpreter
+-- Found rclcpp: 28.1.5 (/opt/ros/jazzy/share/rclcpp/cmake)
+-- Found rosidl_generator_c: 4.6.4 (/opt/ros/jazzy/share/rosidl_generator_c/cmake)
+-- Found rosidl_generator_cpp: 4.6.4 (/opt/ros/jazzy/share/rosidl_generator_cpp/cmake)
+-- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c
+-- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp
+-- Found rmw_implementation_cmake: 7.3.1 (/opt/ros/jazzy/share/rmw_implementation_cmake/cmake)
+-- Found rmw_fastrtps_cpp: 8.4.1 (/opt/ros/jazzy/share/rmw_fastrtps_cpp/cmake)
+-- Found OpenSSL: /usr/lib/aarch64-linux-gnu/libcrypto.so (found version "3.0.13")
+-- Found FastRTPS: /opt/ros/jazzy/include (Required is at least version "2.13")
+-- Using RMW implementation 'rmw_fastrtps_cpp' as default
+-- Found sensor_msgs: 5.3.5 (/opt/ros/jazzy/share/sensor_msgs/cmake)
+-- Found std_srvs: 5.3.5 (/opt/ros/jazzy/share/std_srvs/cmake)
+-- Configuring done (2.4s)
+-- Generating done (0.0s)
+-- Build files have been written to: /home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2
+[ 5%] [32mBuilding CXX object CMakeFiles/sllidar_node.dir/src/sllidar_node.cpp.o[0m
+[ 10%] [32mBuilding CXX object CMakeFiles/sllidar_client.dir/src/sllidar_client.cpp.o[0m
+[ 15%] [32mBuilding CXX object CMakeFiles/sllidar_node.dir/sdk/src/arch/linux/net_serial.cpp.o[0m
+[ 20%] [32mBuilding CXX object CMakeFiles/sllidar_node.dir/sdk/src/arch/linux/net_socket.cpp.o[0m
+[ 25%] [32mBuilding CXX object CMakeFiles/sllidar_node.dir/sdk/src/arch/linux/timer.cpp.o[0m
+[ 30%] [32mBuilding CXX object CMakeFiles/sllidar_node.dir/sdk/src/dataunpacker/dataunpacker.cpp.o[0m
+[ 35%] [32mBuilding CXX object CMakeFiles/sllidar_node.dir/sdk/src/dataunpacker/unpacker/handler_capsules.cpp.o[0m
+[ 40%] [32mBuilding CXX object CMakeFiles/sllidar_node.dir/sdk/src/dataunpacker/unpacker/handler_hqnode.cpp.o[0m
+[ 45%] [32mBuilding CXX object CMakeFiles/sllidar_node.dir/sdk/src/dataunpacker/unpacker/handler_normalnode.cpp.o[0m
+[ 50%] [32mBuilding CXX object CMakeFiles/sllidar_node.dir/sdk/src/hal/thread.cpp.o[0m
+[ 55%] [32mBuilding CXX object CMakeFiles/sllidar_node.dir/sdk/src/rplidar_driver.cpp.o[0m
+[ 60%] [32mBuilding CXX object CMakeFiles/sllidar_node.dir/sdk/src/sl_async_transceiver.cpp.o[0m
+[ 65%] [32mBuilding CXX object CMakeFiles/sllidar_node.dir/sdk/src/sl_crc.cpp.o[0m
+[ 70%] [32mBuilding CXX object CMakeFiles/sllidar_node.dir/sdk/src/sl_lidar_driver.cpp.o[0m
+[ 75%] [32mBuilding CXX object CMakeFiles/sllidar_node.dir/sdk/src/sl_lidarprotocol_codec.cpp.o[0m
+[ 80%] [32mBuilding CXX object CMakeFiles/sllidar_node.dir/sdk/src/sl_serial_channel.cpp.o[0m
+[ 85%] [32mBuilding CXX object CMakeFiles/sllidar_node.dir/sdk/src/sl_tcp_channel.cpp.o[0m
+[ 90%] [32mBuilding CXX object CMakeFiles/sllidar_node.dir/sdk/src/sl_udp_channel.cpp.o[0m
+[ 95%] [32m[1mLinking CXX executable sllidar_node[0m
+[ 95%] Built target sllidar_node
+[100%] [32m[1mLinking CXX executable sllidar_client[0m
+[100%] Built target sllidar_client
+-- Install configuration: ""
+-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch
+-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_t1_launch.py
+-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_s2e_launch.py
+-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_s2e_launch.py
+-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_a2m12_launch .py
+-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_a3_launch.py
+-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_a2m8_launch.py
+-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_s1_tcp_launch.py
+-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_c1_launch.py
+-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_s2_launch.py
+-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_a2m7_launch.py
+-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_s3_launch.py
+-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_c1_launch.py
+-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_s1_tcp_launch.py
+-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_a2m8_launch.py
+-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_s1_launch.py
+-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_a3_launch.py
+-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_s2_launch.py
+-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_t1_launch.py
+-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_a1_launch.py
+-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_a1_launch.py
+-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_a2m7_launch.py
+-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_s1_launch.py
+-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_s3_launch.py
+-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_a2m12_launch.py
+-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/rviz
+-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/rviz/sllidar_ros2.rviz
+-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/lib/sllidar_ros2/sllidar_node
+-- Set non-toolchain portion of runtime path of "/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/lib/sllidar_ros2/sllidar_node" to ""
+-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/lib/sllidar_ros2/sllidar_client
+-- Set non-toolchain portion of runtime path of "/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/lib/sllidar_ros2/sllidar_client" to ""
+-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/ament_index/resource_index/package_run_dependencies/sllidar_ros2
+-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/ament_index/resource_index/parent_prefix_path/sllidar_ros2
+-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/environment/ament_prefix_path.sh
+-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/environment/ament_prefix_path.dsv
+-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/environment/path.sh
+-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/environment/path.dsv
+-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/local_setup.bash
+-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/local_setup.sh
+-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/local_setup.zsh
+-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/local_setup.dsv
+-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/package.dsv
+-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/ament_index/resource_index/packages/sllidar_ros2
+-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/cmake/ament_cmake_export_dependencies-extras.cmake
+-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/cmake/ament_cmake_export_include_directories-extras.cmake
+-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/cmake/sllidar_ros2Config.cmake
+-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/cmake/sllidar_ros2Config-version.cmake
+-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/package.xml
diff --git a/robobin_final/log/build_2024-12-19_19-14-25/sllidar_ros2/stdout_stderr.log b/robobin_final/log/build_2024-12-19_19-14-25/sllidar_ros2/stdout_stderr.log
new file mode 100644
index 00000000..7b6b45e7
--- /dev/null
+++ b/robobin_final/log/build_2024-12-19_19-14-25/sllidar_ros2/stdout_stderr.log
@@ -0,0 +1,521 @@
+-- The C compiler identification is GNU 13.3.0
+-- The CXX compiler identification is GNU 13.3.0
+-- Detecting C compiler ABI info
+-- Detecting C compiler ABI info - done
+-- Check for working C compiler: /usr/bin/cc - skipped
+-- Detecting C compile features
+-- Detecting C compile features - done
+-- Detecting CXX compiler ABI info
+-- Detecting CXX compiler ABI info - done
+-- Check for working CXX compiler: /usr/bin/c++ - skipped
+-- Detecting CXX compile features
+-- Detecting CXX compile features - done
+-- Found ament_cmake: 2.5.2 (/opt/ros/jazzy/share/ament_cmake/cmake)
+-- Found Python3: /usr/bin/python3 (found version "3.12.3") found components: Interpreter
+-- Found rclcpp: 28.1.5 (/opt/ros/jazzy/share/rclcpp/cmake)
+-- Found rosidl_generator_c: 4.6.4 (/opt/ros/jazzy/share/rosidl_generator_c/cmake)
+-- Found rosidl_generator_cpp: 4.6.4 (/opt/ros/jazzy/share/rosidl_generator_cpp/cmake)
+-- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c
+-- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp
+-- Found rmw_implementation_cmake: 7.3.1 (/opt/ros/jazzy/share/rmw_implementation_cmake/cmake)
+-- Found rmw_fastrtps_cpp: 8.4.1 (/opt/ros/jazzy/share/rmw_fastrtps_cpp/cmake)
+-- Found OpenSSL: /usr/lib/aarch64-linux-gnu/libcrypto.so (found version "3.0.13")
+-- Found FastRTPS: /opt/ros/jazzy/include (Required is at least version "2.13")
+-- Using RMW implementation 'rmw_fastrtps_cpp' as default
+-- Found sensor_msgs: 5.3.5 (/opt/ros/jazzy/share/sensor_msgs/cmake)
+-- Found std_srvs: 5.3.5 (/opt/ros/jazzy/share/std_srvs/cmake)
+-- Configuring done (2.4s)
+-- Generating done (0.0s)
+-- Build files have been written to: /home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2
+[ 5%] [32mBuilding CXX object CMakeFiles/sllidar_node.dir/src/sllidar_node.cpp.o[0m
+[ 10%] [32mBuilding CXX object CMakeFiles/sllidar_client.dir/src/sllidar_client.cpp.o[0m
+[ 15%] [32mBuilding CXX object CMakeFiles/sllidar_node.dir/sdk/src/arch/linux/net_serial.cpp.o[0m
+[ 20%] [32mBuilding CXX object CMakeFiles/sllidar_node.dir/sdk/src/arch/linux/net_socket.cpp.o[0m
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/arch/linux/net_serial.cpp:[m[K In member function ‘[01m[Kbool rp::arch::net::raw_serial::[01;32m[Kopen[m[K(const char*, uint32_t, uint32_t)[m[K’:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/arch/linux/net_serial.cpp:97:74:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Kflags[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 97 | bool raw_serial::open(const char * portname, uint32_t baudrate, [01;35m[Kuint32_t flags[m[K)
+ | [01;35m[K~~~~~~~~~^~~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/arch/linux/net_serial.cpp:[m[K In member function ‘[01m[Kvirtual void rp::arch::net::raw_serial::[01;32m[Kflush[m[K(_u32)[m[K’:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/arch/linux/net_serial.cpp:281:30:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Kflags[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 281 | void raw_serial::flush( [01;35m[K_u32 flags[m[K)
+ | [01;35m[K~~~~~^~~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/arch/linux/net_serial.cpp:[m[K In member function ‘[01m[Kvirtual int rp::arch::net::raw_serial::[01;32m[Kwaitforsent[m[K(_u32, size_t*)[m[K’:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/arch/linux/net_serial.cpp:286:34:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Ktimeout[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 286 | int raw_serial::waitforsent([01;35m[K_u32 timeout[m[K, size_t * returned_size)
+ | [01;35m[K~~~~~^~~~~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/arch/linux/net_serial.cpp:[m[K In member function ‘[01m[Kvirtual int rp::arch::net::raw_serial::[01;32m[Kwaitforrecv[m[K(_u32, size_t*)[m[K’:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/arch/linux/net_serial.cpp:292:34:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Ktimeout[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 292 | int raw_serial::waitforrecv([01;35m[K_u32 timeout[m[K, size_t * returned_size)
+ | [01;35m[K~~~~~^~~~~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/arch/linux/net_serial.cpp:[m[K In member function ‘[01m[Kvirtual void rp::arch::net::raw_serial::[01;32m[KcancelOperation[m[K()[m[K’:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/arch/linux/net_serial.cpp:427:5:[m[K [01;35m[Kwarning: [m[Kvalue computed is not used [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-value-Wunused-value]8;;[m[K]
+ 427 | [01;35m[K(int)::write(_selfpipe[1], "x", 1)[m[K;
+ | [01;35m[K^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~[m[K
+In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar_protocol.h:36[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar.h:39[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/src/sdkcommon.h:49[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/arch/linux/net_socket.cpp:10[m[K:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_protocol.h:66:16:[m[K [01;35m[Kwarning: [m[KISO C++ forbids zero-size array ‘[01m[Kdata[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic-Wpedantic]8;;[m[K]
+ 66 | sl_u8 data[[01;35m[K0[m[K];
+ | [01;35m[K^[m[K
+In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar_cmd.h:36[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar.h:40[m[K:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_cmd.h:324:20:[m[K [01;35m[Kwarning: [m[KISO C++ forbids zero-size array ‘[01m[Kpayload[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic-Wpedantic]8;;[m[K]
+ 324 | sl_u8 payload[[01;35m[K0[m[K];
+ | [01;35m[K^[m[K
+In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/src/arch/linux/arch_linux.h:42[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/src/sdkcommon.h:41[m[K:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/arch/linux/net_socket.cpp:[m[K In member function ‘[01m[Kvirtual u_result rp::arch::net::DGramSocketImpl::[01;32m[KsendTo[m[K(const rp::net::SocketAddress*, const void*, size_t)[m[K’:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/arch/linux/net_socket.cpp:733:24:[m[K [01;35m[Kwarning: [m[Kcomparison of integer expressions of different signedness: ‘[01m[Kint[m[K’ and ‘[01m[Ksize_t[m[K’ {aka ‘[01m[Klong unsigned int[m[K’} [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wsign-compare-Wsign-compare]8;;[m[K]
+ 733 | assert([01;35m[Kans == len[m[K);
+ | [01;35m[K~~~~^~~~~~[m[K
+[ 25%] [32mBuilding CXX object CMakeFiles/sllidar_node.dir/sdk/src/arch/linux/timer.cpp.o[0m
+[ 30%] [32mBuilding CXX object CMakeFiles/sllidar_node.dir/sdk/src/dataunpacker/dataunpacker.cpp.o[0m
+[ 35%] [32mBuilding CXX object CMakeFiles/sllidar_node.dir/sdk/src/dataunpacker/unpacker/handler_capsules.cpp.o[0m
+In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar_protocol.h:36[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar.h:39[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/src/sdkcommon.h:49[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/dataunnpacker_commondef.h:41[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/dataunpacker.cpp:39[m[K:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_protocol.h:66:16:[m[K [01;35m[Kwarning: [m[KISO C++ forbids zero-size array ‘[01m[Kdata[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic-Wpedantic]8;;[m[K]
+ 66 | sl_u8 data[[01;35m[K0[m[K];
+ | [01;35m[K^[m[K
+In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar_cmd.h:36[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar.h:40[m[K:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_cmd.h:324:20:[m[K [01;35m[Kwarning: [m[KISO C++ forbids zero-size array ‘[01m[Kpayload[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic-Wpedantic]8;;[m[K]
+ 324 | sl_u8 payload[[01;35m[K0[m[K];
+ | [01;35m[K^[m[K
+In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/dataunpacker.cpp:40[m[K:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/dataunpacker.h:[m[K In member function ‘[01m[Kvirtual void sl::internal::LIDARSampleDataListener::[01;32m[KonCustomSampleDataDecoded[m[K(_u8, _u32, const void*, size_t)[m[K’:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/dataunpacker.h:54:52:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[KansType[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 54 | virtual void onCustomSampleDataDecoded([01;35m[K_u8 ansType[m[K, _u32 customCode, const void* data, size_t size) {}
+ | [01;35m[K~~~~^~~~~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/dataunpacker.h:54:66:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[KcustomCode[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 54 | virtual void onCustomSampleDataDecoded(_u8 ansType, [01;35m[K_u32 customCode[m[K, const void* data, size_t size) {}
+ | [01;35m[K~~~~~^~~~~~~~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/dataunpacker.h:54:90:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Kdata[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 54 | virtual void onCustomSampleDataDecoded(_u8 ansType, _u32 customCode, [01;35m[Kconst void* data[m[K, size_t size) {}
+ | [01;35m[K~~~~~~~~~~~~^~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/dataunpacker.h:54:103:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Ksize[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 54 | virtual void onCustomSampleDataDecoded(_u8 ansType, _u32 customCode, const void* data, [01;35m[Ksize_t size[m[K) {}
+ | [01;35m[K~~~~~~~^~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/dataunpacker.h:[m[K In member function ‘[01m[Kvirtual void sl::internal::LIDARSampleDataListener::[01;32m[KonDecodingError[m[K(int, _u8, const void*, size_t)[m[K’:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/dataunpacker.h:56:42:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[KerrMsg[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 56 | virtual void onDecodingError([01;35m[Kint errMsg[m[K, _u8 ansType, const void* payload, size_t size) {}
+ | [01;35m[K~~~~^~~~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/dataunpacker.h:56:54:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[KansType[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 56 | virtual void onDecodingError(int errMsg, [01;35m[K_u8 ansType[m[K, const void* payload, size_t size) {}
+ | [01;35m[K~~~~^~~~~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/dataunpacker.h:56:75:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Kpayload[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 56 | virtual void onDecodingError(int errMsg, _u8 ansType, [01;35m[Kconst void* payload[m[K, size_t size) {}
+ | [01;35m[K~~~~~~~~~~~~^~~~~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/dataunpacker.h:56:91:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Ksize[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 56 | virtual void onDecodingError(int errMsg, _u8 ansType, const void* payload, [01;35m[Ksize_t size[m[K) {}
+ | [01;35m[K~~~~~~~^~~~[m[K
+In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar_protocol.h:36[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar.h:39[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/src/sdkcommon.h:49[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunnpacker_commondef.h:41[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/handler_capsules.cpp:39[m[K:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_protocol.h:66:16:[m[K [01;35m[Kwarning: [m[KISO C++ forbids zero-size array ‘[01m[Kdata[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic-Wpedantic]8;;[m[K]
+ 66 | sl_u8 data[[01;35m[K0[m[K];
+ | [01;35m[K^[m[K
+In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar_cmd.h:36[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar.h:40[m[K:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_cmd.h:324:20:[m[K [01;35m[Kwarning: [m[KISO C++ forbids zero-size array ‘[01m[Kpayload[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic-Wpedantic]8;;[m[K]
+ 324 | sl_u8 payload[[01;35m[K0[m[K];
+ | [01;35m[K^[m[K
+[ 40%] [32mBuilding CXX object CMakeFiles/sllidar_node.dir/sdk/src/dataunpacker/unpacker/handler_hqnode.cpp.o[0m
+In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/handler_capsules.cpp:40[m[K:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:[m[K In member function ‘[01m[Kvirtual void sl::internal::LIDARSampleDataListener::[01;32m[KonCustomSampleDataDecoded[m[K(_u8, _u32, const void*, size_t)[m[K’:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:54:52:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[KansType[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 54 | virtual void onCustomSampleDataDecoded([01;35m[K_u8 ansType[m[K, _u32 customCode, const void* data, size_t size) {}
+ | [01;35m[K~~~~^~~~~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:54:66:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[KcustomCode[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 54 | virtual void onCustomSampleDataDecoded(_u8 ansType, [01;35m[K_u32 customCode[m[K, const void* data, size_t size) {}
+ | [01;35m[K~~~~~^~~~~~~~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:54:90:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Kdata[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 54 | virtual void onCustomSampleDataDecoded(_u8 ansType, _u32 customCode, [01;35m[Kconst void* data[m[K, size_t size) {}
+ | [01;35m[K~~~~~~~~~~~~^~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:54:103:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Ksize[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 54 | virtual void onCustomSampleDataDecoded(_u8 ansType, _u32 customCode, const void* data, [01;35m[Ksize_t size[m[K) {}
+ | [01;35m[K~~~~~~~^~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:[m[K In member function ‘[01m[Kvirtual void sl::internal::LIDARSampleDataListener::[01;32m[KonDecodingError[m[K(int, _u8, const void*, size_t)[m[K’:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:56:42:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[KerrMsg[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 56 | virtual void onDecodingError([01;35m[Kint errMsg[m[K, _u8 ansType, const void* payload, size_t size) {}
+ | [01;35m[K~~~~^~~~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:56:54:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[KansType[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 56 | virtual void onDecodingError(int errMsg, [01;35m[K_u8 ansType[m[K, const void* payload, size_t size) {}
+ | [01;35m[K~~~~^~~~~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:56:75:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Kpayload[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 56 | virtual void onDecodingError(int errMsg, _u8 ansType, [01;35m[Kconst void* payload[m[K, size_t size) {}
+ | [01;35m[K~~~~~~~~~~~~^~~~~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:56:91:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Ksize[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 56 | virtual void onDecodingError(int errMsg, _u8 ansType, const void* payload, [01;35m[Ksize_t size[m[K) {}
+ | [01;35m[K~~~~~~~^~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/handler_capsules.cpp:[m[K In member function ‘[01m[Kvoid sl::internal::unpacker::UnpackerHandler_DenseCapsuleNode::[01;32m[K_onScanNodeDenseCapsuleData[m[K(rplidar_response_dense_capsule_measurement_nodes_t&, sl::internal::LIDARSampleDataUnpackerInner*)[m[K’:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/handler_capsules.cpp:763:30:[m[K [01;35m[Kwarning: [m[Ktype qualifiers ignored on cast result type [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wignored-qualifiers-Wignored-qualifiers]8;;[m[K]
+ 763 | const int dist = [01;35m[Kstatic_cast<const int>(_cached_previous_dense_capsuledata.cabins[pos].distance)[m[K;
+ | [01;35m[K^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~[m[K
+[ 45%] [32mBuilding CXX object CMakeFiles/sllidar_node.dir/sdk/src/dataunpacker/unpacker/handler_normalnode.cpp.o[0m
+In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar_protocol.h:36[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar.h:39[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/src/sdkcommon.h:49[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunnpacker_commondef.h:41[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/handler_hqnode.cpp:39[m[K:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_protocol.h:66:16:[m[K [01;35m[Kwarning: [m[KISO C++ forbids zero-size array ‘[01m[Kdata[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic-Wpedantic]8;;[m[K]
+ 66 | sl_u8 data[[01;35m[K0[m[K];
+ | [01;35m[K^[m[K
+In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar_cmd.h:36[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar.h:40[m[K:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_cmd.h:324:20:[m[K [01;35m[Kwarning: [m[KISO C++ forbids zero-size array ‘[01m[Kpayload[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic-Wpedantic]8;;[m[K]
+ 324 | sl_u8 payload[[01;35m[K0[m[K];
+ | [01;35m[K^[m[K
+In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/handler_hqnode.cpp:40[m[K:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:[m[K In member function ‘[01m[Kvirtual void sl::internal::LIDARSampleDataListener::[01;32m[KonCustomSampleDataDecoded[m[K(_u8, _u32, const void*, size_t)[m[K’:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:54:52:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[KansType[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 54 | virtual void onCustomSampleDataDecoded([01;35m[K_u8 ansType[m[K, _u32 customCode, const void* data, size_t size) {}
+ | [01;35m[K~~~~^~~~~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:54:66:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[KcustomCode[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 54 | virtual void onCustomSampleDataDecoded(_u8 ansType, [01;35m[K_u32 customCode[m[K, const void* data, size_t size) {}
+ | [01;35m[K~~~~~^~~~~~~~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:54:90:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Kdata[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 54 | virtual void onCustomSampleDataDecoded(_u8 ansType, _u32 customCode, [01;35m[Kconst void* data[m[K, size_t size) {}
+ | [01;35m[K~~~~~~~~~~~~^~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:54:103:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Ksize[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 54 | virtual void onCustomSampleDataDecoded(_u8 ansType, _u32 customCode, const void* data, [01;35m[Ksize_t size[m[K) {}
+ | [01;35m[K~~~~~~~^~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:[m[K In member function ‘[01m[Kvirtual void sl::internal::LIDARSampleDataListener::[01;32m[KonDecodingError[m[K(int, _u8, const void*, size_t)[m[K’:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:56:42:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[KerrMsg[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 56 | virtual void onDecodingError([01;35m[Kint errMsg[m[K, _u8 ansType, const void* payload, size_t size) {}
+ | [01;35m[K~~~~^~~~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:56:54:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[KansType[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 56 | virtual void onDecodingError(int errMsg, [01;35m[K_u8 ansType[m[K, const void* payload, size_t size) {}
+ | [01;35m[K~~~~^~~~~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:56:75:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Kpayload[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 56 | virtual void onDecodingError(int errMsg, _u8 ansType, [01;35m[Kconst void* payload[m[K, size_t size) {}
+ | [01;35m[K~~~~~~~~~~~~^~~~~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:56:91:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Ksize[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 56 | virtual void onDecodingError(int errMsg, _u8 ansType, const void* payload, [01;35m[Ksize_t size[m[K) {}
+ | [01;35m[K~~~~~~~^~~~[m[K
+[ 50%] [32mBuilding CXX object CMakeFiles/sllidar_node.dir/sdk/src/hal/thread.cpp.o[0m
+In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar_protocol.h:36[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar.h:39[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/src/sdkcommon.h:49[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunnpacker_commondef.h:41[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/handler_normalnode.cpp:39[m[K:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_protocol.h:66:16:[m[K [01;35m[Kwarning: [m[KISO C++ forbids zero-size array ‘[01m[Kdata[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic-Wpedantic]8;;[m[K]
+ 66 | sl_u8 data[[01;35m[K0[m[K];
+ | [01;35m[K^[m[K
+In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar_cmd.h:36[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar.h:40[m[K:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_cmd.h:324:20:[m[K [01;35m[Kwarning: [m[KISO C++ forbids zero-size array ‘[01m[Kpayload[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic-Wpedantic]8;;[m[K]
+ 324 | sl_u8 payload[[01;35m[K0[m[K];
+ | [01;35m[K^[m[K
+In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/handler_normalnode.cpp:40[m[K:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:[m[K In member function ‘[01m[Kvirtual void sl::internal::LIDARSampleDataListener::[01;32m[KonCustomSampleDataDecoded[m[K(_u8, _u32, const void*, size_t)[m[K’:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:54:52:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[KansType[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 54 | virtual void onCustomSampleDataDecoded([01;35m[K_u8 ansType[m[K, _u32 customCode, const void* data, size_t size) {}
+ | [01;35m[K~~~~^~~~~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:54:66:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[KcustomCode[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 54 | virtual void onCustomSampleDataDecoded(_u8 ansType, [01;35m[K_u32 customCode[m[K, const void* data, size_t size) {}
+ | [01;35m[K~~~~~^~~~~~~~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:54:90:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Kdata[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 54 | virtual void onCustomSampleDataDecoded(_u8 ansType, _u32 customCode, [01;35m[Kconst void* data[m[K, size_t size) {}
+ | [01;35m[K~~~~~~~~~~~~^~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:54:103:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Ksize[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 54 | virtual void onCustomSampleDataDecoded(_u8 ansType, _u32 customCode, const void* data, [01;35m[Ksize_t size[m[K) {}
+ | [01;35m[K~~~~~~~^~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:[m[K In member function ‘[01m[Kvirtual void sl::internal::LIDARSampleDataListener::[01;32m[KonDecodingError[m[K(int, _u8, const void*, size_t)[m[K’:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:56:42:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[KerrMsg[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 56 | virtual void onDecodingError([01;35m[Kint errMsg[m[K, _u8 ansType, const void* payload, size_t size) {}
+ | [01;35m[K~~~~^~~~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:56:54:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[KansType[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 56 | virtual void onDecodingError(int errMsg, [01;35m[K_u8 ansType[m[K, const void* payload, size_t size) {}
+ | [01;35m[K~~~~^~~~~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:56:75:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Kpayload[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 56 | virtual void onDecodingError(int errMsg, _u8 ansType, [01;35m[Kconst void* payload[m[K, size_t size) {}
+ | [01;35m[K~~~~~~~~~~~~^~~~~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:56:91:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Ksize[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 56 | virtual void onDecodingError(int errMsg, _u8 ansType, const void* payload, [01;35m[Ksize_t size[m[K) {}
+ | [01;35m[K~~~~~~~^~~~[m[K
+[ 55%] [32mBuilding CXX object CMakeFiles/sllidar_node.dir/sdk/src/rplidar_driver.cpp.o[0m
+In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar_protocol.h:36[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar.h:39[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/src/sdkcommon.h:49[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/hal/thread.cpp:35[m[K:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_protocol.h:66:16:[m[K [01;35m[Kwarning: [m[KISO C++ forbids zero-size array ‘[01m[Kdata[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic-Wpedantic]8;;[m[K]
+ 66 | sl_u8 data[[01;35m[K0[m[K];
+ | [01;35m[K^[m[K
+In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar_cmd.h:36[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar.h:40[m[K:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_cmd.h:324:20:[m[K [01;35m[Kwarning: [m[KISO C++ forbids zero-size array ‘[01m[Kpayload[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic-Wpedantic]8;;[m[K]
+ 324 | sl_u8 payload[[01;35m[K0[m[K];
+ | [01;35m[K^[m[K
+In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/hal/thread.cpp:43[m[K:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/src/arch/linux/thread.hpp:[m[K In static member function ‘[01m[Kstatic rp::hal::Thread rp::hal::Thread::[01;32m[Kcreate[m[K(thread_proc_t, void*)[m[K’:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/src/arch/linux/thread.hpp:52:57:[m[K [01;35m[Kwarning: [m[Kcast between incompatible function types from ‘[01m[Kthread_proc_t[m[K’ {aka ‘[01m[Klong unsigned int (*)(void*)[m[K’} to ‘[01m[Kvoid* (*)(void*)[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wcast-function-type-Wcast-function-type]8;;[m[K]
+ 52 | pthread_create((pthread_t *)&newborn._handle, NULL, [01;35m[K(void * (*)(void *))proc[m[K, data);
+ | [01;35m[K^~~~~~~~~~~~~~~~~~~~~~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/src/arch/linux/thread.hpp:[m[K In member function ‘[01m[Ku_result rp::hal::Thread::[01;32m[Kjoin[m[K(long unsigned int)[m[K’:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/src/arch/linux/thread.hpp:176:37:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Ktimeout[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 176 | u_result Thread::join([01;35m[Kunsigned long timeout[m[K)
+ | [01;35m[K~~~~~~~~~~~~~~^~~~~~~[m[K
+[ 60%] [32mBuilding CXX object CMakeFiles/sllidar_node.dir/sdk/src/sl_async_transceiver.cpp.o[0m
+In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_cmd.h:41[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_driver.h:54[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar.h:36[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/src/sllidar_node.cpp:38[m[K:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_protocol.h:66:16:[m[K [01;35m[Kwarning: [m[KISO C++ forbids zero-size array ‘[01m[Kdata[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic-Wpedantic]8;;[m[K]
+ 66 | sl_u8 data[[01;35m[K0[m[K];
+ | [01;35m[K^[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_cmd.h:324:20:[m[K [01;35m[Kwarning: [m[KISO C++ forbids zero-size array ‘[01m[Kpayload[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic-Wpedantic]8;;[m[K]
+ 324 | sl_u8 payload[[01;35m[K0[m[K];
+ | [01;35m[K^[m[K
+In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar_protocol.h:36[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar.h:39[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sdkcommon.h:49[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/rplidar_driver.cpp:33[m[K:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_protocol.h:66:16:[m[K [01;35m[Kwarning: [m[KISO C++ forbids zero-size array ‘[01m[Kdata[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic-Wpedantic]8;;[m[K]
+ 66 | sl_u8 data[[01;35m[K0[m[K];
+ | [01;35m[K^[m[K
+In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar_cmd.h:36[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar.h:40[m[K:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_cmd.h:324:20:[m[K [01;35m[Kwarning: [m[KISO C++ forbids zero-size array ‘[01m[Kpayload[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic-Wpedantic]8;;[m[K]
+ 324 | sl_u8 payload[[01;35m[K0[m[K];
+ | [01;35m[K^[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/rplidar_driver.cpp:[m[K In member function ‘[01m[Ku_result rp::standalone::rplidar::RPlidarDriver::[01;32m[Kconnect[m[K(const char*, _u32, _u32)[m[K’:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/rplidar_driver.cpp:67:77:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Kflag[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 67 | u_result RPlidarDriver::connect(const char *path, _u32 portOrBaud, [01;35m[K_u32 flag[m[K)
+ | [01;35m[K~~~~~^~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/rplidar_driver.cpp:[m[K In member function ‘[01m[Ku_result rp::standalone::rplidar::RPlidarDriver::[01;32m[Kreset[m[K(_u32)[m[K’:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/rplidar_driver.cpp:101:40:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Ktimeout[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 101 | u_result RPlidarDriver::reset([01;35m[K_u32 timeout[m[K)
+ | [01;35m[K~~~~~^~~~~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/rplidar_driver.cpp:[m[K In member function ‘[01m[Ku_result rp::standalone::rplidar::RPlidarDriver::[01;32m[KgetScanDataWithInterval[m[K(rplidar_response_measurement_node_t*, size_t&)[m[K’:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/rplidar_driver.cpp:180:91:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Knodebuffer[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 180 | u_result RPlidarDriver::getScanDataWithInterval([01;35m[Krplidar_response_measurement_node_t * nodebuffer[m[K, size_t & count)
+ | [01;35m[K~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/rplidar_driver.cpp:180:112:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Kcount[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 180 | u_result RPlidarDriver::getScanDataWithInterval(rplidar_response_measurement_node_t * nodebuffer, [01;35m[Ksize_t & count[m[K)
+ | [01;35m[K~~~~~~~~~^~~~~[m[K
+[ 65%] [32mBuilding CXX object CMakeFiles/sllidar_node.dir/sdk/src/sl_crc.cpp.o[0m
+In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_cmd.h:41[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_crc.h:36[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_crc.cpp:33[m[K:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_protocol.h:66:16:[m[K [01;35m[Kwarning: [m[KISO C++ forbids zero-size array ‘[01m[Kdata[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic-Wpedantic]8;;[m[K]
+ 66 | sl_u8 data[[01;35m[K0[m[K];
+ | [01;35m[K^[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_cmd.h:324:20:[m[K [01;35m[Kwarning: [m[KISO C++ forbids zero-size array ‘[01m[Kpayload[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic-Wpedantic]8;;[m[K]
+ 324 | sl_u8 payload[[01;35m[K0[m[K];
+ | [01;35m[K^[m[K
+[ 70%] [32mBuilding CXX object CMakeFiles/sllidar_node.dir/sdk/src/sl_lidar_driver.cpp.o[0m
+In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar_protocol.h:36[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar.h:39[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sdkcommon.h:49[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_async_transceiver.cpp:35[m[K:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_protocol.h:66:16:[m[K [01;35m[Kwarning: [m[KISO C++ forbids zero-size array ‘[01m[Kdata[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic-Wpedantic]8;;[m[K]
+ 66 | sl_u8 data[[01;35m[K0[m[K];
+ | [01;35m[K^[m[K
+In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar_cmd.h:36[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar.h:40[m[K:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_cmd.h:324:20:[m[K [01;35m[Kwarning: [m[KISO C++ forbids zero-size array ‘[01m[Kpayload[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic-Wpedantic]8;;[m[K]
+ 324 | sl_u8 payload[[01;35m[K0[m[K];
+ | [01;35m[K^[m[K
+In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_async_transceiver.cpp:44[m[K:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_async_transceiver.h:[m[K In member function ‘[01m[Kvirtual void sl::internal::IAsyncProtocolCodec::[01;32m[KonChannelError[m[K(u_result)[m[K’:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_async_transceiver.h:90:48:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[KerrCode[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 90 | virtual void onChannelError([01;35m[Ku_result errCode[m[K) {}
+ | [01;35m[K~~~~~~~~~^~~~~~~[m[K
+[ 75%] [32mBuilding CXX object CMakeFiles/sllidar_node.dir/sdk/src/sl_lidarprotocol_codec.cpp.o[0m
+In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar_protocol.h:36[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar.h:39[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sdkcommon.h:49[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidar_driver.cpp:33[m[K:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_protocol.h:66:16:[m[K [01;35m[Kwarning: [m[KISO C++ forbids zero-size array ‘[01m[Kdata[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic-Wpedantic]8;;[m[K]
+ 66 | sl_u8 data[[01;35m[K0[m[K];
+ | [01;35m[K^[m[K
+In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar_cmd.h:36[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar.h:40[m[K:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_cmd.h:324:20:[m[K [01;35m[Kwarning: [m[KISO C++ forbids zero-size array ‘[01m[Kpayload[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic-Wpedantic]8;;[m[K]
+ 324 | sl_u8 payload[[01;35m[K0[m[K];
+ | [01;35m[K^[m[K
+In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidar_driver.cpp:50[m[K:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/dataunpacker.h:[m[K In member function ‘[01m[Kvirtual void sl::internal::LIDARSampleDataListener::[01;32m[KonCustomSampleDataDecoded[m[K(_u8, _u32, const void*, size_t)[m[K’:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/dataunpacker.h:54:52:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[KansType[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 54 | virtual void onCustomSampleDataDecoded([01;35m[K_u8 ansType[m[K, _u32 customCode, const void* data, size_t size) {}
+ | [01;35m[K~~~~^~~~~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/dataunpacker.h:54:66:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[KcustomCode[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 54 | virtual void onCustomSampleDataDecoded(_u8 ansType, [01;35m[K_u32 customCode[m[K, const void* data, size_t size) {}
+ | [01;35m[K~~~~~^~~~~~~~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/dataunpacker.h:54:90:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Kdata[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 54 | virtual void onCustomSampleDataDecoded(_u8 ansType, _u32 customCode, [01;35m[Kconst void* data[m[K, size_t size) {}
+ | [01;35m[K~~~~~~~~~~~~^~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/dataunpacker.h:54:103:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Ksize[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 54 | virtual void onCustomSampleDataDecoded(_u8 ansType, _u32 customCode, const void* data, [01;35m[Ksize_t size[m[K) {}
+ | [01;35m[K~~~~~~~^~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/dataunpacker.h:[m[K In member function ‘[01m[Kvirtual void sl::internal::LIDARSampleDataListener::[01;32m[KonDecodingError[m[K(int, _u8, const void*, size_t)[m[K’:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/dataunpacker.h:56:42:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[KerrMsg[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 56 | virtual void onDecodingError([01;35m[Kint errMsg[m[K, _u8 ansType, const void* payload, size_t size) {}
+ | [01;35m[K~~~~^~~~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/dataunpacker.h:56:54:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[KansType[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 56 | virtual void onDecodingError(int errMsg, [01;35m[K_u8 ansType[m[K, const void* payload, size_t size) {}
+ | [01;35m[K~~~~^~~~~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/dataunpacker.h:56:75:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Kpayload[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 56 | virtual void onDecodingError(int errMsg, _u8 ansType, [01;35m[Kconst void* payload[m[K, size_t size) {}
+ | [01;35m[K~~~~~~~~~~~~^~~~~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/dataunpacker.h:56:91:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Ksize[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 56 | virtual void onDecodingError(int errMsg, _u8 ansType, const void* payload, [01;35m[Ksize_t size[m[K) {}
+ | [01;35m[K~~~~~~~^~~~[m[K
+In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidar_driver.cpp:51[m[K:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_async_transceiver.h:[m[K In member function ‘[01m[Kvirtual void sl::internal::IAsyncProtocolCodec::[01;32m[KonChannelError[m[K(u_result)[m[K’:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_async_transceiver.h:90:48:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[KerrCode[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 90 | virtual void onChannelError([01;35m[Ku_result errCode[m[K) {}
+ | [01;35m[K~~~~~~~~~^~~~~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidar_driver.cpp:[m[K In member function ‘[01m[Kvirtual sl_result sl::SlamtecLidarDriver::[01;32m[Kreset[m[K(sl_u32)[m[K’:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidar_driver.cpp:511:32:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[KtimeoutInMs[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 511 | sl_result reset([01;35m[Ksl_u32 timeoutInMs = DEFAULT_TIMEOUT[m[K)
+ | [01;35m[K~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidar_driver.cpp:[m[K In member function ‘[01m[Kvirtual sl_result sl::SlamtecLidarDriver::[01;32m[KstartScan[m[K(bool, bool, sl_u32, sl::LidarScanMode*)[m[K’:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidar_driver.cpp:586:69:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Koptions[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 586 | sl_result startScan(bool force, bool useTypicalScan, [01;35m[Ksl_u32 options = 0[m[K, LidarScanMode* outUsedScanMode = nullptr)
+ | [01;35m[K~~~~~~~^~~~~~~~~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidar_driver.cpp:[m[K In member function ‘[01m[Kvirtual sl_result sl::SlamtecLidarDriver::[01;32m[Kstop[m[K(sl_u32)[m[K’:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidar_driver.cpp:763:31:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Ktimeout[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 763 | sl_result stop([01;35m[Ksl_u32 timeout = DEFAULT_TIMEOUT[m[K)
+ | [01;35m[K~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidar_driver.cpp:[m[K In member function ‘[01m[Kvirtual sl_result sl::SlamtecLidarDriver::[01;32m[KgetFrequency[m[K(const sl::LidarScanMode&, const sl_lidar_response_measurement_node_hq_t*, size_t, float&)[m[K’:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidar_driver.cpp:880:110:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Knodes[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 880 | sl_result getFrequency(const LidarScanMode& scanMode, [01;35m[Kconst sl_lidar_response_measurement_node_hq_t* nodes[m[K, size_t count, float& frequency)
+ | [01;35m[K~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidar_driver.cpp:[m[K In member function ‘[01m[Kvirtual sl_result sl::SlamtecLidarDriver::[01;32m[KgetMotorInfo[m[K(sl::LidarMotorInfo&, sl_u32)[m[K’:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidar_driver.cpp:1023:66:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[KtimeoutInMs[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 1023 | sl_result getMotorInfo(LidarMotorInfo &motorInfo, [01;35m[Ksl_u32 timeoutInMs[m[K)
+ | [01;35m[K~~~~~~~^~~~~~~~~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidar_driver.cpp:[m[K In member function ‘[01m[Ku_result sl::SlamtecLidarDriver::[01;32m[KgetScanModeCount[m[K(sl_u16&, sl_u32)[m[K’:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidar_driver.cpp:1199:61:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[KtimeoutInMs[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 1199 | u_result getScanModeCount(sl_u16& modeCount, [01;35m[Ksl_u32 timeoutInMs = DEFAULT_TIMEOUT[m[K)
+ | [01;35m[K~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~[m[K
+In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar_protocol.h:36[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar.h:39[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sdkcommon.h:49[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidarprotocol_codec.cpp:35[m[K:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_protocol.h:66:16:[m[K [01;35m[Kwarning: [m[KISO C++ forbids zero-size array ‘[01m[Kdata[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic-Wpedantic]8;;[m[K]
+ 66 | sl_u8 data[[01;35m[K0[m[K];
+ | [01;35m[K^[m[K
+In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar_cmd.h:36[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar.h:40[m[K:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_cmd.h:324:20:[m[K [01;35m[Kwarning: [m[KISO C++ forbids zero-size array ‘[01m[Kpayload[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic-Wpedantic]8;;[m[K]
+ 324 | sl_u8 payload[[01;35m[K0[m[K];
+ | [01;35m[K^[m[K
+/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidar_driver.cpp: In instantiation of ‘[01m[Kvoid sl::RawSampleNodeHolder<T>::[01;32m[KpushNode[m[K(_u64, const T*) [35m[K[with T = sl_lidar_response_measurement_node_hq_t; _u64 = long unsigned int][m[K[m[K’:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidar_driver.cpp:1648:42:[m[K required from here
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidar_driver.cpp:202:28:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Ktimestamp_uS[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 202 | void pushNode([01;35m[K_u64 timestamp_uS[m[K, const T* node)
+ | [01;35m[K~~~~~^~~~~~~~~~~~[m[K
+In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidarprotocol_codec.cpp:49[m[K:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_async_transceiver.h:[m[K In member function ‘[01m[Kvirtual void sl::internal::IAsyncProtocolCodec::[01;32m[KonChannelError[m[K(u_result)[m[K’:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_async_transceiver.h:90:48:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[KerrCode[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 90 | virtual void onChannelError([01;35m[Ku_result errCode[m[K) {}
+ | [01;35m[K~~~~~~~~~^~~~~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidar_driver.cpp:[m[K At global scope:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidar_driver.cpp:83:17:[m[K [01;35m[Kwarning: [m[K‘[01m[Kvoid sl::[01;32m[Kconvert[m[K(const sl_lidar_response_measurement_node_hq_t&, sl_lidar_response_measurement_node_t&)[m[K’ defined but not used [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-function-Wunused-function]8;;[m[K]
+ 83 | static void [01;35m[Kconvert[m[K(const sl_lidar_response_measurement_node_hq_t& from, sl_lidar_response_measurement_node_t& to)
+ | [01;35m[K^~~~~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidar_driver.cpp:75:17:[m[K [01;35m[Kwarning: [m[K‘[01m[Kvoid sl::[01;32m[Kconvert[m[K(const sl_lidar_response_measurement_node_t&, sl_lidar_response_measurement_node_hq_t&)[m[K’ defined but not used [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-function-Wunused-function]8;;[m[K]
+ 75 | static void [01;35m[Kconvert[m[K(const sl_lidar_response_measurement_node_t& from, sl_lidar_response_measurement_node_hq_t& to)
+ | [01;35m[K^~~~~~~[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidar_driver.cpp:70:17:[m[K [01;35m[Kwarning: [m[K‘[01m[Kvoid sl::[01;32m[KprintDeprecationWarn[m[K(const char*, const char*)[m[K’ defined but not used [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-function-Wunused-function]8;;[m[K]
+ 70 | static void [01;35m[KprintDeprecationWarn[m[K(const char* fn, const char* replacement)
+ | [01;35m[K^~~~~~~~~~~~~~~~~~~~[m[K
+[ 80%] [32mBuilding CXX object CMakeFiles/sllidar_node.dir/sdk/src/sl_serial_channel.cpp.o[0m
+In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_cmd.h:41[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_driver.h:54[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_serial_channel.cpp:33[m[K:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_protocol.h:66:16:[m[K [01;35m[Kwarning: [m[KISO C++ forbids zero-size array ‘[01m[Kdata[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic-Wpedantic]8;;[m[K]
+ 66 | sl_u8 data[[01;35m[K0[m[K];
+ | [01;35m[K^[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_cmd.h:324:20:[m[K [01;35m[Kwarning: [m[KISO C++ forbids zero-size array ‘[01m[Kpayload[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic-Wpedantic]8;;[m[K]
+ 324 | sl_u8 payload[[01;35m[K0[m[K];
+ | [01;35m[K^[m[K
+[ 85%] [32mBuilding CXX object CMakeFiles/sllidar_node.dir/sdk/src/sl_tcp_channel.cpp.o[0m
+[ 90%] [32mBuilding CXX object CMakeFiles/sllidar_node.dir/sdk/src/sl_udp_channel.cpp.o[0m
+In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_cmd.h:41[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_driver.h:54[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_tcp_channel.cpp:33[m[K:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_protocol.h:66:16:[m[K [01;35m[Kwarning: [m[KISO C++ forbids zero-size array ‘[01m[Kdata[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic-Wpedantic]8;;[m[K]
+ 66 | sl_u8 data[[01;35m[K0[m[K];
+ | [01;35m[K^[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_cmd.h:324:20:[m[K [01;35m[Kwarning: [m[KISO C++ forbids zero-size array ‘[01m[Kpayload[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic-Wpedantic]8;;[m[K]
+ 324 | sl_u8 payload[[01;35m[K0[m[K];
+ | [01;35m[K^[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_tcp_channel.cpp:[m[K In member function ‘[01m[Kvoid sl::TcpChannel::[01;32m[KsetStatus[m[K(_u32)[m[K’:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_tcp_channel.cpp:109:29:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Kflag[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 109 | void setStatus([01;35m[K_u32 flag[m[K){}
+ | [01;35m[K~~~~~^~~~[m[K
+In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_cmd.h:41[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_driver.h:54[m[K,
+ from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_udp_channel.cpp:33[m[K:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_protocol.h:66:16:[m[K [01;35m[Kwarning: [m[KISO C++ forbids zero-size array ‘[01m[Kdata[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic-Wpedantic]8;;[m[K]
+ 66 | sl_u8 data[[01;35m[K0[m[K];
+ | [01;35m[K^[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_cmd.h:324:20:[m[K [01;35m[Kwarning: [m[KISO C++ forbids zero-size array ‘[01m[Kpayload[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic-Wpedantic]8;;[m[K]
+ 324 | sl_u8 payload[[01;35m[K0[m[K];
+ | [01;35m[K^[m[K
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_udp_channel.cpp:[m[K In member function ‘[01m[Kvoid sl::UdpChannel::[01;32m[KsetStatus[m[K(_u32)[m[K’:
+[01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_udp_channel.cpp:112:29:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Kflag[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+ 112 | void setStatus([01;35m[K_u32 flag[m[K){}
+ | [01;35m[K~~~~~^~~~[m[K
+[ 95%] [32m[1mLinking CXX executable sllidar_node[0m
+[ 95%] Built target sllidar_node
+[100%] [32m[1mLinking CXX executable sllidar_client[0m
+[100%] Built target sllidar_client
+-- Install configuration: ""
+-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch
+-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_t1_launch.py
+-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_s2e_launch.py
+-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_s2e_launch.py
+-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_a2m12_launch .py
+-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_a3_launch.py
+-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_a2m8_launch.py
+-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_s1_tcp_launch.py
+-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_c1_launch.py
+-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_s2_launch.py
+-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_a2m7_launch.py
+-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_s3_launch.py
+-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_c1_launch.py
+-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_s1_tcp_launch.py
+-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_a2m8_launch.py
+-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_s1_launch.py
+-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_a3_launch.py
+-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_s2_launch.py
+-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_t1_launch.py
+-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_a1_launch.py
+-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_a1_launch.py
+-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_a2m7_launch.py
+-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_s1_launch.py
+-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_s3_launch.py
+-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_a2m12_launch.py
+-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/rviz
+-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/rviz/sllidar_ros2.rviz
+-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/lib/sllidar_ros2/sllidar_node
+-- Set non-toolchain portion of runtime path of "/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/lib/sllidar_ros2/sllidar_node" to ""
+-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/lib/sllidar_ros2/sllidar_client
+-- Set non-toolchain portion of runtime path of "/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/lib/sllidar_ros2/sllidar_client" to ""
+-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/ament_index/resource_index/package_run_dependencies/sllidar_ros2
+-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/ament_index/resource_index/parent_prefix_path/sllidar_ros2
+-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/environment/ament_prefix_path.sh
+-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/environment/ament_prefix_path.dsv
+-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/environment/path.sh
+-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/environment/path.dsv
+-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/local_setup.bash
+-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/local_setup.sh
+-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/local_setup.zsh
+-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/local_setup.dsv
+-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/package.dsv
+-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/ament_index/resource_index/packages/sllidar_ros2
+-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/cmake/ament_cmake_export_dependencies-extras.cmake
+-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/cmake/ament_cmake_export_include_directories-extras.cmake
+-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/cmake/sllidar_ros2Config.cmake
+-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/cmake/sllidar_ros2Config-version.cmake
+-- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/package.xml
diff --git a/robobin_final/log/build_2024-12-19_19-14-25/sllidar_ros2/streams.log b/robobin_final/log/build_2024-12-19_19-14-25/sllidar_ros2/streams.log
new file mode 100644
index 00000000..18827221
--- /dev/null
+++ b/robobin_final/log/build_2024-12-19_19-14-25/sllidar_ros2/streams.log
@@ -0,0 +1,527 @@
+[0.030s] Invoking command in '/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot:/home/robobin/Robobin_Project/ros2/robobin_main/install/testing:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_localization_ekf:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_description:/home/robobin/Robobin_Project/ros2/robobin_main/install/odometry_publisher:/opt/ros/jazzy DEBUGINFOD_URLS=https://debuginfod.ubuntu.com /usr/bin/cmake /home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2 -DCMAKE_INSTALL_PREFIX=/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2
+[0.168s] -- The C compiler identification is GNU 13.3.0
+[0.289s] -- The CXX compiler identification is GNU 13.3.0
+[0.325s] -- Detecting C compiler ABI info
+[0.604s] -- Detecting C compiler ABI info - done
+[0.624s] -- Check for working C compiler: /usr/bin/cc - skipped
+[0.626s] -- Detecting C compile features
+[0.626s] -- Detecting C compile features - done
+[0.646s] -- Detecting CXX compiler ABI info
+[0.896s] -- Detecting CXX compiler ABI info - done
+[0.911s] -- Check for working CXX compiler: /usr/bin/c++ - skipped
+[0.912s] -- Detecting CXX compile features
+[0.912s] -- Detecting CXX compile features - done
+[0.917s] -- Found ament_cmake: 2.5.2 (/opt/ros/jazzy/share/ament_cmake/cmake)
+[1.301s] -- Found Python3: /usr/bin/python3 (found version "3.12.3") found components: Interpreter
+[1.513s] -- Found rclcpp: 28.1.5 (/opt/ros/jazzy/share/rclcpp/cmake)
+[1.573s] -- Found rosidl_generator_c: 4.6.4 (/opt/ros/jazzy/share/rosidl_generator_c/cmake)
+[1.595s] -- Found rosidl_generator_cpp: 4.6.4 (/opt/ros/jazzy/share/rosidl_generator_cpp/cmake)
+[1.623s] -- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c
+[1.653s] -- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp
+[1.775s] -- Found rmw_implementation_cmake: 7.3.1 (/opt/ros/jazzy/share/rmw_implementation_cmake/cmake)
+[1.782s] -- Found rmw_fastrtps_cpp: 8.4.1 (/opt/ros/jazzy/share/rmw_fastrtps_cpp/cmake)
+[1.941s] -- Found OpenSSL: /usr/lib/aarch64-linux-gnu/libcrypto.so (found version "3.0.13")
+[1.969s] -- Found FastRTPS: /opt/ros/jazzy/include (Required is at least version "2.13")
+[2.009s] -- Using RMW implementation 'rmw_fastrtps_cpp' as default
+[2.125s] -- Found sensor_msgs: 5.3.5 (/opt/ros/jazzy/share/sensor_msgs/cmake)
+[2.208s] -- Found std_srvs: 5.3.5 (/opt/ros/jazzy/share/std_srvs/cmake)
+[2.420s] -- Configuring done (2.4s)
+[2.451s] -- Generating done (0.0s)
+[2.460s] -- Build files have been written to: /home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2
+[2.480s] Invoked command in '/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot:/home/robobin/Robobin_Project/ros2/robobin_main/install/testing:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_localization_ekf:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_description:/home/robobin/Robobin_Project/ros2/robobin_main/install/odometry_publisher:/opt/ros/jazzy DEBUGINFOD_URLS=https://debuginfod.ubuntu.com /usr/bin/cmake /home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2 -DCMAKE_INSTALL_PREFIX=/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2
+[2.483s] Invoking command in '/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot:/home/robobin/Robobin_Project/ros2/robobin_main/install/testing:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_localization_ekf:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_description:/home/robobin/Robobin_Project/ros2/robobin_main/install/odometry_publisher:/opt/ros/jazzy DEBUGINFOD_URLS=https://debuginfod.ubuntu.com /usr/bin/cmake --build /home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2 -- -j4 -l4
+[2.595s] [ 5%] [32mBuilding CXX object CMakeFiles/sllidar_node.dir/src/sllidar_node.cpp.o[0m
+[2.595s] [ 10%] [32mBuilding CXX object CMakeFiles/sllidar_client.dir/src/sllidar_client.cpp.o[0m
+[2.605s] [ 15%] [32mBuilding CXX object CMakeFiles/sllidar_node.dir/sdk/src/arch/linux/net_serial.cpp.o[0m
+[2.610s] [ 20%] [32mBuilding CXX object CMakeFiles/sllidar_node.dir/sdk/src/arch/linux/net_socket.cpp.o[0m
+[3.578s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/arch/linux/net_serial.cpp:[m[K In member function ‘[01m[Kbool rp::arch::net::raw_serial::[01;32m[Kopen[m[K(const char*, uint32_t, uint32_t)[m[K’:
+[3.579s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/arch/linux/net_serial.cpp:97:74:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Kflags[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+[3.579s] 97 | bool raw_serial::open(const char * portname, uint32_t baudrate, [01;35m[Kuint32_t flags[m[K)
+[3.579s] | [01;35m[K~~~~~~~~~^~~~~[m[K
+[3.582s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/arch/linux/net_serial.cpp:[m[K In member function ‘[01m[Kvirtual void rp::arch::net::raw_serial::[01;32m[Kflush[m[K(_u32)[m[K’:
+[3.582s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/arch/linux/net_serial.cpp:281:30:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Kflags[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+[3.582s] 281 | void raw_serial::flush( [01;35m[K_u32 flags[m[K)
+[3.582s] | [01;35m[K~~~~~^~~~~[m[K
+[3.585s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/arch/linux/net_serial.cpp:[m[K In member function ‘[01m[Kvirtual int rp::arch::net::raw_serial::[01;32m[Kwaitforsent[m[K(_u32, size_t*)[m[K’:
+[3.585s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/arch/linux/net_serial.cpp:286:34:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Ktimeout[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+[3.585s] 286 | int raw_serial::waitforsent([01;35m[K_u32 timeout[m[K, size_t * returned_size)
+[3.586s] | [01;35m[K~~~~~^~~~~~~[m[K
+[3.586s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/arch/linux/net_serial.cpp:[m[K In member function ‘[01m[Kvirtual int rp::arch::net::raw_serial::[01;32m[Kwaitforrecv[m[K(_u32, size_t*)[m[K’:
+[3.586s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/arch/linux/net_serial.cpp:292:34:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Ktimeout[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+[3.586s] 292 | int raw_serial::waitforrecv([01;35m[K_u32 timeout[m[K, size_t * returned_size)
+[3.586s] | [01;35m[K~~~~~^~~~~~~[m[K
+[3.595s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/arch/linux/net_serial.cpp:[m[K In member function ‘[01m[Kvirtual void rp::arch::net::raw_serial::[01;32m[KcancelOperation[m[K()[m[K’:
+[3.595s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/arch/linux/net_serial.cpp:427:5:[m[K [01;35m[Kwarning: [m[Kvalue computed is not used [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-value-Wunused-value]8;;[m[K]
+[3.595s] 427 | [01;35m[K(int)::write(_selfpipe[1], "x", 1)[m[K;
+[3.596s] | [01;35m[K^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~[m[K
+[3.688s] In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar_protocol.h:36[m[K,
+[3.688s] from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar.h:39[m[K,
+[3.688s] from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/src/sdkcommon.h:49[m[K,
+[3.688s] from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/arch/linux/net_socket.cpp:10[m[K:
+[3.689s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_protocol.h:66:16:[m[K [01;35m[Kwarning: [m[KISO C++ forbids zero-size array ‘[01m[Kdata[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic-Wpedantic]8;;[m[K]
+[3.689s] 66 | sl_u8 data[[01;35m[K0[m[K];
+[3.689s] | [01;35m[K^[m[K
+[3.691s] In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar_cmd.h:36[m[K,
+[3.691s] from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar.h:40[m[K:
+[3.691s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_cmd.h:324:20:[m[K [01;35m[Kwarning: [m[KISO C++ forbids zero-size array ‘[01m[Kpayload[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic-Wpedantic]8;;[m[K]
+[3.691s] 324 | sl_u8 payload[[01;35m[K0[m[K];
+[3.691s] | [01;35m[K^[m[K
+[3.782s] In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/src/arch/linux/arch_linux.h:42[m[K,
+[3.783s] from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/src/sdkcommon.h:41[m[K:
+[3.783s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/arch/linux/net_socket.cpp:[m[K In member function ‘[01m[Kvirtual u_result rp::arch::net::DGramSocketImpl::[01;32m[KsendTo[m[K(const rp::net::SocketAddress*, const void*, size_t)[m[K’:
+[3.784s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/arch/linux/net_socket.cpp:733:24:[m[K [01;35m[Kwarning: [m[Kcomparison of integer expressions of different signedness: ‘[01m[Kint[m[K’ and ‘[01m[Ksize_t[m[K’ {aka ‘[01m[Klong unsigned int[m[K’} [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wsign-compare-Wsign-compare]8;;[m[K]
+[3.784s] 733 | assert([01;35m[Kans == len[m[K);
+[3.784s] | [01;35m[K~~~~^~~~~~[m[K
+[3.852s] [ 25%] [32mBuilding CXX object CMakeFiles/sllidar_node.dir/sdk/src/arch/linux/timer.cpp.o[0m
+[4.205s] [ 30%] [32mBuilding CXX object CMakeFiles/sllidar_node.dir/sdk/src/dataunpacker/dataunpacker.cpp.o[0m
+[4.944s] [ 35%] [32mBuilding CXX object CMakeFiles/sllidar_node.dir/sdk/src/dataunpacker/unpacker/handler_capsules.cpp.o[0m
+[5.214s] In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar_protocol.h:36[m[K,
+[5.214s] from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar.h:39[m[K,
+[5.218s] from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/src/sdkcommon.h:49[m[K,
+[5.218s] from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/dataunnpacker_commondef.h:41[m[K,
+[5.219s] from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/dataunpacker.cpp:39[m[K:
+[5.219s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_protocol.h:66:16:[m[K [01;35m[Kwarning: [m[KISO C++ forbids zero-size array ‘[01m[Kdata[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic-Wpedantic]8;;[m[K]
+[5.219s] 66 | sl_u8 data[[01;35m[K0[m[K];
+[5.219s] | [01;35m[K^[m[K
+[5.219s] In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar_cmd.h:36[m[K,
+[5.219s] from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar.h:40[m[K:
+[5.219s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_cmd.h:324:20:[m[K [01;35m[Kwarning: [m[KISO C++ forbids zero-size array ‘[01m[Kpayload[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic-Wpedantic]8;;[m[K]
+[5.220s] 324 | sl_u8 payload[[01;35m[K0[m[K];
+[5.220s] | [01;35m[K^[m[K
+[5.499s] In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/dataunpacker.cpp:40[m[K:
+[5.499s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/dataunpacker.h:[m[K In member function ‘[01m[Kvirtual void sl::internal::LIDARSampleDataListener::[01;32m[KonCustomSampleDataDecoded[m[K(_u8, _u32, const void*, size_t)[m[K’:
+[5.499s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/dataunpacker.h:54:52:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[KansType[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+[5.500s] 54 | virtual void onCustomSampleDataDecoded([01;35m[K_u8 ansType[m[K, _u32 customCode, const void* data, size_t size) {}
+[5.500s] | [01;35m[K~~~~^~~~~~~[m[K
+[5.500s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/dataunpacker.h:54:66:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[KcustomCode[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+[5.500s] 54 | virtual void onCustomSampleDataDecoded(_u8 ansType, [01;35m[K_u32 customCode[m[K, const void* data, size_t size) {}
+[5.500s] | [01;35m[K~~~~~^~~~~~~~~~[m[K
+[5.500s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/dataunpacker.h:54:90:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Kdata[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+[5.500s] 54 | virtual void onCustomSampleDataDecoded(_u8 ansType, _u32 customCode, [01;35m[Kconst void* data[m[K, size_t size) {}
+[5.500s] | [01;35m[K~~~~~~~~~~~~^~~~[m[K
+[5.500s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/dataunpacker.h:54:103:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Ksize[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+[5.501s] 54 | virtual void onCustomSampleDataDecoded(_u8 ansType, _u32 customCode, const void* data, [01;35m[Ksize_t size[m[K) {}
+[5.501s] | [01;35m[K~~~~~~~^~~~[m[K
+[5.505s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/dataunpacker.h:[m[K In member function ‘[01m[Kvirtual void sl::internal::LIDARSampleDataListener::[01;32m[KonDecodingError[m[K(int, _u8, const void*, size_t)[m[K’:
+[5.505s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/dataunpacker.h:56:42:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[KerrMsg[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+[5.505s] 56 | virtual void onDecodingError([01;35m[Kint errMsg[m[K, _u8 ansType, const void* payload, size_t size) {}
+[5.505s] | [01;35m[K~~~~^~~~~~[m[K
+[5.506s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/dataunpacker.h:56:54:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[KansType[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+[5.506s] 56 | virtual void onDecodingError(int errMsg, [01;35m[K_u8 ansType[m[K, const void* payload, size_t size) {}
+[5.506s] | [01;35m[K~~~~^~~~~~~[m[K
+[5.506s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/dataunpacker.h:56:75:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Kpayload[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+[5.506s] 56 | virtual void onDecodingError(int errMsg, _u8 ansType, [01;35m[Kconst void* payload[m[K, size_t size) {}
+[5.506s] | [01;35m[K~~~~~~~~~~~~^~~~~~~[m[K
+[5.506s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/dataunpacker.h:56:91:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Ksize[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+[5.506s] 56 | virtual void onDecodingError(int errMsg, _u8 ansType, const void* payload, [01;35m[Ksize_t size[m[K) {}
+[5.506s] | [01;35m[K~~~~~~~^~~~[m[K
+[5.925s] In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar_protocol.h:36[m[K,
+[5.925s] from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar.h:39[m[K,
+[5.925s] from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/src/sdkcommon.h:49[m[K,
+[5.926s] from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunnpacker_commondef.h:41[m[K,
+[5.926s] from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/handler_capsules.cpp:39[m[K:
+[5.926s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_protocol.h:66:16:[m[K [01;35m[Kwarning: [m[KISO C++ forbids zero-size array ‘[01m[Kdata[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic-Wpedantic]8;;[m[K]
+[5.926s] 66 | sl_u8 data[[01;35m[K0[m[K];
+[5.926s] | [01;35m[K^[m[K
+[5.926s] In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar_cmd.h:36[m[K,
+[5.926s] from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar.h:40[m[K:
+[5.926s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_cmd.h:324:20:[m[K [01;35m[Kwarning: [m[KISO C++ forbids zero-size array ‘[01m[Kpayload[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic-Wpedantic]8;;[m[K]
+[5.926s] 324 | sl_u8 payload[[01;35m[K0[m[K];
+[5.927s] | [01;35m[K^[m[K
+[6.086s] [ 40%] [32mBuilding CXX object CMakeFiles/sllidar_node.dir/sdk/src/dataunpacker/unpacker/handler_hqnode.cpp.o[0m
+[6.218s] In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/handler_capsules.cpp:40[m[K:
+[6.218s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:[m[K In member function ‘[01m[Kvirtual void sl::internal::LIDARSampleDataListener::[01;32m[KonCustomSampleDataDecoded[m[K(_u8, _u32, const void*, size_t)[m[K’:
+[6.218s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:54:52:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[KansType[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+[6.218s] 54 | virtual void onCustomSampleDataDecoded([01;35m[K_u8 ansType[m[K, _u32 customCode, const void* data, size_t size) {}
+[6.218s] | [01;35m[K~~~~^~~~~~~[m[K
+[6.218s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:54:66:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[KcustomCode[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+[6.218s] 54 | virtual void onCustomSampleDataDecoded(_u8 ansType, [01;35m[K_u32 customCode[m[K, const void* data, size_t size) {}
+[6.219s] | [01;35m[K~~~~~^~~~~~~~~~[m[K
+[6.219s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:54:90:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Kdata[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+[6.219s] 54 | virtual void onCustomSampleDataDecoded(_u8 ansType, _u32 customCode, [01;35m[Kconst void* data[m[K, size_t size) {}
+[6.222s] | [01;35m[K~~~~~~~~~~~~^~~~[m[K
+[6.222s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:54:103:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Ksize[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+[6.223s] 54 | virtual void onCustomSampleDataDecoded(_u8 ansType, _u32 customCode, const void* data, [01;35m[Ksize_t size[m[K) {}
+[6.223s] | [01;35m[K~~~~~~~^~~~[m[K
+[6.223s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:[m[K In member function ‘[01m[Kvirtual void sl::internal::LIDARSampleDataListener::[01;32m[KonDecodingError[m[K(int, _u8, const void*, size_t)[m[K’:
+[6.223s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:56:42:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[KerrMsg[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+[6.223s] 56 | virtual void onDecodingError([01;35m[Kint errMsg[m[K, _u8 ansType, const void* payload, size_t size) {}
+[6.223s] | [01;35m[K~~~~^~~~~~[m[K
+[6.223s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:56:54:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[KansType[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+[6.224s] 56 | virtual void onDecodingError(int errMsg, [01;35m[K_u8 ansType[m[K, const void* payload, size_t size) {}
+[6.224s] | [01;35m[K~~~~^~~~~~~[m[K
+[6.224s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:56:75:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Kpayload[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+[6.224s] 56 | virtual void onDecodingError(int errMsg, _u8 ansType, [01;35m[Kconst void* payload[m[K, size_t size) {}
+[6.224s] | [01;35m[K~~~~~~~~~~~~^~~~~~~[m[K
+[6.224s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:56:91:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Ksize[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+[6.224s] 56 | virtual void onDecodingError(int errMsg, _u8 ansType, const void* payload, [01;35m[Ksize_t size[m[K) {}
+[6.224s] | [01;35m[K~~~~~~~^~~~[m[K
+[6.251s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/handler_capsules.cpp:[m[K In member function ‘[01m[Kvoid sl::internal::unpacker::UnpackerHandler_DenseCapsuleNode::[01;32m[K_onScanNodeDenseCapsuleData[m[K(rplidar_response_dense_capsule_measurement_nodes_t&, sl::internal::LIDARSampleDataUnpackerInner*)[m[K’:
+[6.251s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/handler_capsules.cpp:763:30:[m[K [01;35m[Kwarning: [m[Ktype qualifiers ignored on cast result type [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wignored-qualifiers-Wignored-qualifiers]8;;[m[K]
+[6.252s] 763 | const int dist = [01;35m[Kstatic_cast<const int>(_cached_previous_dense_capsuledata.cabins[pos].distance)[m[K;
+[6.252s] | [01;35m[K^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~[m[K
+[6.603s] [ 45%] [32mBuilding CXX object CMakeFiles/sllidar_node.dir/sdk/src/dataunpacker/unpacker/handler_normalnode.cpp.o[0m
+[7.007s] In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar_protocol.h:36[m[K,
+[7.007s] from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar.h:39[m[K,
+[7.007s] from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/src/sdkcommon.h:49[m[K,
+[7.008s] from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunnpacker_commondef.h:41[m[K,
+[7.009s] from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/handler_hqnode.cpp:39[m[K:
+[7.010s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_protocol.h:66:16:[m[K [01;35m[Kwarning: [m[KISO C++ forbids zero-size array ‘[01m[Kdata[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic-Wpedantic]8;;[m[K]
+[7.010s] 66 | sl_u8 data[[01;35m[K0[m[K];
+[7.010s] | [01;35m[K^[m[K
+[7.010s] In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar_cmd.h:36[m[K,
+[7.011s] from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar.h:40[m[K:
+[7.011s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_cmd.h:324:20:[m[K [01;35m[Kwarning: [m[KISO C++ forbids zero-size array ‘[01m[Kpayload[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic-Wpedantic]8;;[m[K]
+[7.011s] 324 | sl_u8 payload[[01;35m[K0[m[K];
+[7.011s] | [01;35m[K^[m[K
+[7.234s] In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/handler_hqnode.cpp:40[m[K:
+[7.234s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:[m[K In member function ‘[01m[Kvirtual void sl::internal::LIDARSampleDataListener::[01;32m[KonCustomSampleDataDecoded[m[K(_u8, _u32, const void*, size_t)[m[K’:
+[7.235s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:54:52:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[KansType[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+[7.235s] 54 | virtual void onCustomSampleDataDecoded([01;35m[K_u8 ansType[m[K, _u32 customCode, const void* data, size_t size) {}
+[7.235s] | [01;35m[K~~~~^~~~~~~[m[K
+[7.235s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:54:66:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[KcustomCode[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+[7.235s] 54 | virtual void onCustomSampleDataDecoded(_u8 ansType, [01;35m[K_u32 customCode[m[K, const void* data, size_t size) {}
+[7.235s] | [01;35m[K~~~~~^~~~~~~~~~[m[K
+[7.236s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:54:90:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Kdata[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+[7.236s] 54 | virtual void onCustomSampleDataDecoded(_u8 ansType, _u32 customCode, [01;35m[Kconst void* data[m[K, size_t size) {}
+[7.236s] | [01;35m[K~~~~~~~~~~~~^~~~[m[K
+[7.236s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:54:103:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Ksize[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+[7.239s] 54 | virtual void onCustomSampleDataDecoded(_u8 ansType, _u32 customCode, const void* data, [01;35m[Ksize_t size[m[K) {}
+[7.239s] | [01;35m[K~~~~~~~^~~~[m[K
+[7.239s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:[m[K In member function ‘[01m[Kvirtual void sl::internal::LIDARSampleDataListener::[01;32m[KonDecodingError[m[K(int, _u8, const void*, size_t)[m[K’:
+[7.240s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:56:42:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[KerrMsg[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+[7.240s] 56 | virtual void onDecodingError([01;35m[Kint errMsg[m[K, _u8 ansType, const void* payload, size_t size) {}
+[7.240s] | [01;35m[K~~~~^~~~~~[m[K
+[7.240s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:56:54:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[KansType[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+[7.240s] 56 | virtual void onDecodingError(int errMsg, [01;35m[K_u8 ansType[m[K, const void* payload, size_t size) {}
+[7.240s] | [01;35m[K~~~~^~~~~~~[m[K
+[7.240s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:56:75:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Kpayload[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+[7.241s] 56 | virtual void onDecodingError(int errMsg, _u8 ansType, [01;35m[Kconst void* payload[m[K, size_t size) {}
+[7.241s] | [01;35m[K~~~~~~~~~~~~^~~~~~~[m[K
+[7.241s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:56:91:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Ksize[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+[7.241s] 56 | virtual void onDecodingError(int errMsg, _u8 ansType, const void* payload, [01;35m[Ksize_t size[m[K) {}
+[7.241s] | [01;35m[K~~~~~~~^~~~[m[K
+[7.548s] [ 50%] [32mBuilding CXX object CMakeFiles/sllidar_node.dir/sdk/src/hal/thread.cpp.o[0m
+[7.604s] In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar_protocol.h:36[m[K,
+[7.604s] from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar.h:39[m[K,
+[7.604s] from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/src/sdkcommon.h:49[m[K,
+[7.604s] from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunnpacker_commondef.h:41[m[K,
+[7.605s] from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/handler_normalnode.cpp:39[m[K:
+[7.605s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_protocol.h:66:16:[m[K [01;35m[Kwarning: [m[KISO C++ forbids zero-size array ‘[01m[Kdata[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic-Wpedantic]8;;[m[K]
+[7.605s] 66 | sl_u8 data[[01;35m[K0[m[K];
+[7.605s] | [01;35m[K^[m[K
+[7.608s] In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar_cmd.h:36[m[K,
+[7.608s] from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar.h:40[m[K:
+[7.608s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_cmd.h:324:20:[m[K [01;35m[Kwarning: [m[KISO C++ forbids zero-size array ‘[01m[Kpayload[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic-Wpedantic]8;;[m[K]
+[7.608s] 324 | sl_u8 payload[[01;35m[K0[m[K];
+[7.608s] | [01;35m[K^[m[K
+[7.839s] In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/handler_normalnode.cpp:40[m[K:
+[7.839s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:[m[K In member function ‘[01m[Kvirtual void sl::internal::LIDARSampleDataListener::[01;32m[KonCustomSampleDataDecoded[m[K(_u8, _u32, const void*, size_t)[m[K’:
+[7.839s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:54:52:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[KansType[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+[7.839s] 54 | virtual void onCustomSampleDataDecoded([01;35m[K_u8 ansType[m[K, _u32 customCode, const void* data, size_t size) {}
+[7.839s] | [01;35m[K~~~~^~~~~~~[m[K
+[7.843s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:54:66:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[KcustomCode[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+[7.843s] 54 | virtual void onCustomSampleDataDecoded(_u8 ansType, [01;35m[K_u32 customCode[m[K, const void* data, size_t size) {}
+[7.843s] | [01;35m[K~~~~~^~~~~~~~~~[m[K
+[7.844s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:54:90:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Kdata[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+[7.844s] 54 | virtual void onCustomSampleDataDecoded(_u8 ansType, _u32 customCode, [01;35m[Kconst void* data[m[K, size_t size) {}
+[7.844s] | [01;35m[K~~~~~~~~~~~~^~~~[m[K
+[7.844s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:54:103:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Ksize[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+[7.844s] 54 | virtual void onCustomSampleDataDecoded(_u8 ansType, _u32 customCode, const void* data, [01;35m[Ksize_t size[m[K) {}
+[7.844s] | [01;35m[K~~~~~~~^~~~[m[K
+[7.844s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:[m[K In member function ‘[01m[Kvirtual void sl::internal::LIDARSampleDataListener::[01;32m[KonDecodingError[m[K(int, _u8, const void*, size_t)[m[K’:
+[7.845s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:56:42:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[KerrMsg[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+[7.845s] 56 | virtual void onDecodingError([01;35m[Kint errMsg[m[K, _u8 ansType, const void* payload, size_t size) {}
+[7.845s] | [01;35m[K~~~~^~~~~~[m[K
+[7.845s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:56:54:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[KansType[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+[7.845s] 56 | virtual void onDecodingError(int errMsg, [01;35m[K_u8 ansType[m[K, const void* payload, size_t size) {}
+[7.845s] | [01;35m[K~~~~^~~~~~~[m[K
+[7.845s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:56:75:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Kpayload[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+[7.846s] 56 | virtual void onDecodingError(int errMsg, _u8 ansType, [01;35m[Kconst void* payload[m[K, size_t size) {}
+[7.852s] | [01;35m[K~~~~~~~~~~~~^~~~~~~[m[K
+[7.852s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/unpacker/../dataunpacker.h:56:91:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Ksize[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+[7.852s] 56 | virtual void onDecodingError(int errMsg, _u8 ansType, const void* payload, [01;35m[Ksize_t size[m[K) {}
+[7.852s] | [01;35m[K~~~~~~~^~~~[m[K
+[8.113s] [ 55%] [32mBuilding CXX object CMakeFiles/sllidar_node.dir/sdk/src/rplidar_driver.cpp.o[0m
+[8.441s] In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar_protocol.h:36[m[K,
+[8.441s] from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar.h:39[m[K,
+[8.441s] from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/src/sdkcommon.h:49[m[K,
+[8.441s] from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/hal/thread.cpp:35[m[K:
+[8.442s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_protocol.h:66:16:[m[K [01;35m[Kwarning: [m[KISO C++ forbids zero-size array ‘[01m[Kdata[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic-Wpedantic]8;;[m[K]
+[8.442s] 66 | sl_u8 data[[01;35m[K0[m[K];
+[8.442s] | [01;35m[K^[m[K
+[8.443s] In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar_cmd.h:36[m[K,
+[8.446s] from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar.h:40[m[K:
+[8.446s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_cmd.h:324:20:[m[K [01;35m[Kwarning: [m[KISO C++ forbids zero-size array ‘[01m[Kpayload[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic-Wpedantic]8;;[m[K]
+[8.446s] 324 | sl_u8 payload[[01;35m[K0[m[K];
+[8.447s] | [01;35m[K^[m[K
+[8.502s] In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/hal/thread.cpp:43[m[K:
+[8.502s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/src/arch/linux/thread.hpp:[m[K In static member function ‘[01m[Kstatic rp::hal::Thread rp::hal::Thread::[01;32m[Kcreate[m[K(thread_proc_t, void*)[m[K’:
+[8.502s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/src/arch/linux/thread.hpp:52:57:[m[K [01;35m[Kwarning: [m[Kcast between incompatible function types from ‘[01m[Kthread_proc_t[m[K’ {aka ‘[01m[Klong unsigned int (*)(void*)[m[K’} to ‘[01m[Kvoid* (*)(void*)[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wcast-function-type-Wcast-function-type]8;;[m[K]
+[8.502s] 52 | pthread_create((pthread_t *)&newborn._handle, NULL, [01;35m[K(void * (*)(void *))proc[m[K, data);
+[8.503s] | [01;35m[K^~~~~~~~~~~~~~~~~~~~~~~~[m[K
+[8.507s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/src/arch/linux/thread.hpp:[m[K In member function ‘[01m[Ku_result rp::hal::Thread::[01;32m[Kjoin[m[K(long unsigned int)[m[K’:
+[8.507s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/src/arch/linux/thread.hpp:176:37:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Ktimeout[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+[8.507s] 176 | u_result Thread::join([01;35m[Kunsigned long timeout[m[K)
+[8.508s] | [01;35m[K~~~~~~~~~~~~~~^~~~~~~[m[K
+[8.692s] [ 60%] [32mBuilding CXX object CMakeFiles/sllidar_node.dir/sdk/src/sl_async_transceiver.cpp.o[0m
+[8.822s] In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_cmd.h:41[m[K,
+[8.822s] from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_driver.h:54[m[K,
+[8.822s] from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar.h:36[m[K,
+[8.825s] from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/src/sllidar_node.cpp:38[m[K:
+[8.825s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_protocol.h:66:16:[m[K [01;35m[Kwarning: [m[KISO C++ forbids zero-size array ‘[01m[Kdata[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic-Wpedantic]8;;[m[K]
+[8.825s] 66 | sl_u8 data[[01;35m[K0[m[K];
+[8.826s] | [01;35m[K^[m[K
+[8.826s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_cmd.h:324:20:[m[K [01;35m[Kwarning: [m[KISO C++ forbids zero-size array ‘[01m[Kpayload[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic-Wpedantic]8;;[m[K]
+[8.826s] 324 | sl_u8 payload[[01;35m[K0[m[K];
+[8.826s] | [01;35m[K^[m[K
+[9.028s] In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar_protocol.h:36[m[K,
+[9.029s] from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar.h:39[m[K,
+[9.030s] from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sdkcommon.h:49[m[K,
+[9.030s] from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/rplidar_driver.cpp:33[m[K:
+[9.030s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_protocol.h:66:16:[m[K [01;35m[Kwarning: [m[KISO C++ forbids zero-size array ‘[01m[Kdata[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic-Wpedantic]8;;[m[K]
+[9.031s] 66 | sl_u8 data[[01;35m[K0[m[K];
+[9.031s] | [01;35m[K^[m[K
+[9.031s] In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar_cmd.h:36[m[K,
+[9.033s] from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar.h:40[m[K:
+[9.033s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_cmd.h:324:20:[m[K [01;35m[Kwarning: [m[KISO C++ forbids zero-size array ‘[01m[Kpayload[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic-Wpedantic]8;;[m[K]
+[9.033s] 324 | sl_u8 payload[[01;35m[K0[m[K];
+[9.033s] | [01;35m[K^[m[K
+[9.136s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/rplidar_driver.cpp:[m[K In member function ‘[01m[Ku_result rp::standalone::rplidar::RPlidarDriver::[01;32m[Kconnect[m[K(const char*, _u32, _u32)[m[K’:
+[9.137s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/rplidar_driver.cpp:67:77:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Kflag[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+[9.138s] 67 | u_result RPlidarDriver::connect(const char *path, _u32 portOrBaud, [01;35m[K_u32 flag[m[K)
+[9.138s] | [01;35m[K~~~~~^~~~[m[K
+[9.140s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/rplidar_driver.cpp:[m[K In member function ‘[01m[Ku_result rp::standalone::rplidar::RPlidarDriver::[01;32m[Kreset[m[K(_u32)[m[K’:
+[9.140s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/rplidar_driver.cpp:101:40:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Ktimeout[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+[9.140s] 101 | u_result RPlidarDriver::reset([01;35m[K_u32 timeout[m[K)
+[9.140s] | [01;35m[K~~~~~^~~~~~~[m[K
+[9.141s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/rplidar_driver.cpp:[m[K In member function ‘[01m[Ku_result rp::standalone::rplidar::RPlidarDriver::[01;32m[KgetScanDataWithInterval[m[K(rplidar_response_measurement_node_t*, size_t&)[m[K’:
+[9.141s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/rplidar_driver.cpp:180:91:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Knodebuffer[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+[9.145s] 180 | u_result RPlidarDriver::getScanDataWithInterval([01;35m[Krplidar_response_measurement_node_t * nodebuffer[m[K, size_t & count)
+[9.145s] | [01;35m[K~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~[m[K
+[9.145s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/rplidar_driver.cpp:180:112:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Kcount[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+[9.146s] 180 | u_result RPlidarDriver::getScanDataWithInterval(rplidar_response_measurement_node_t * nodebuffer, [01;35m[Ksize_t & count[m[K)
+[9.146s] | [01;35m[K~~~~~~~~~^~~~~[m[K
+[9.470s] [ 65%] [32mBuilding CXX object CMakeFiles/sllidar_node.dir/sdk/src/sl_crc.cpp.o[0m
+[9.539s] In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_cmd.h:41[m[K,
+[9.540s] from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_crc.h:36[m[K,
+[9.540s] from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_crc.cpp:33[m[K:
+[9.540s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_protocol.h:66:16:[m[K [01;35m[Kwarning: [m[KISO C++ forbids zero-size array ‘[01m[Kdata[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic-Wpedantic]8;;[m[K]
+[9.544s] 66 | sl_u8 data[[01;35m[K0[m[K];
+[9.544s] | [01;35m[K^[m[K
+[9.544s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_cmd.h:324:20:[m[K [01;35m[Kwarning: [m[KISO C++ forbids zero-size array ‘[01m[Kpayload[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic-Wpedantic]8;;[m[K]
+[9.545s] 324 | sl_u8 payload[[01;35m[K0[m[K];
+[9.545s] | [01;35m[K^[m[K
+[9.590s] [ 70%] [32mBuilding CXX object CMakeFiles/sllidar_node.dir/sdk/src/sl_lidar_driver.cpp.o[0m
+[9.665s] In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar_protocol.h:36[m[K,
+[9.668s] from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar.h:39[m[K,
+[9.668s] from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sdkcommon.h:49[m[K,
+[9.668s] from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_async_transceiver.cpp:35[m[K:
+[9.668s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_protocol.h:66:16:[m[K [01;35m[Kwarning: [m[KISO C++ forbids zero-size array ‘[01m[Kdata[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic-Wpedantic]8;;[m[K]
+[9.669s] 66 | sl_u8 data[[01;35m[K0[m[K];
+[9.669s] | [01;35m[K^[m[K
+[9.669s] In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar_cmd.h:36[m[K,
+[9.669s] from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar.h:40[m[K:
+[9.669s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_cmd.h:324:20:[m[K [01;35m[Kwarning: [m[KISO C++ forbids zero-size array ‘[01m[Kpayload[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic-Wpedantic]8;;[m[K]
+[9.669s] 324 | sl_u8 payload[[01;35m[K0[m[K];
+[9.669s] | [01;35m[K^[m[K
+[9.849s] In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_async_transceiver.cpp:44[m[K:
+[9.849s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_async_transceiver.h:[m[K In member function ‘[01m[Kvirtual void sl::internal::IAsyncProtocolCodec::[01;32m[KonChannelError[m[K(u_result)[m[K’:
+[9.849s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_async_transceiver.h:90:48:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[KerrCode[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+[9.849s] 90 | virtual void onChannelError([01;35m[Ku_result errCode[m[K) {}
+[9.849s] | [01;35m[K~~~~~~~~~^~~~~~~[m[K
+[10.177s] [ 75%] [32mBuilding CXX object CMakeFiles/sllidar_node.dir/sdk/src/sl_lidarprotocol_codec.cpp.o[0m
+[10.678s] In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar_protocol.h:36[m[K,
+[10.678s] from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar.h:39[m[K,
+[10.678s] from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sdkcommon.h:49[m[K,
+[10.678s] from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidar_driver.cpp:33[m[K:
+[10.678s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_protocol.h:66:16:[m[K [01;35m[Kwarning: [m[KISO C++ forbids zero-size array ‘[01m[Kdata[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic-Wpedantic]8;;[m[K]
+[10.678s] 66 | sl_u8 data[[01;35m[K0[m[K];
+[10.678s] | [01;35m[K^[m[K
+[10.680s] In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar_cmd.h:36[m[K,
+[10.680s] from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar.h:40[m[K:
+[10.680s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_cmd.h:324:20:[m[K [01;35m[Kwarning: [m[KISO C++ forbids zero-size array ‘[01m[Kpayload[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic-Wpedantic]8;;[m[K]
+[10.680s] 324 | sl_u8 payload[[01;35m[K0[m[K];
+[10.680s] | [01;35m[K^[m[K
+[11.080s] In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidar_driver.cpp:50[m[K:
+[11.080s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/dataunpacker.h:[m[K In member function ‘[01m[Kvirtual void sl::internal::LIDARSampleDataListener::[01;32m[KonCustomSampleDataDecoded[m[K(_u8, _u32, const void*, size_t)[m[K’:
+[11.080s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/dataunpacker.h:54:52:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[KansType[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+[11.081s] 54 | virtual void onCustomSampleDataDecoded([01;35m[K_u8 ansType[m[K, _u32 customCode, const void* data, size_t size) {}
+[11.081s] | [01;35m[K~~~~^~~~~~~[m[K
+[11.081s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/dataunpacker.h:54:66:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[KcustomCode[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+[11.081s] 54 | virtual void onCustomSampleDataDecoded(_u8 ansType, [01;35m[K_u32 customCode[m[K, const void* data, size_t size) {}
+[11.081s] | [01;35m[K~~~~~^~~~~~~~~~[m[K
+[11.081s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/dataunpacker.h:54:90:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Kdata[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+[11.081s] 54 | virtual void onCustomSampleDataDecoded(_u8 ansType, _u32 customCode, [01;35m[Kconst void* data[m[K, size_t size) {}
+[11.082s] | [01;35m[K~~~~~~~~~~~~^~~~[m[K
+[11.082s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/dataunpacker.h:54:103:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Ksize[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+[11.082s] 54 | virtual void onCustomSampleDataDecoded(_u8 ansType, _u32 customCode, const void* data, [01;35m[Ksize_t size[m[K) {}
+[11.082s] | [01;35m[K~~~~~~~^~~~[m[K
+[11.084s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/dataunpacker.h:[m[K In member function ‘[01m[Kvirtual void sl::internal::LIDARSampleDataListener::[01;32m[KonDecodingError[m[K(int, _u8, const void*, size_t)[m[K’:
+[11.084s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/dataunpacker.h:56:42:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[KerrMsg[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+[11.084s] 56 | virtual void onDecodingError([01;35m[Kint errMsg[m[K, _u8 ansType, const void* payload, size_t size) {}
+[11.085s] | [01;35m[K~~~~^~~~~~[m[K
+[11.085s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/dataunpacker.h:56:54:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[KansType[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+[11.085s] 56 | virtual void onDecodingError(int errMsg, [01;35m[K_u8 ansType[m[K, const void* payload, size_t size) {}
+[11.085s] | [01;35m[K~~~~^~~~~~~[m[K
+[11.088s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/dataunpacker.h:56:75:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Kpayload[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+[11.088s] 56 | virtual void onDecodingError(int errMsg, _u8 ansType, [01;35m[Kconst void* payload[m[K, size_t size) {}
+[11.088s] | [01;35m[K~~~~~~~~~~~~^~~~~~~[m[K
+[11.089s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/dataunpacker/dataunpacker.h:56:91:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Ksize[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+[11.089s] 56 | virtual void onDecodingError(int errMsg, _u8 ansType, const void* payload, [01;35m[Ksize_t size[m[K) {}
+[11.089s] | [01;35m[K~~~~~~~^~~~[m[K
+[11.124s] In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidar_driver.cpp:51[m[K:
+[11.125s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_async_transceiver.h:[m[K In member function ‘[01m[Kvirtual void sl::internal::IAsyncProtocolCodec::[01;32m[KonChannelError[m[K(u_result)[m[K’:
+[11.128s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_async_transceiver.h:90:48:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[KerrCode[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+[11.128s] 90 | virtual void onChannelError([01;35m[Ku_result errCode[m[K) {}
+[11.128s] | [01;35m[K~~~~~~~~~^~~~~~~[m[K
+[11.187s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidar_driver.cpp:[m[K In member function ‘[01m[Kvirtual sl_result sl::SlamtecLidarDriver::[01;32m[Kreset[m[K(sl_u32)[m[K’:
+[11.187s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidar_driver.cpp:511:32:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[KtimeoutInMs[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+[11.187s] 511 | sl_result reset([01;35m[Ksl_u32 timeoutInMs = DEFAULT_TIMEOUT[m[K)
+[11.187s] | [01;35m[K~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~[m[K
+[11.197s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidar_driver.cpp:[m[K In member function ‘[01m[Kvirtual sl_result sl::SlamtecLidarDriver::[01;32m[KstartScan[m[K(bool, bool, sl_u32, sl::LidarScanMode*)[m[K’:
+[11.197s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidar_driver.cpp:586:69:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Koptions[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+[11.197s] 586 | sl_result startScan(bool force, bool useTypicalScan, [01;35m[Ksl_u32 options = 0[m[K, LidarScanMode* outUsedScanMode = nullptr)
+[11.198s] | [01;35m[K~~~~~~~^~~~~~~~~~~[m[K
+[11.201s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidar_driver.cpp:[m[K In member function ‘[01m[Kvirtual sl_result sl::SlamtecLidarDriver::[01;32m[Kstop[m[K(sl_u32)[m[K’:
+[11.201s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidar_driver.cpp:763:31:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Ktimeout[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+[11.201s] 763 | sl_result stop([01;35m[Ksl_u32 timeout = DEFAULT_TIMEOUT[m[K)
+[11.201s] | [01;35m[K~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~[m[K
+[11.213s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidar_driver.cpp:[m[K In member function ‘[01m[Kvirtual sl_result sl::SlamtecLidarDriver::[01;32m[KgetFrequency[m[K(const sl::LidarScanMode&, const sl_lidar_response_measurement_node_hq_t*, size_t, float&)[m[K’:
+[11.214s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidar_driver.cpp:880:110:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Knodes[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+[11.214s] 880 | sl_result getFrequency(const LidarScanMode& scanMode, [01;35m[Kconst sl_lidar_response_measurement_node_hq_t* nodes[m[K, size_t count, float& frequency)
+[11.214s] | [01;35m[K~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~[m[K
+[11.222s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidar_driver.cpp:[m[K In member function ‘[01m[Kvirtual sl_result sl::SlamtecLidarDriver::[01;32m[KgetMotorInfo[m[K(sl::LidarMotorInfo&, sl_u32)[m[K’:
+[11.222s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidar_driver.cpp:1023:66:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[KtimeoutInMs[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+[11.223s] 1023 | sl_result getMotorInfo(LidarMotorInfo &motorInfo, [01;35m[Ksl_u32 timeoutInMs[m[K)
+[11.223s] | [01;35m[K~~~~~~~^~~~~~~~~~~[m[K
+[11.228s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidar_driver.cpp:[m[K In member function ‘[01m[Ku_result sl::SlamtecLidarDriver::[01;32m[KgetScanModeCount[m[K(sl_u16&, sl_u32)[m[K’:
+[11.229s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidar_driver.cpp:1199:61:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[KtimeoutInMs[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+[11.230s] 1199 | u_result getScanModeCount(sl_u16& modeCount, [01;35m[Ksl_u32 timeoutInMs = DEFAULT_TIMEOUT[m[K)
+[11.231s] | [01;35m[K~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~[m[K
+[11.250s] In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar_protocol.h:36[m[K,
+[11.250s] from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar.h:39[m[K,
+[11.250s] from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sdkcommon.h:49[m[K,
+[11.251s] from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidarprotocol_codec.cpp:35[m[K:
+[11.255s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_protocol.h:66:16:[m[K [01;35m[Kwarning: [m[KISO C++ forbids zero-size array ‘[01m[Kdata[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic-Wpedantic]8;;[m[K]
+[11.256s] 66 | sl_u8 data[[01;35m[K0[m[K];
+[11.256s] | [01;35m[K^[m[K
+[11.256s] In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar_cmd.h:36[m[K,
+[11.256s] from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/rplidar.h:40[m[K:
+[11.257s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_cmd.h:324:20:[m[K [01;35m[Kwarning: [m[KISO C++ forbids zero-size array ‘[01m[Kpayload[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic-Wpedantic]8;;[m[K]
+[11.257s] 324 | sl_u8 payload[[01;35m[K0[m[K];
+[11.257s] | [01;35m[K^[m[K
+[11.351s] /home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidar_driver.cpp: In instantiation of ‘[01m[Kvoid sl::RawSampleNodeHolder<T>::[01;32m[KpushNode[m[K(_u64, const T*) [35m[K[with T = sl_lidar_response_measurement_node_hq_t; _u64 = long unsigned int][m[K[m[K’:
+[11.352s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidar_driver.cpp:1648:42:[m[K required from here
+[11.352s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidar_driver.cpp:202:28:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Ktimestamp_uS[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+[11.352s] 202 | void pushNode([01;35m[K_u64 timestamp_uS[m[K, const T* node)
+[11.352s] | [01;35m[K~~~~~^~~~~~~~~~~~[m[K
+[11.531s] In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidarprotocol_codec.cpp:49[m[K:
+[11.531s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_async_transceiver.h:[m[K In member function ‘[01m[Kvirtual void sl::internal::IAsyncProtocolCodec::[01;32m[KonChannelError[m[K(u_result)[m[K’:
+[11.531s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_async_transceiver.h:90:48:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[KerrCode[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+[11.532s] 90 | virtual void onChannelError([01;35m[Ku_result errCode[m[K) {}
+[11.532s] | [01;35m[K~~~~~~~~~^~~~~~~[m[K
+[11.633s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidar_driver.cpp:[m[K At global scope:
+[11.634s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidar_driver.cpp:83:17:[m[K [01;35m[Kwarning: [m[K‘[01m[Kvoid sl::[01;32m[Kconvert[m[K(const sl_lidar_response_measurement_node_hq_t&, sl_lidar_response_measurement_node_t&)[m[K’ defined but not used [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-function-Wunused-function]8;;[m[K]
+[11.634s] 83 | static void [01;35m[Kconvert[m[K(const sl_lidar_response_measurement_node_hq_t& from, sl_lidar_response_measurement_node_t& to)
+[11.634s] | [01;35m[K^~~~~~~[m[K
+[11.637s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidar_driver.cpp:75:17:[m[K [01;35m[Kwarning: [m[K‘[01m[Kvoid sl::[01;32m[Kconvert[m[K(const sl_lidar_response_measurement_node_t&, sl_lidar_response_measurement_node_hq_t&)[m[K’ defined but not used [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-function-Wunused-function]8;;[m[K]
+[11.637s] 75 | static void [01;35m[Kconvert[m[K(const sl_lidar_response_measurement_node_t& from, sl_lidar_response_measurement_node_hq_t& to)
+[11.637s] | [01;35m[K^~~~~~~[m[K
+[11.638s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_lidar_driver.cpp:70:17:[m[K [01;35m[Kwarning: [m[K‘[01m[Kvoid sl::[01;32m[KprintDeprecationWarn[m[K(const char*, const char*)[m[K’ defined but not used [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-function-Wunused-function]8;;[m[K]
+[11.638s] 70 | static void [01;35m[KprintDeprecationWarn[m[K(const char* fn, const char* replacement)
+[11.638s] | [01;35m[K^~~~~~~~~~~~~~~~~~~~[m[K
+[11.899s] [ 80%] [32mBuilding CXX object CMakeFiles/sllidar_node.dir/sdk/src/sl_serial_channel.cpp.o[0m
+[12.680s] In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_cmd.h:41[m[K,
+[12.682s] from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_driver.h:54[m[K,
+[12.683s] from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_serial_channel.cpp:33[m[K:
+[12.683s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_protocol.h:66:16:[m[K [01;35m[Kwarning: [m[KISO C++ forbids zero-size array ‘[01m[Kdata[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic-Wpedantic]8;;[m[K]
+[12.683s] 66 | sl_u8 data[[01;35m[K0[m[K];
+[12.683s] | [01;35m[K^[m[K
+[12.683s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_cmd.h:324:20:[m[K [01;35m[Kwarning: [m[KISO C++ forbids zero-size array ‘[01m[Kpayload[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic-Wpedantic]8;;[m[K]
+[12.688s] 324 | sl_u8 payload[[01;35m[K0[m[K];
+[12.688s] | [01;35m[K^[m[K
+[12.749s] [ 85%] [32mBuilding CXX object CMakeFiles/sllidar_node.dir/sdk/src/sl_tcp_channel.cpp.o[0m
+[12.885s] [ 90%] [32mBuilding CXX object CMakeFiles/sllidar_node.dir/sdk/src/sl_udp_channel.cpp.o[0m
+[13.501s] In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_cmd.h:41[m[K,
+[13.501s] from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_driver.h:54[m[K,
+[13.502s] from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_tcp_channel.cpp:33[m[K:
+[13.502s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_protocol.h:66:16:[m[K [01;35m[Kwarning: [m[KISO C++ forbids zero-size array ‘[01m[Kdata[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic-Wpedantic]8;;[m[K]
+[13.502s] 66 | sl_u8 data[[01;35m[K0[m[K];
+[13.502s] | [01;35m[K^[m[K
+[13.502s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_cmd.h:324:20:[m[K [01;35m[Kwarning: [m[KISO C++ forbids zero-size array ‘[01m[Kpayload[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic-Wpedantic]8;;[m[K]
+[13.502s] 324 | sl_u8 payload[[01;35m[K0[m[K];
+[13.502s] | [01;35m[K^[m[K
+[13.510s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_tcp_channel.cpp:[m[K In member function ‘[01m[Kvoid sl::TcpChannel::[01;32m[KsetStatus[m[K(_u32)[m[K’:
+[13.510s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_tcp_channel.cpp:109:29:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Kflag[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+[13.511s] 109 | void setStatus([01;35m[K_u32 flag[m[K){}
+[13.511s] | [01;35m[K~~~~~^~~~[m[K
+[13.697s] In file included from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_cmd.h:41[m[K,
+[13.699s] from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_driver.h:54[m[K,
+[13.699s] from [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_udp_channel.cpp:33[m[K:
+[13.704s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_protocol.h:66:16:[m[K [01;35m[Kwarning: [m[KISO C++ forbids zero-size array ‘[01m[Kdata[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic-Wpedantic]8;;[m[K]
+[13.705s] 66 | sl_u8 data[[01;35m[K0[m[K];
+[13.705s] | [01;35m[K^[m[K
+[13.708s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/./sdk/include/sl_lidar_cmd.h:324:20:[m[K [01;35m[Kwarning: [m[KISO C++ forbids zero-size array ‘[01m[Kpayload[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wpedantic-Wpedantic]8;;[m[K]
+[13.708s] 324 | sl_u8 payload[[01;35m[K0[m[K];
+[13.708s] | [01;35m[K^[m[K
+[13.715s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_udp_channel.cpp:[m[K In member function ‘[01m[Kvoid sl::UdpChannel::[01;32m[KsetStatus[m[K(_u32)[m[K’:
+[13.715s] [01m[K/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2/sdk/src/sl_udp_channel.cpp:112:29:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Kflag[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
+[13.715s] 112 | void setStatus([01;35m[K_u32 flag[m[K){}
+[13.717s] | [01;35m[K~~~~~^~~~[m[K
+[17.810s] [ 95%] [32m[1mLinking CXX executable sllidar_node[0m
+[18.840s] [ 95%] Built target sllidar_node
+[22.109s] [100%] [32m[1mLinking CXX executable sllidar_client[0m
+[23.079s] [100%] Built target sllidar_client
+[23.101s] Invoked command in '/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot:/home/robobin/Robobin_Project/ros2/robobin_main/install/testing:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_localization_ekf:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_description:/home/robobin/Robobin_Project/ros2/robobin_main/install/odometry_publisher:/opt/ros/jazzy DEBUGINFOD_URLS=https://debuginfod.ubuntu.com /usr/bin/cmake --build /home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2 -- -j4 -l4
+[23.127s] Invoking command in '/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot:/home/robobin/Robobin_Project/ros2/robobin_main/install/testing:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_localization_ekf:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_description:/home/robobin/Robobin_Project/ros2/robobin_main/install/odometry_publisher:/opt/ros/jazzy DEBUGINFOD_URLS=https://debuginfod.ubuntu.com /usr/bin/cmake --install /home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2
+[23.142s] -- Install configuration: ""
+[23.142s] -- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch
+[23.142s] -- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_t1_launch.py
+[23.143s] -- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_s2e_launch.py
+[23.143s] -- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_s2e_launch.py
+[23.143s] -- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_a2m12_launch .py
+[23.143s] -- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_a3_launch.py
+[23.144s] -- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_a2m8_launch.py
+[23.144s] -- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_s1_tcp_launch.py
+[23.144s] -- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_c1_launch.py
+[23.144s] -- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_s2_launch.py
+[23.144s] -- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_a2m7_launch.py
+[23.144s] -- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_s3_launch.py
+[23.144s] -- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_c1_launch.py
+[23.144s] -- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_s1_tcp_launch.py
+[23.145s] -- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_a2m8_launch.py
+[23.145s] -- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_s1_launch.py
+[23.145s] -- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_a3_launch.py
+[23.145s] -- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_s2_launch.py
+[23.145s] -- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_t1_launch.py
+[23.146s] -- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_a1_launch.py
+[23.146s] -- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_a1_launch.py
+[23.146s] -- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_a2m7_launch.py
+[23.146s] -- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_s1_launch.py
+[23.146s] -- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_s3_launch.py
+[23.146s] -- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_a2m12_launch.py
+[23.146s] -- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/rviz
+[23.146s] -- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/rviz/sllidar_ros2.rviz
+[23.148s] -- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/lib/sllidar_ros2/sllidar_node
+[23.152s] -- Set non-toolchain portion of runtime path of "/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/lib/sllidar_ros2/sllidar_node" to ""
+[23.153s] -- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/lib/sllidar_ros2/sllidar_client
+[23.162s] -- Set non-toolchain portion of runtime path of "/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/lib/sllidar_ros2/sllidar_client" to ""
+[23.163s] -- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/ament_index/resource_index/package_run_dependencies/sllidar_ros2
+[23.163s] -- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/ament_index/resource_index/parent_prefix_path/sllidar_ros2
+[23.163s] -- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/environment/ament_prefix_path.sh
+[23.163s] -- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/environment/ament_prefix_path.dsv
+[23.163s] -- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/environment/path.sh
+[23.163s] -- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/environment/path.dsv
+[23.164s] -- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/local_setup.bash
+[23.164s] -- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/local_setup.sh
+[23.164s] -- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/local_setup.zsh
+[23.164s] -- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/local_setup.dsv
+[23.164s] -- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/package.dsv
+[23.165s] -- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/ament_index/resource_index/packages/sllidar_ros2
+[23.165s] -- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/cmake/ament_cmake_export_dependencies-extras.cmake
+[23.165s] -- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/cmake/ament_cmake_export_include_directories-extras.cmake
+[23.165s] -- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/cmake/sllidar_ros2Config.cmake
+[23.165s] -- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/cmake/sllidar_ros2Config-version.cmake
+[23.166s] -- Installing: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/package.xml
+[23.169s] Invoked command in '/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot:/home/robobin/Robobin_Project/ros2/robobin_main/install/testing:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_localization_ekf:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_description:/home/robobin/Robobin_Project/ros2/robobin_main/install/odometry_publisher:/opt/ros/jazzy DEBUGINFOD_URLS=https://debuginfod.ubuntu.com /usr/bin/cmake --install /home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2
diff --git a/robobin_final/log/build_2024-12-19_19-14-25/super_robot/command.log b/robobin_final/log/build_2024-12-19_19-14-25/super_robot/command.log
new file mode 100644
index 00000000..a3224c00
--- /dev/null
+++ b/robobin_final/log/build_2024-12-19_19-14-25/super_robot/command.log
@@ -0,0 +1,2 @@
+Invoking command in '/home/robobin/Robobin_Project/ros2/robobin_final/src/super_robot': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../../build/super_robot build --build-base /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/build install --record /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/install.log --single-version-externally-managed install_data
+Invoked command in '/home/robobin/Robobin_Project/ros2/robobin_final/src/super_robot' returned '0': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../../build/super_robot build --build-base /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/build install --record /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/install.log --single-version-externally-managed install_data
diff --git a/robobin_final/log/build_2024-12-19_19-14-25/super_robot/stderr.log b/robobin_final/log/build_2024-12-19_19-14-25/super_robot/stderr.log
new file mode 100644
index 00000000..e69de29b
diff --git a/robobin_final/log/build_2024-12-19_19-14-25/super_robot/stdout.log b/robobin_final/log/build_2024-12-19_19-14-25/super_robot/stdout.log
new file mode 100644
index 00000000..8c4b8095
--- /dev/null
+++ b/robobin_final/log/build_2024-12-19_19-14-25/super_robot/stdout.log
@@ -0,0 +1,68 @@
+running egg_info
+creating ../../build/super_robot/super_robot.egg-info
+writing ../../build/super_robot/super_robot.egg-info/PKG-INFO
+writing dependency_links to ../../build/super_robot/super_robot.egg-info/dependency_links.txt
+writing entry points to ../../build/super_robot/super_robot.egg-info/entry_points.txt
+writing requirements to ../../build/super_robot/super_robot.egg-info/requires.txt
+writing top-level names to ../../build/super_robot/super_robot.egg-info/top_level.txt
+writing manifest file '../../build/super_robot/super_robot.egg-info/SOURCES.txt'
+reading manifest file '../../build/super_robot/super_robot.egg-info/SOURCES.txt'
+writing manifest file '../../build/super_robot/super_robot.egg-info/SOURCES.txt'
+running build
+running build_py
+creating /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/build
+creating /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/build/lib
+creating /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/build/lib/super_robot
+copying super_robot/encoder.py -> /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/build/lib/super_robot
+copying super_robot/motor_control_node.py -> /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/build/lib/super_robot
+copying super_robot/__init__.py -> /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/build/lib/super_robot
+copying super_robot/imu_node.py -> /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/build/lib/super_robot
+copying super_robot/odometry_node.py -> /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/build/lib/super_robot
+copying super_robot/route_filtered.py -> /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/build/lib/super_robot
+copying super_robot/control_feedback.py -> /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/build/lib/super_robot
+copying super_robot/route.py -> /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/build/lib/super_robot
+running install
+running install_lib
+creating /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages/super_robot
+copying /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/build/lib/super_robot/encoder.py -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages/super_robot
+copying /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/build/lib/super_robot/motor_control_node.py -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages/super_robot
+copying /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/build/lib/super_robot/__init__.py -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages/super_robot
+copying /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/build/lib/super_robot/imu_node.py -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages/super_robot
+copying /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/build/lib/super_robot/odometry_node.py -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages/super_robot
+copying /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/build/lib/super_robot/route_filtered.py -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages/super_robot
+copying /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/build/lib/super_robot/control_feedback.py -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages/super_robot
+copying /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/build/lib/super_robot/route.py -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages/super_robot
+byte-compiling /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages/super_robot/encoder.py to encoder.cpython-312.pyc
+byte-compiling /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages/super_robot/motor_control_node.py to motor_control_node.cpython-312.pyc
+byte-compiling /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages/super_robot/__init__.py to __init__.cpython-312.pyc
+byte-compiling /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages/super_robot/imu_node.py to imu_node.cpython-312.pyc
+byte-compiling /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages/super_robot/odometry_node.py to odometry_node.cpython-312.pyc
+byte-compiling /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages/super_robot/route_filtered.py to route_filtered.cpython-312.pyc
+byte-compiling /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages/super_robot/control_feedback.py to control_feedback.cpython-312.pyc
+byte-compiling /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages/super_robot/route.py to route.cpython-312.pyc
+running install_data
+creating /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/ament_index
+creating /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/ament_index/resource_index
+creating /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/ament_index/resource_index/packages
+copying resource/super_robot -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/ament_index/resource_index/packages
+copying package.xml -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot
+creating /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot/launch
+copying launch/launch_lidar.py -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot/launch
+copying launch/ekf_launch.py -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot/launch
+copying launch/view_robot.py -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot/launch
+creating /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot/config
+copying config/robot.urdf -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot/config
+copying config/ekf.yaml -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot/config
+copying config/urdf_config.rviz -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot/config
+copying config/scan_filter.yaml -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot/config
+running install_egg_info
+Copying ../../build/super_robot/super_robot.egg-info to /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages/super_robot-0.0.0-py3.12.egg-info
+running install_scripts
+Installing odometry_node script to /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/super_robot
+Installing test_control_feedback script to /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/super_robot
+Installing test_encoder_node script to /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/super_robot
+Installing test_imu_node script to /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/super_robot
+Installing test_motor_node script to /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/super_robot
+Installing test_route script to /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/super_robot
+Installing test_route_filter script to /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/super_robot
+writing list of installed files to '/home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/install.log'
diff --git a/robobin_final/log/build_2024-12-19_19-14-25/super_robot/stdout_stderr.log b/robobin_final/log/build_2024-12-19_19-14-25/super_robot/stdout_stderr.log
new file mode 100644
index 00000000..8c4b8095
--- /dev/null
+++ b/robobin_final/log/build_2024-12-19_19-14-25/super_robot/stdout_stderr.log
@@ -0,0 +1,68 @@
+running egg_info
+creating ../../build/super_robot/super_robot.egg-info
+writing ../../build/super_robot/super_robot.egg-info/PKG-INFO
+writing dependency_links to ../../build/super_robot/super_robot.egg-info/dependency_links.txt
+writing entry points to ../../build/super_robot/super_robot.egg-info/entry_points.txt
+writing requirements to ../../build/super_robot/super_robot.egg-info/requires.txt
+writing top-level names to ../../build/super_robot/super_robot.egg-info/top_level.txt
+writing manifest file '../../build/super_robot/super_robot.egg-info/SOURCES.txt'
+reading manifest file '../../build/super_robot/super_robot.egg-info/SOURCES.txt'
+writing manifest file '../../build/super_robot/super_robot.egg-info/SOURCES.txt'
+running build
+running build_py
+creating /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/build
+creating /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/build/lib
+creating /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/build/lib/super_robot
+copying super_robot/encoder.py -> /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/build/lib/super_robot
+copying super_robot/motor_control_node.py -> /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/build/lib/super_robot
+copying super_robot/__init__.py -> /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/build/lib/super_robot
+copying super_robot/imu_node.py -> /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/build/lib/super_robot
+copying super_robot/odometry_node.py -> /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/build/lib/super_robot
+copying super_robot/route_filtered.py -> /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/build/lib/super_robot
+copying super_robot/control_feedback.py -> /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/build/lib/super_robot
+copying super_robot/route.py -> /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/build/lib/super_robot
+running install
+running install_lib
+creating /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages/super_robot
+copying /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/build/lib/super_robot/encoder.py -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages/super_robot
+copying /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/build/lib/super_robot/motor_control_node.py -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages/super_robot
+copying /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/build/lib/super_robot/__init__.py -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages/super_robot
+copying /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/build/lib/super_robot/imu_node.py -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages/super_robot
+copying /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/build/lib/super_robot/odometry_node.py -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages/super_robot
+copying /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/build/lib/super_robot/route_filtered.py -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages/super_robot
+copying /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/build/lib/super_robot/control_feedback.py -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages/super_robot
+copying /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/build/lib/super_robot/route.py -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages/super_robot
+byte-compiling /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages/super_robot/encoder.py to encoder.cpython-312.pyc
+byte-compiling /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages/super_robot/motor_control_node.py to motor_control_node.cpython-312.pyc
+byte-compiling /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages/super_robot/__init__.py to __init__.cpython-312.pyc
+byte-compiling /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages/super_robot/imu_node.py to imu_node.cpython-312.pyc
+byte-compiling /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages/super_robot/odometry_node.py to odometry_node.cpython-312.pyc
+byte-compiling /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages/super_robot/route_filtered.py to route_filtered.cpython-312.pyc
+byte-compiling /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages/super_robot/control_feedback.py to control_feedback.cpython-312.pyc
+byte-compiling /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages/super_robot/route.py to route.cpython-312.pyc
+running install_data
+creating /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/ament_index
+creating /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/ament_index/resource_index
+creating /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/ament_index/resource_index/packages
+copying resource/super_robot -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/ament_index/resource_index/packages
+copying package.xml -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot
+creating /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot/launch
+copying launch/launch_lidar.py -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot/launch
+copying launch/ekf_launch.py -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot/launch
+copying launch/view_robot.py -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot/launch
+creating /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot/config
+copying config/robot.urdf -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot/config
+copying config/ekf.yaml -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot/config
+copying config/urdf_config.rviz -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot/config
+copying config/scan_filter.yaml -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot/config
+running install_egg_info
+Copying ../../build/super_robot/super_robot.egg-info to /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages/super_robot-0.0.0-py3.12.egg-info
+running install_scripts
+Installing odometry_node script to /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/super_robot
+Installing test_control_feedback script to /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/super_robot
+Installing test_encoder_node script to /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/super_robot
+Installing test_imu_node script to /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/super_robot
+Installing test_motor_node script to /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/super_robot
+Installing test_route script to /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/super_robot
+Installing test_route_filter script to /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/super_robot
+writing list of installed files to '/home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/install.log'
diff --git a/robobin_final/log/build_2024-12-19_19-14-25/super_robot/streams.log b/robobin_final/log/build_2024-12-19_19-14-25/super_robot/streams.log
new file mode 100644
index 00000000..a52952d7
--- /dev/null
+++ b/robobin_final/log/build_2024-12-19_19-14-25/super_robot/streams.log
@@ -0,0 +1,70 @@
+[1.833s] Invoking command in '/home/robobin/Robobin_Project/ros2/robobin_final/src/super_robot': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../../build/super_robot build --build-base /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/build install --record /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/install.log --single-version-externally-managed install_data
+[2.269s] running egg_info
+[2.269s] creating ../../build/super_robot/super_robot.egg-info
+[2.302s] writing ../../build/super_robot/super_robot.egg-info/PKG-INFO
+[2.306s] writing dependency_links to ../../build/super_robot/super_robot.egg-info/dependency_links.txt
+[2.306s] writing entry points to ../../build/super_robot/super_robot.egg-info/entry_points.txt
+[2.307s] writing requirements to ../../build/super_robot/super_robot.egg-info/requires.txt
+[2.307s] writing top-level names to ../../build/super_robot/super_robot.egg-info/top_level.txt
+[2.307s] writing manifest file '../../build/super_robot/super_robot.egg-info/SOURCES.txt'
+[2.366s] reading manifest file '../../build/super_robot/super_robot.egg-info/SOURCES.txt'
+[2.367s] writing manifest file '../../build/super_robot/super_robot.egg-info/SOURCES.txt'
+[2.367s] running build
+[2.368s] running build_py
+[2.368s] creating /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/build
+[2.369s] creating /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/build/lib
+[2.369s] creating /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/build/lib/super_robot
+[2.369s] copying super_robot/encoder.py -> /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/build/lib/super_robot
+[2.369s] copying super_robot/motor_control_node.py -> /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/build/lib/super_robot
+[2.369s] copying super_robot/__init__.py -> /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/build/lib/super_robot
+[2.369s] copying super_robot/imu_node.py -> /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/build/lib/super_robot
+[2.369s] copying super_robot/odometry_node.py -> /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/build/lib/super_robot
+[2.370s] copying super_robot/route_filtered.py -> /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/build/lib/super_robot
+[2.370s] copying super_robot/control_feedback.py -> /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/build/lib/super_robot
+[2.370s] copying super_robot/route.py -> /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/build/lib/super_robot
+[2.371s] running install
+[2.381s] running install_lib
+[2.414s] creating /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages/super_robot
+[2.415s] copying /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/build/lib/super_robot/encoder.py -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages/super_robot
+[2.415s] copying /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/build/lib/super_robot/motor_control_node.py -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages/super_robot
+[2.416s] copying /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/build/lib/super_robot/__init__.py -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages/super_robot
+[2.416s] copying /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/build/lib/super_robot/imu_node.py -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages/super_robot
+[2.416s] copying /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/build/lib/super_robot/odometry_node.py -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages/super_robot
+[2.416s] copying /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/build/lib/super_robot/route_filtered.py -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages/super_robot
+[2.416s] copying /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/build/lib/super_robot/control_feedback.py -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages/super_robot
+[2.419s] copying /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/build/lib/super_robot/route.py -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages/super_robot
+[2.419s] byte-compiling /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages/super_robot/encoder.py to encoder.cpython-312.pyc
+[2.419s] byte-compiling /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages/super_robot/motor_control_node.py to motor_control_node.cpython-312.pyc
+[2.419s] byte-compiling /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages/super_robot/__init__.py to __init__.cpython-312.pyc
+[2.420s] byte-compiling /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages/super_robot/imu_node.py to imu_node.cpython-312.pyc
+[2.422s] byte-compiling /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages/super_robot/odometry_node.py to odometry_node.cpython-312.pyc
+[2.424s] byte-compiling /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages/super_robot/route_filtered.py to route_filtered.cpython-312.pyc
+[2.426s] byte-compiling /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages/super_robot/control_feedback.py to control_feedback.cpython-312.pyc
+[2.431s] byte-compiling /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages/super_robot/route.py to route.cpython-312.pyc
+[2.431s] running install_data
+[2.431s] creating /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/ament_index
+[2.431s] creating /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/ament_index/resource_index
+[2.431s] creating /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/ament_index/resource_index/packages
+[2.431s] copying resource/super_robot -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/ament_index/resource_index/packages
+[2.431s] copying package.xml -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot
+[2.432s] creating /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot/launch
+[2.432s] copying launch/launch_lidar.py -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot/launch
+[2.432s] copying launch/ekf_launch.py -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot/launch
+[2.432s] copying launch/view_robot.py -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot/launch
+[2.432s] creating /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot/config
+[2.432s] copying config/robot.urdf -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot/config
+[2.432s] copying config/ekf.yaml -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot/config
+[2.433s] copying config/urdf_config.rviz -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot/config
+[2.433s] copying config/scan_filter.yaml -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot/config
+[2.433s] running install_egg_info
+[2.466s] Copying ../../build/super_robot/super_robot.egg-info to /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages/super_robot-0.0.0-py3.12.egg-info
+[2.470s] running install_scripts
+[2.864s] Installing odometry_node script to /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/super_robot
+[2.865s] Installing test_control_feedback script to /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/super_robot
+[2.865s] Installing test_encoder_node script to /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/super_robot
+[2.866s] Installing test_imu_node script to /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/super_robot
+[2.866s] Installing test_motor_node script to /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/super_robot
+[2.867s] Installing test_route script to /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/super_robot
+[2.868s] Installing test_route_filter script to /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/super_robot
+[2.868s] writing list of installed files to '/home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/install.log'
+[2.985s] Invoked command in '/home/robobin/Robobin_Project/ros2/robobin_final/src/super_robot' returned '0': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../../build/super_robot build --build-base /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/build install --record /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/install.log --single-version-externally-managed install_data
diff --git a/robobin_final/log/build_2024-12-19_19-16-30/events.log b/robobin_final/log/build_2024-12-19_19-16-30/events.log
new file mode 100644
index 00000000..d7f2929e
--- /dev/null
+++ b/robobin_final/log/build_2024-12-19_19-16-30/events.log
@@ -0,0 +1,170 @@
+[0.000000] (-) TimerEvent: {}
+[0.000434] (sllidar_ros2) JobQueued: {'identifier': 'sllidar_ros2', 'dependencies': OrderedDict()}
+[0.000561] (super_robot) JobQueued: {'identifier': 'super_robot', 'dependencies': OrderedDict()}
+[0.001113] (sllidar_ros2) JobStarted: {'identifier': 'sllidar_ros2'}
+[0.017015] (super_robot) JobStarted: {'identifier': 'super_robot'}
+[0.029646] (sllidar_ros2) JobProgress: {'identifier': 'sllidar_ros2', 'progress': 'cmake'}
+[0.031821] (sllidar_ros2) Command: {'cmd': ['/usr/bin/cmake', '/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2', '-DAMENT_CMAKE_SYMLINK_INSTALL=1', '-DCMAKE_INSTALL_PREFIX=/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2'], 'cwd': '/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2', 'env': OrderedDict({'GJS_DEBUG_TOPICS': 'JS ERROR;JS LOG', 'XDG_ACTIVATION_TOKEN': 'bef97eb0-e5e7-490a-85cc-20228fff4b34', 'LESSOPEN': '| /usr/bin/lesspipe %s', 'USER': 'robobin', 'GZ_CONFIG_PATH': '/opt/ros/jazzy/opt/sdformat_vendor/share/gz', 'XDG_SESSION_TYPE': 'wayland', 'SHLVL': '1', 'LD_LIBRARY_PATH': '/opt/ros/jazzy/opt/sdformat_vendor/lib:/opt/ros/jazzy/opt/rviz_ogre_vendor/lib:/opt/ros/jazzy/lib/aarch64-linux-gnu:/opt/ros/jazzy/opt/gz_math_vendor/lib:/opt/ros/jazzy/opt/gz_utils_vendor/lib:/opt/ros/jazzy/opt/gz_tools_vendor/lib:/opt/ros/jazzy/opt/gz_cmake_vendor/lib:/opt/ros/jazzy/lib', 'HOME': '/home/robobin', 'DESKTOP_SESSION': 'ubuntu', 'GIO_LAUNCHED_DESKTOP_FILE': '/usr/share/applications/terminator.desktop', 'ROS_PYTHON_VERSION': '3', 'GNOME_SHELL_SESSION_MODE': 'ubuntu', 'GTK_MODULES': 'gail:atk-bridge', 'MANAGERPID': '1422', 'SYSTEMD_EXEC_PID': '1633', 'GSM_SKIP_SSH_AGENT_WORKAROUND': 'true', 'DBUS_SESSION_BUS_ADDRESS': 'unix:path=/run/user/1002/bus', 'COLORTERM': 'truecolor', 'TERMINATOR_DBUS_NAME': 'net.tenshu.Terminator25ef4b219e3b005583550f2b0f9f990c3', 'GIO_LAUNCHED_DESKTOP_FILE_PID': '2410', 'DEBUGINFOD_URLS': 'https://debuginfod.ubuntu.com', 'IM_CONFIG_PHASE': '1', 'WAYLAND_DISPLAY': 'wayland-0', 'COLCON_PREFIX_PATH': '/home/robobin/Robobin_Project/ros2/robobin_final/install:/home/robobin/Robobin_Project/ros2/robobin_main/install', 'ROS_DISTRO': 'jazzy', 'LOGNAME': 'robobin', 'JOURNAL_STREAM': '8:14177', '_': '/usr/bin/colcon', 'ROS_VERSION': '2', 'MEMORY_PRESSURE_WATCH': '/sys/fs/cgroup/user.slice/user-1002.slice/user@1002.service/session.slice/org.gnome.Shell@wayland.service/memory.pressure', 'XDG_SESSION_CLASS': 'user', 'USERNAME': 'robobin', 'TERM': 'xterm-256color', 'GNOME_DESKTOP_SESSION_ID': 'this-is-deprecated', 'PATH': '/opt/ros/jazzy/opt/gz_tools_vendor/bin:/opt/ros/jazzy/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/snap/bin', 'SESSION_MANAGER': 'local/robobin-desktop:@/tmp/.ICE-unix/1596,unix/robobin-desktop:/tmp/.ICE-unix/1596', 'INVOCATION_ID': '9a58d1d4c5c4406f86851b1f6d40074e', 'XDG_MENU_PREFIX': 'gnome-', 'GNOME_SETUP_DISPLAY': ':1', 'XDG_RUNTIME_DIR': '/run/user/1002', 'DISPLAY': ':0', 'TERMINATOR_DBUS_PATH': '/net/tenshu/Terminator2', 'LANG': 'en_US.UTF-8', 'XDG_CURRENT_DESKTOP': 'ubuntu:GNOME', 'XMODIFIERS': '@im=ibus', 'XDG_SESSION_DESKTOP': 'ubuntu', 'XAUTHORITY': '/run/user/1002/.mutter-Xwaylandauth.X1BGZ2', 'LS_COLORS': 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'SSH_AUTH_SOCK': '/run/user/1002/keyring/ssh', 'ROS_DOMAIN_ID': '3', 'AMENT_PREFIX_PATH': '/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot:/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2:/home/robobin/Robobin_Project/ros2/robobin_main/install/testing:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_localization_ekf:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_description:/home/robobin/Robobin_Project/ros2/robobin_main/install/odometry_publisher:/opt/ros/jazzy', 'SHELL': '/bin/bash', 'TERMINATOR_UUID': 'urn:uuid:10fd0f7e-0487-448f-9854-3e7a59bcf268', 'QT_ACCESSIBILITY': '1', 'GDMSESSION': 'ubuntu', 'LESSCLOSE': '/usr/bin/lesspipe %s %s', 'GJS_DEBUG_OUTPUT': 'stderr', 'ROS_AUTOMATIC_DISCOVERY_RANGE': 'SUBNET', 'QT_IM_MODULE': 'ibus', 'PWD': '/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2', 'LC_ALL': 'en_US.UTF-8', 'XDG_CONFIG_DIRS': '/etc/xdg/xdg-ubuntu:/etc/xdg', 'XDG_DATA_DIRS': '/usr/share/ubuntu:/usr/share/gnome:/usr/local/share/:/usr/share/:/var/lib/snapd/desktop', 'PYTHONPATH': '/home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot:/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages:/home/robobin/Robobin_Project/ros2/robobin_main/build/testing:/home/robobin/Robobin_Project/ros2/robobin_main/install/testing/lib/python3.12/site-packages:/home/robobin/Robobin_Project/ros2/robobin_main/build/robot_localization_ekf:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_localization_ekf/lib/python3.12/site-packages:/home/robobin/Robobin_Project/ros2/robobin_main/build/robot_description:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_description/lib/python3.12/site-packages:/home/robobin/Robobin_Project/ros2/robobin_main/build/odometry_publisher:/home/robobin/Robobin_Project/ros2/robobin_main/install/odometry_publisher/lib/python3.12/site-packages:/opt/ros/jazzy/lib/python3.12/site-packages', 'COLCON': '1', 'MEMORY_PRESSURE_WRITE': 'c29tZSAyMDAwMDAgMjAwMDAwMAA=', 'VTE_VERSION': '7600', 'CMAKE_PREFIX_PATH': '/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2:/opt/ros/jazzy/opt/sdformat_vendor:/opt/ros/jazzy/opt/gz_math_vendor:/opt/ros/jazzy/opt/gz_utils_vendor:/opt/ros/jazzy/opt/gz_tools_vendor:/opt/ros/jazzy/opt/gz_cmake_vendor:/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot:/home/robobin/Robobin_Project/ros2/robobin_main/install/testing:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_localization_ekf:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_description:/home/robobin/Robobin_Project/ros2/robobin_main/install/odometry_publisher:/opt/ros/jazzy'}), 'shell': False}
+[0.069679] (sllidar_ros2) StdoutLine: {'line': b'-- Found ament_cmake: 2.5.2 (/opt/ros/jazzy/share/ament_cmake/cmake)\n'}
+[0.099658] (-) TimerEvent: {}
+[0.200287] (-) TimerEvent: {}
+[0.300911] (-) TimerEvent: {}
+[0.403664] (-) TimerEvent: {}
+[0.504341] (-) TimerEvent: {}
+[0.547104] (sllidar_ros2) StdoutLine: {'line': b'-- Override CMake install command with custom implementation using symlinks instead of copying resources\n'}
+[0.558426] (sllidar_ros2) StdoutLine: {'line': b'-- Found rclcpp: 28.1.5 (/opt/ros/jazzy/share/rclcpp/cmake)\n'}
+[0.600044] (sllidar_ros2) StdoutLine: {'line': b'-- Found rosidl_generator_c: 4.6.4 (/opt/ros/jazzy/share/rosidl_generator_c/cmake)\n'}
+[0.604411] (-) TimerEvent: {}
+[0.619624] (sllidar_ros2) StdoutLine: {'line': b'-- Found rosidl_generator_cpp: 4.6.4 (/opt/ros/jazzy/share/rosidl_generator_cpp/cmake)\n'}
+[0.638200] (sllidar_ros2) StdoutLine: {'line': b'-- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c\n'}
+[0.659101] (sllidar_ros2) StdoutLine: {'line': b'-- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp\n'}
+[0.704528] (-) TimerEvent: {}
+[0.755187] (sllidar_ros2) StdoutLine: {'line': b'-- Found rmw_implementation_cmake: 7.3.1 (/opt/ros/jazzy/share/rmw_implementation_cmake/cmake)\n'}
+[0.757499] (sllidar_ros2) StdoutLine: {'line': b'-- Found rmw_fastrtps_cpp: 8.4.1 (/opt/ros/jazzy/share/rmw_fastrtps_cpp/cmake)\n'}
+[0.804658] (-) TimerEvent: {}
+[0.862047] (sllidar_ros2) StdoutLine: {'line': b"-- Using RMW implementation 'rmw_fastrtps_cpp' as default\n"}
+[0.904773] (-) TimerEvent: {}
+[0.957892] (sllidar_ros2) StdoutLine: {'line': b'-- Found sensor_msgs: 5.3.5 (/opt/ros/jazzy/share/sensor_msgs/cmake)\n'}
+[1.004953] (-) TimerEvent: {}
+[1.067296] (sllidar_ros2) StdoutLine: {'line': b'-- Found std_srvs: 5.3.5 (/opt/ros/jazzy/share/std_srvs/cmake)\n'}
+[1.105074] (-) TimerEvent: {}
+[1.208689] (-) TimerEvent: {}
+[1.309158] (-) TimerEvent: {}
+[1.324466] (sllidar_ros2) StdoutLine: {'line': b'-- Configuring done (1.3s)\n'}
+[1.368561] (sllidar_ros2) StdoutLine: {'line': b'-- Generating done (0.0s)\n'}
+[1.389287] (sllidar_ros2) StdoutLine: {'line': b'-- Build files have been written to: /home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2\n'}
+[1.407691] (sllidar_ros2) CommandEnded: {'returncode': 0}
+[1.408555] (sllidar_ros2) JobProgress: {'identifier': 'sllidar_ros2', 'progress': 'build'}
+[1.410138] (sllidar_ros2) Command: {'cmd': ['/usr/bin/cmake', '--build', '/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2', '--', '-j4', '-l4'], 'cwd': '/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2', 'env': OrderedDict({'GJS_DEBUG_TOPICS': 'JS ERROR;JS LOG', 'XDG_ACTIVATION_TOKEN': 'bef97eb0-e5e7-490a-85cc-20228fff4b34', 'LESSOPEN': '| /usr/bin/lesspipe %s', 'USER': 'robobin', 'GZ_CONFIG_PATH': '/opt/ros/jazzy/opt/sdformat_vendor/share/gz', 'XDG_SESSION_TYPE': 'wayland', 'SHLVL': '1', 'LD_LIBRARY_PATH': '/opt/ros/jazzy/opt/sdformat_vendor/lib:/opt/ros/jazzy/opt/rviz_ogre_vendor/lib:/opt/ros/jazzy/lib/aarch64-linux-gnu:/opt/ros/jazzy/opt/gz_math_vendor/lib:/opt/ros/jazzy/opt/gz_utils_vendor/lib:/opt/ros/jazzy/opt/gz_tools_vendor/lib:/opt/ros/jazzy/opt/gz_cmake_vendor/lib:/opt/ros/jazzy/lib', 'HOME': '/home/robobin', 'DESKTOP_SESSION': 'ubuntu', 'GIO_LAUNCHED_DESKTOP_FILE': '/usr/share/applications/terminator.desktop', 'ROS_PYTHON_VERSION': '3', 'GNOME_SHELL_SESSION_MODE': 'ubuntu', 'GTK_MODULES': 'gail:atk-bridge', 'MANAGERPID': '1422', 'SYSTEMD_EXEC_PID': '1633', 'GSM_SKIP_SSH_AGENT_WORKAROUND': 'true', 'DBUS_SESSION_BUS_ADDRESS': 'unix:path=/run/user/1002/bus', 'COLORTERM': 'truecolor', 'TERMINATOR_DBUS_NAME': 'net.tenshu.Terminator25ef4b219e3b005583550f2b0f9f990c3', 'GIO_LAUNCHED_DESKTOP_FILE_PID': '2410', 'DEBUGINFOD_URLS': 'https://debuginfod.ubuntu.com', 'IM_CONFIG_PHASE': '1', 'WAYLAND_DISPLAY': 'wayland-0', 'COLCON_PREFIX_PATH': '/home/robobin/Robobin_Project/ros2/robobin_final/install:/home/robobin/Robobin_Project/ros2/robobin_main/install', 'ROS_DISTRO': 'jazzy', 'LOGNAME': 'robobin', 'JOURNAL_STREAM': '8:14177', '_': '/usr/bin/colcon', 'ROS_VERSION': '2', 'MEMORY_PRESSURE_WATCH': '/sys/fs/cgroup/user.slice/user-1002.slice/user@1002.service/session.slice/org.gnome.Shell@wayland.service/memory.pressure', 'XDG_SESSION_CLASS': 'user', 'USERNAME': 'robobin', 'TERM': 'xterm-256color', 'GNOME_DESKTOP_SESSION_ID': 'this-is-deprecated', 'PATH': '/opt/ros/jazzy/opt/gz_tools_vendor/bin:/opt/ros/jazzy/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/snap/bin', 'SESSION_MANAGER': 'local/robobin-desktop:@/tmp/.ICE-unix/1596,unix/robobin-desktop:/tmp/.ICE-unix/1596', 'INVOCATION_ID': '9a58d1d4c5c4406f86851b1f6d40074e', 'XDG_MENU_PREFIX': 'gnome-', 'GNOME_SETUP_DISPLAY': ':1', 'XDG_RUNTIME_DIR': '/run/user/1002', 'DISPLAY': ':0', 'TERMINATOR_DBUS_PATH': '/net/tenshu/Terminator2', 'LANG': 'en_US.UTF-8', 'XDG_CURRENT_DESKTOP': 'ubuntu:GNOME', 'XMODIFIERS': '@im=ibus', 'XDG_SESSION_DESKTOP': 'ubuntu', 'XAUTHORITY': '/run/user/1002/.mutter-Xwaylandauth.X1BGZ2', 'LS_COLORS': 'rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=00:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.zst=01;31:*.tzst=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.avif=01;35:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.webp=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:*~=00;90:*#=00;90:*.bak=00;90:*.crdownload=00;90:*.dpkg-dist=00;90:*.dpkg-new=00;90:*.dpkg-old=00;90:*.dpkg-tmp=00;90:*.old=00;90:*.orig=00;90:*.part=00;90:*.rej=00;90:*.rpmnew=00;90:*.rpmorig=00;90:*.rpmsave=00;90:*.swp=00;90:*.tmp=00;90:*.ucf-dist=00;90:*.ucf-new=00;90:*.ucf-old=00;90:', 'SSH_AUTH_SOCK': '/run/user/1002/keyring/ssh', 'ROS_DOMAIN_ID': '3', 'AMENT_PREFIX_PATH': '/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot:/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2:/home/robobin/Robobin_Project/ros2/robobin_main/install/testing:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_localization_ekf:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_description:/home/robobin/Robobin_Project/ros2/robobin_main/install/odometry_publisher:/opt/ros/jazzy', 'SHELL': '/bin/bash', 'TERMINATOR_UUID': 'urn:uuid:10fd0f7e-0487-448f-9854-3e7a59bcf268', 'QT_ACCESSIBILITY': '1', 'GDMSESSION': 'ubuntu', 'LESSCLOSE': '/usr/bin/lesspipe %s %s', 'GJS_DEBUG_OUTPUT': 'stderr', 'ROS_AUTOMATIC_DISCOVERY_RANGE': 'SUBNET', 'QT_IM_MODULE': 'ibus', 'PWD': '/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2', 'LC_ALL': 'en_US.UTF-8', 'XDG_CONFIG_DIRS': '/etc/xdg/xdg-ubuntu:/etc/xdg', 'XDG_DATA_DIRS': '/usr/share/ubuntu:/usr/share/gnome:/usr/local/share/:/usr/share/:/var/lib/snapd/desktop', 'PYTHONPATH': '/home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot:/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages:/home/robobin/Robobin_Project/ros2/robobin_main/build/testing:/home/robobin/Robobin_Project/ros2/robobin_main/install/testing/lib/python3.12/site-packages:/home/robobin/Robobin_Project/ros2/robobin_main/build/robot_localization_ekf:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_localization_ekf/lib/python3.12/site-packages:/home/robobin/Robobin_Project/ros2/robobin_main/build/robot_description:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_description/lib/python3.12/site-packages:/home/robobin/Robobin_Project/ros2/robobin_main/build/odometry_publisher:/home/robobin/Robobin_Project/ros2/robobin_main/install/odometry_publisher/lib/python3.12/site-packages:/opt/ros/jazzy/lib/python3.12/site-packages', 'COLCON': '1', 'MEMORY_PRESSURE_WRITE': 'c29tZSAyMDAwMDAgMjAwMDAwMAA=', 'VTE_VERSION': '7600', 'CMAKE_PREFIX_PATH': '/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2:/opt/ros/jazzy/opt/sdformat_vendor:/opt/ros/jazzy/opt/gz_math_vendor:/opt/ros/jazzy/opt/gz_utils_vendor:/opt/ros/jazzy/opt/gz_tools_vendor:/opt/ros/jazzy/opt/gz_cmake_vendor:/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot:/home/robobin/Robobin_Project/ros2/robobin_main/install/testing:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_localization_ekf:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_description:/home/robobin/Robobin_Project/ros2/robobin_main/install/odometry_publisher:/opt/ros/jazzy'}), 'shell': False}
+[1.411467] (-) TimerEvent: {}
+[1.514328] (-) TimerEvent: {}
+[1.534128] (sllidar_ros2) StdoutLine: {'line': b'[ 5%] \x1b[32m\x1b[1mLinking CXX executable sllidar_client\x1b[0m\n'}
+[1.582574] (sllidar_ros2) StdoutLine: {'line': b'[ 10%] \x1b[32m\x1b[1mLinking CXX executable sllidar_node\x1b[0m\n'}
+[1.614544] (-) TimerEvent: {}
+[1.715944] (-) TimerEvent: {}
+[1.819536] (-) TimerEvent: {}
+[1.918599] (super_robot) Command: {'cmd': ['/usr/bin/python3', '-W', 'ignore:setup.py install is deprecated', '-W', 'ignore:easy_install command is deprecated', 'setup.py', 'develop', '--editable', '--build-directory', '/home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/build', '--no-deps', 'symlink_data', '--force'], 'cwd': '/home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot', 'env': {'GJS_DEBUG_TOPICS': 'JS ERROR;JS LOG', 'XDG_ACTIVATION_TOKEN': 'bef97eb0-e5e7-490a-85cc-20228fff4b34', 'LESSOPEN': '| /usr/bin/lesspipe %s', 'USER': 'robobin', 'GZ_CONFIG_PATH': '/opt/ros/jazzy/opt/sdformat_vendor/share/gz', 'XDG_SESSION_TYPE': 'wayland', 'SHLVL': '1', 'LD_LIBRARY_PATH': 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+[3.646437] (sllidar_ros2) StdoutLine: {'line': b'-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_s2_launch.py\n'}
+[3.662011] (-) TimerEvent: {}
+[3.680734] (sllidar_ros2) StdoutLine: {'line': b'-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_s2e_launch.py\n'}
+[3.763983] (-) TimerEvent: {}
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+[3.820758] (sllidar_ros2) StdoutLine: {'line': b'-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_t1_launch.py\n'}
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+[3.908895] (sllidar_ros2) StdoutLine: {'line': b'-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_a2m12_launch.py\n'}
+[3.941553] (sllidar_ros2) StdoutLine: {'line': b'-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_a2m7_launch.py\n'}
+[3.965182] (-) TimerEvent: {}
+[4.004123] (sllidar_ros2) StdoutLine: {'line': b'-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_a2m8_launch.py\n'}
+[4.048370] (sllidar_ros2) StdoutLine: {'line': b'-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_a3_launch.py\n'}
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+[4.095038] (sllidar_ros2) StdoutLine: {'line': b'-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_c1_launch.py\n'}
+[4.125370] (sllidar_ros2) StdoutLine: {'line': b'-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_s1_launch.py\n'}
+[4.164039] (sllidar_ros2) StdoutLine: {'line': b'-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_s1_tcp_launch.py\n'}
+[4.169564] (-) TimerEvent: {}
+[4.221087] (sllidar_ros2) StdoutLine: {'line': b'-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_s2_launch.py\n'}
+[4.270403] (-) TimerEvent: {}
+[4.273727] (sllidar_ros2) StdoutLine: {'line': b'-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_s2e_launch.py\n'}
+[4.335903] (sllidar_ros2) StdoutLine: {'line': b'-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_s3_launch.py\n'}
+[4.374410] (-) TimerEvent: {}
+[4.400230] (sllidar_ros2) StdoutLine: {'line': b'-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_t1_launch.py\n'}
+[4.444111] (sllidar_ros2) StdoutLine: {'line': b'-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/rviz/sllidar_ros2.rviz\n'}
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+[4.574352] (sllidar_ros2) StdoutLine: {'line': b'-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/lib/sllidar_ros2/sllidar_client\n'}
+[4.575972] (-) TimerEvent: {}
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+[4.658422] (sllidar_ros2) StdoutLine: {'line': b'-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/ament_index/resource_index/parent_prefix_path/sllidar_ros2\n'}
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+[4.705087] (sllidar_ros2) StdoutLine: {'line': b'-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/environment/ament_prefix_path.sh\n'}
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+[5.063518] (sllidar_ros2) StdoutLine: {'line': b'-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/ament_index/resource_index/packages/sllidar_ros2\n'}
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+[5.166811] (sllidar_ros2) StdoutLine: {'line': b'-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/cmake/sllidar_ros2Config.cmake\n'}
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+[5.247015] (sllidar_ros2) StdoutLine: {'line': b'-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/package.xml\n'}
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+[5.409502] (-) TimerEvent: {}
+[5.453767] (super_robot) StdoutLine: {'line': b'running build_ext\n'}
+[5.455079] (super_robot) StdoutLine: {'line': b'Creating /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages/super-robot.egg-link (link to .)\n'}
+[5.457619] (super_robot) StdoutLine: {'line': b'Installing odometry_node script to /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/super_robot\n'}
+[5.462086] (super_robot) StdoutLine: {'line': b'Installing test_control_feedback script to /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/super_robot\n'}
+[5.462642] (super_robot) StdoutLine: {'line': b'Installing test_encoder_node script to /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/super_robot\n'}
+[5.467089] (super_robot) StdoutLine: {'line': b'Installing test_imu_node script to /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/super_robot\n'}
+[5.467409] (super_robot) StdoutLine: {'line': b'Installing test_motor_node script to /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/super_robot\n'}
+[5.467598] (super_robot) StdoutLine: {'line': b'Installing test_route script to /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/super_robot\n'}
+[5.467767] (super_robot) StdoutLine: {'line': b'Installing test_route_filter script to /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/super_robot\n'}
+[5.467919] (super_robot) StdoutLine: {'line': b'\n'}
+[5.468074] (super_robot) StdoutLine: {'line': b'Installed /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot\n'}
+[5.468342] (super_robot) StdoutLine: {'line': b'running symlink_data\n'}
+[5.468552] (super_robot) StdoutLine: {'line': b'symbolically linking /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/resource/super_robot -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/ament_index/resource_index/packages\n'}
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+[5.471753] (super_robot) StdoutLine: {'line': b'symbolically linking /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/config/ekf.yaml -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot/config\n'}
+[5.471889] (super_robot) StdoutLine: {'line': b'symbolically linking /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/config/urdf_config.rviz -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot/config\n'}
+[5.472077] (super_robot) StdoutLine: {'line': b'symbolically linking /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/config/scan_filter.yaml -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot/config\n'}
+[5.486344] (sllidar_ros2) JobEnded: {'identifier': 'sllidar_ros2', 'rc': 0}
+[5.516658] (-) TimerEvent: {}
+[5.617405] (-) TimerEvent: {}
+[5.715778] (super_robot) CommandEnded: {'returncode': 0}
+[5.720595] (-) TimerEvent: {}
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+[5.779025] (-) EventReactorShutdown: {}
diff --git a/robobin_final/log/build_2024-12-19_19-16-30/logger_all.log b/robobin_final/log/build_2024-12-19_19-16-30/logger_all.log
new file mode 100644
index 00000000..9a06bb5f
--- /dev/null
+++ b/robobin_final/log/build_2024-12-19_19-16-30/logger_all.log
@@ -0,0 +1,214 @@
+[0.161s] DEBUG:colcon:Command line arguments: ['/usr/bin/colcon', 'build', '--symlink-install']
+[0.162s] DEBUG:colcon:Parsed command line arguments: Namespace(log_base=None, log_level=None, verb_name='build', build_base='build', install_base='install', merge_install=False, symlink_install=True, test_result_base=None, continue_on_error=False, executor='parallel', parallel_workers=4, event_handlers=None, ignore_user_meta=False, metas=['./colcon.meta'], base_paths=['.'], packages_ignore=None, packages_ignore_regex=None, paths=None, packages_up_to=None, packages_up_to_regex=None, packages_above=None, packages_above_and_dependencies=None, packages_above_depth=None, packages_select_by_dep=None, packages_skip_by_dep=None, packages_skip_up_to=None, packages_select_build_failed=False, packages_skip_build_finished=False, packages_select_test_failures=False, packages_skip_test_passed=False, packages_select=None, packages_skip=None, packages_select_regex=None, packages_skip_regex=None, packages_start=None, packages_end=None, allow_overriding=[], cmake_args=None, cmake_target=None, cmake_target_skip_unavailable=False, cmake_clean_cache=False, cmake_clean_first=False, cmake_force_configure=False, ament_cmake_args=None, catkin_cmake_args=None, catkin_skip_building_tests=False, mixin_files=None, mixin=None, verb_parser=<colcon_mixin.mixin.mixin_argument.MixinArgumentDecorator object at 0xffffb889d910>, verb_extension=<colcon_core.verb.build.BuildVerb object at 0xffffb889d850>, main=<bound method BuildVerb.main of <colcon_core.verb.build.BuildVerb object at 0xffffb889d850>>, mixin_verb=('build',))
+[0.221s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) check parameters
+[0.222s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) check parameters
+[0.222s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) check parameters
+[0.222s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) check parameters
+[0.222s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) discover
+[0.222s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) discover
+[0.222s] INFO:colcon.colcon_core.package_discovery:Crawling recursively for packages in '/home/robobin/Robobin_Project/ros2/robobin_final'
+[0.222s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ignore', 'ignore_ament_install']
+[0.222s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore'
+[0.222s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore_ament_install'
+[0.222s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_pkg']
+[0.223s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_pkg'
+[0.223s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_meta']
+[0.223s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_meta'
+[0.223s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ros']
+[0.223s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ros'
+[0.266s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['cmake', 'python']
+[0.266s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'cmake'
+[0.266s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'python'
+[0.266s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['python_setup_py']
+[0.266s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'python_setup_py'
+[0.266s] Level 1:colcon.colcon_core.package_identification:_identify(build) by extensions ['ignore', 'ignore_ament_install']
+[0.266s] Level 1:colcon.colcon_core.package_identification:_identify(build) by extension 'ignore'
+[0.267s] Level 1:colcon.colcon_core.package_identification:_identify(build) ignored
+[0.267s] Level 1:colcon.colcon_core.package_identification:_identify(install) by extensions ['ignore', 'ignore_ament_install']
+[0.267s] Level 1:colcon.colcon_core.package_identification:_identify(install) by extension 'ignore'
+[0.267s] Level 1:colcon.colcon_core.package_identification:_identify(install) ignored
+[0.267s] Level 1:colcon.colcon_core.package_identification:_identify(log) by extensions ['ignore', 'ignore_ament_install']
+[0.267s] Level 1:colcon.colcon_core.package_identification:_identify(log) by extension 'ignore'
+[0.267s] Level 1:colcon.colcon_core.package_identification:_identify(log) ignored
+[0.267s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['ignore', 'ignore_ament_install']
+[0.267s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'ignore'
+[0.267s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'ignore_ament_install'
+[0.268s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['colcon_pkg']
+[0.268s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'colcon_pkg'
+[0.268s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['colcon_meta']
+[0.268s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'colcon_meta'
+[0.268s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['ros']
+[0.268s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'ros'
+[0.268s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['cmake', 'python']
+[0.268s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'cmake'
+[0.268s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'python'
+[0.268s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['python_setup_py']
+[0.268s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'python_setup_py'
+[0.268s] Level 1:colcon.colcon_core.package_identification:_identify(src/sllidar_ros2) by extensions ['ignore', 'ignore_ament_install']
+[0.268s] Level 1:colcon.colcon_core.package_identification:_identify(src/sllidar_ros2) by extension 'ignore'
+[0.268s] Level 1:colcon.colcon_core.package_identification:_identify(src/sllidar_ros2) by extension 'ignore_ament_install'
+[0.268s] Level 1:colcon.colcon_core.package_identification:_identify(src/sllidar_ros2) by extensions ['colcon_pkg']
+[0.268s] Level 1:colcon.colcon_core.package_identification:_identify(src/sllidar_ros2) by extension 'colcon_pkg'
+[0.268s] Level 1:colcon.colcon_core.package_identification:_identify(src/sllidar_ros2) by extensions ['colcon_meta']
+[0.268s] Level 1:colcon.colcon_core.package_identification:_identify(src/sllidar_ros2) by extension 'colcon_meta'
+[0.268s] Level 1:colcon.colcon_core.package_identification:_identify(src/sllidar_ros2) by extensions ['ros']
+[0.268s] Level 1:colcon.colcon_core.package_identification:_identify(src/sllidar_ros2) by extension 'ros'
+[0.272s] DEBUG:colcon.colcon_core.package_identification:Package 'src/sllidar_ros2' with type 'ros.ament_cmake' and name 'sllidar_ros2'
+[0.272s] Level 1:colcon.colcon_core.package_identification:_identify(src/super_robot) by extensions ['ignore', 'ignore_ament_install']
+[0.272s] Level 1:colcon.colcon_core.package_identification:_identify(src/super_robot) by extension 'ignore'
+[0.272s] Level 1:colcon.colcon_core.package_identification:_identify(src/super_robot) by extension 'ignore_ament_install'
+[0.272s] Level 1:colcon.colcon_core.package_identification:_identify(src/super_robot) by extensions ['colcon_pkg']
+[0.272s] Level 1:colcon.colcon_core.package_identification:_identify(src/super_robot) by extension 'colcon_pkg'
+[0.273s] Level 1:colcon.colcon_core.package_identification:_identify(src/super_robot) by extensions ['colcon_meta']
+[0.273s] Level 1:colcon.colcon_core.package_identification:_identify(src/super_robot) by extension 'colcon_meta'
+[0.273s] Level 1:colcon.colcon_core.package_identification:_identify(src/super_robot) by extensions ['ros']
+[0.273s] Level 1:colcon.colcon_core.package_identification:_identify(src/super_robot) by extension 'ros'
+[0.274s] DEBUG:colcon.colcon_core.package_identification:Package 'src/super_robot' with type 'ros.ament_python' and name 'super_robot'
+[0.274s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) using defaults
+[0.274s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) discover
+[0.274s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) using defaults
+[0.274s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) discover
+[0.274s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) using defaults
+[0.300s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) check parameters
+[0.300s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) discover
+[0.303s] DEBUG:colcon.colcon_installed_package_information.package_discovery:Found 2 installed packages in /home/robobin/Robobin_Project/ros2/robobin_final/install
+[0.303s] DEBUG:colcon.colcon_installed_package_information.package_discovery:Found 4 installed packages in /home/robobin/Robobin_Project/ros2/robobin_main/install
+[0.306s] DEBUG:colcon.colcon_installed_package_information.package_discovery:Found 336 installed packages in /opt/ros/jazzy
+[0.309s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) using defaults
+[0.380s] Level 5:colcon.colcon_core.verb:set package 'sllidar_ros2' build argument 'cmake_args' from command line to 'None'
+[0.380s] Level 5:colcon.colcon_core.verb:set package 'sllidar_ros2' build argument 'cmake_target' from command line to 'None'
+[0.380s] Level 5:colcon.colcon_core.verb:set package 'sllidar_ros2' build argument 'cmake_target_skip_unavailable' from command line to 'False'
+[0.380s] Level 5:colcon.colcon_core.verb:set package 'sllidar_ros2' build argument 'cmake_clean_cache' from command line to 'False'
+[0.380s] Level 5:colcon.colcon_core.verb:set package 'sllidar_ros2' build argument 'cmake_clean_first' from command line to 'False'
+[0.380s] Level 5:colcon.colcon_core.verb:set package 'sllidar_ros2' build argument 'cmake_force_configure' from command line to 'False'
+[0.380s] Level 5:colcon.colcon_core.verb:set package 'sllidar_ros2' build argument 'ament_cmake_args' from command line to 'None'
+[0.380s] Level 5:colcon.colcon_core.verb:set package 'sllidar_ros2' build argument 'catkin_cmake_args' from command line to 'None'
+[0.380s] Level 5:colcon.colcon_core.verb:set package 'sllidar_ros2' build argument 'catkin_skip_building_tests' from command line to 'False'
+[0.380s] DEBUG:colcon.colcon_core.verb:Building package 'sllidar_ros2' with the following arguments: {'ament_cmake_args': None, 'build_base': '/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2', 'catkin_cmake_args': None, 'catkin_skip_building_tests': False, 'cmake_args': None, 'cmake_clean_cache': False, 'cmake_clean_first': False, 'cmake_force_configure': False, 'cmake_target': None, 'cmake_target_skip_unavailable': False, 'install_base': '/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2', 'merge_install': False, 'path': '/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2', 'symlink_install': True, 'test_result_base': None}
+[0.381s] Level 5:colcon.colcon_core.verb:set package 'super_robot' build argument 'cmake_args' from command line to 'None'
+[0.381s] Level 5:colcon.colcon_core.verb:set package 'super_robot' build argument 'cmake_target' from command line to 'None'
+[0.381s] Level 5:colcon.colcon_core.verb:set package 'super_robot' build argument 'cmake_target_skip_unavailable' from command line to 'False'
+[0.381s] Level 5:colcon.colcon_core.verb:set package 'super_robot' build argument 'cmake_clean_cache' from command line to 'False'
+[0.381s] Level 5:colcon.colcon_core.verb:set package 'super_robot' build argument 'cmake_clean_first' from command line to 'False'
+[0.381s] Level 5:colcon.colcon_core.verb:set package 'super_robot' build argument 'cmake_force_configure' from command line to 'False'
+[0.381s] Level 5:colcon.colcon_core.verb:set package 'super_robot' build argument 'ament_cmake_args' from command line to 'None'
+[0.381s] Level 5:colcon.colcon_core.verb:set package 'super_robot' build argument 'catkin_cmake_args' from command line to 'None'
+[0.381s] Level 5:colcon.colcon_core.verb:set package 'super_robot' build argument 'catkin_skip_building_tests' from command line to 'False'
+[0.381s] DEBUG:colcon.colcon_core.verb:Building package 'super_robot' with the following arguments: {'ament_cmake_args': None, 'build_base': '/home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot', 'catkin_cmake_args': None, 'catkin_skip_building_tests': False, 'cmake_args': None, 'cmake_clean_cache': False, 'cmake_clean_first': False, 'cmake_force_configure': False, 'cmake_target': None, 'cmake_target_skip_unavailable': False, 'install_base': '/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot', 'merge_install': False, 'path': '/home/robobin/Robobin_Project/ros2/robobin_final/src/super_robot', 'symlink_install': True, 'test_result_base': None}
+[0.381s] INFO:colcon.colcon_core.executor:Executing jobs using 'parallel' executor
+[0.383s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete
+[0.383s] INFO:colcon.colcon_ros.task.ament_cmake.build:Building ROS package in '/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2' with build type 'ament_cmake'
+[0.384s] INFO:colcon.colcon_cmake.task.cmake.build:Building CMake package in '/home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2'
+[0.389s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_core.shell.bat': Not used on non-Windows systems
+[0.390s] INFO:colcon.colcon_core.shell:Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell
+[0.390s] DEBUG:colcon.colcon_core.shell:Skip shell extension 'dsv' for command environment
+[0.399s] INFO:colcon.colcon_ros.task.ament_python.build:Building ROS package in '/home/robobin/Robobin_Project/ros2/robobin_final/src/super_robot' with build type 'ament_python'
+[0.400s] Level 1:colcon.colcon_core.shell:create_environment_hook('super_robot', 'ament_prefix_path')
+[0.400s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot/hook/ament_prefix_path.ps1'
+[0.401s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot/hook/ament_prefix_path.dsv'
+[0.402s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot/hook/ament_prefix_path.sh'
+[0.404s] INFO:colcon.colcon_core.shell:Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell
+[0.404s] DEBUG:colcon.colcon_core.shell:Skip shell extension 'dsv' for command environment
+[0.416s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoking command in '/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot:/home/robobin/Robobin_Project/ros2/robobin_main/install/testing:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_localization_ekf:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_description:/home/robobin/Robobin_Project/ros2/robobin_main/install/odometry_publisher:/opt/ros/jazzy DEBUGINFOD_URLS=https://debuginfod.ubuntu.com /usr/bin/cmake /home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2 -DAMENT_CMAKE_SYMLINK_INSTALL=1 -DCMAKE_INSTALL_PREFIX=/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2
+[0.899s] INFO:colcon.colcon_core.task.python.build:Building Python package in '/home/robobin/Robobin_Project/ros2/robobin_final/src/super_robot'
+[0.900s] INFO:colcon.colcon_core.shell:Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell
+[0.900s] DEBUG:colcon.colcon_core.shell:Skip shell extension 'dsv' for command environment
+[1.791s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoked command in '/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot:/home/robobin/Robobin_Project/ros2/robobin_main/install/testing:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_localization_ekf:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_description:/home/robobin/Robobin_Project/ros2/robobin_main/install/odometry_publisher:/opt/ros/jazzy DEBUGINFOD_URLS=https://debuginfod.ubuntu.com /usr/bin/cmake /home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2 -DAMENT_CMAKE_SYMLINK_INSTALL=1 -DCMAKE_INSTALL_PREFIX=/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2
+[1.793s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoking command in '/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot:/home/robobin/Robobin_Project/ros2/robobin_main/install/testing:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_localization_ekf:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_description:/home/robobin/Robobin_Project/ros2/robobin_main/install/odometry_publisher:/opt/ros/jazzy DEBUGINFOD_URLS=https://debuginfod.ubuntu.com /usr/bin/cmake --build /home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2 -- -j4 -l4
+[2.284s] DEBUG:colcon.colcon_core.task.python.build:While undoing a previous installation files outside the Python library path are being ignored: /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/ament_index/resource_index/packages/super_robot
+[2.285s] DEBUG:colcon.colcon_core.task.python.build:While undoing a previous installation files outside the Python library path are being ignored: /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot/package.xml
+[2.285s] DEBUG:colcon.colcon_core.task.python.build:While undoing a previous installation files outside the Python library path are being ignored: /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot/launch/launch_lidar.py
+[2.286s] DEBUG:colcon.colcon_core.task.python.build:While undoing a previous installation files outside the Python library path are being ignored: /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot/launch/ekf_launch.py
+[2.286s] DEBUG:colcon.colcon_core.task.python.build:While undoing a previous installation files outside the Python library path are being ignored: /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot/launch/view_robot.py
+[2.287s] DEBUG:colcon.colcon_core.task.python.build:While undoing a previous installation files outside the Python library path are being ignored: /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot/config/robot.urdf
+[2.287s] DEBUG:colcon.colcon_core.task.python.build:While undoing a previous installation files outside the Python library path are being ignored: /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot/config/ekf.yaml
+[2.288s] DEBUG:colcon.colcon_core.task.python.build:While undoing a previous installation files outside the Python library path are being ignored: /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot/config/urdf_config.rviz
+[2.288s] DEBUG:colcon.colcon_core.task.python.build:While undoing a previous installation files outside the Python library path are being ignored: /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot/config/scan_filter.yaml
+[2.289s] DEBUG:colcon.colcon_core.task.python.build:While undoing a previous installation files outside the Python library path are being ignored: /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/super_robot/odometry_node
+[2.289s] DEBUG:colcon.colcon_core.task.python.build:While undoing a previous installation files outside the Python library path are being ignored: /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/super_robot/test_control_feedback
+[2.289s] DEBUG:colcon.colcon_core.task.python.build:While undoing a previous installation files outside the Python library path are being ignored: /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/super_robot/test_encoder_node
+[2.289s] DEBUG:colcon.colcon_core.task.python.build:While undoing a previous installation files outside the Python library path are being ignored: /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/super_robot/test_imu_node
+[2.290s] DEBUG:colcon.colcon_core.task.python.build:While undoing a previous installation files outside the Python library path are being ignored: /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/super_robot/test_motor_node
+[2.290s] DEBUG:colcon.colcon_core.task.python.build:While undoing a previous installation files outside the Python library path are being ignored: /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/super_robot/test_route
+[2.290s] DEBUG:colcon.colcon_core.task.python.build:While undoing a previous installation files outside the Python library path are being ignored: /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/super_robot/test_route_filter
+[2.314s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoking command in '/home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py develop --editable --build-directory /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/build --no-deps symlink_data --force
+[3.683s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoked command in '/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot:/home/robobin/Robobin_Project/ros2/robobin_main/install/testing:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_localization_ekf:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_description:/home/robobin/Robobin_Project/ros2/robobin_main/install/odometry_publisher:/opt/ros/jazzy DEBUGINFOD_URLS=https://debuginfod.ubuntu.com /usr/bin/cmake --build /home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2 -- -j4 -l4
+[3.712s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoking command in '/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot:/home/robobin/Robobin_Project/ros2/robobin_main/install/testing:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_localization_ekf:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_description:/home/robobin/Robobin_Project/ros2/robobin_main/install/odometry_publisher:/opt/ros/jazzy DEBUGINFOD_URLS=https://debuginfod.ubuntu.com /usr/bin/cmake --install /home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2
+[5.669s] Level 1:colcon.colcon_core.environment:create_environment_scripts_only(sllidar_ros2)
+[5.670s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoked command in '/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot:/home/robobin/Robobin_Project/ros2/robobin_main/install/testing:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_localization_ekf:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_description:/home/robobin/Robobin_Project/ros2/robobin_main/install/odometry_publisher:/opt/ros/jazzy DEBUGINFOD_URLS=https://debuginfod.ubuntu.com /usr/bin/cmake --install /home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2
+[5.691s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2' for CMake module files
+[5.695s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2' for CMake config files
+[5.697s] Level 1:colcon.colcon_core.shell:create_environment_hook('sllidar_ros2', 'cmake_prefix_path')
+[5.699s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/hook/cmake_prefix_path.ps1'
+[5.702s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/hook/cmake_prefix_path.dsv'
+[5.704s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/hook/cmake_prefix_path.sh'
+[5.719s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/lib'
+[5.724s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/bin'
+[5.725s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/lib/pkgconfig/sllidar_ros2.pc'
+[5.725s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/lib/python3.12/site-packages'
+[5.730s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/bin'
+[5.732s] INFO:colcon.colcon_core.shell:Creating package script '/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/package.ps1'
+[5.744s] INFO:colcon.colcon_core.shell:Creating package descriptor '/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/package.dsv'
+[5.754s] INFO:colcon.colcon_core.shell:Creating package script '/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/package.sh'
+[5.756s] INFO:colcon.colcon_core.shell:Creating package script '/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/package.bash'
+[5.763s] INFO:colcon.colcon_core.shell:Creating package script '/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/package.zsh'
+[5.769s] Level 1:colcon.colcon_core.environment:create_file_with_runtime_dependencies(/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/colcon-core/packages/sllidar_ros2)
+[5.782s] Level 1:colcon.colcon_core.environment:create_environment_scripts_only(sllidar_ros2)
+[5.796s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2' for CMake module files
+[5.816s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2' for CMake config files
+[5.818s] Level 1:colcon.colcon_core.shell:create_environment_hook('sllidar_ros2', 'cmake_prefix_path')
+[5.822s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/hook/cmake_prefix_path.ps1'
+[5.824s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/hook/cmake_prefix_path.dsv'
+[5.825s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/hook/cmake_prefix_path.sh'
+[5.833s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/lib'
+[5.834s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/bin'
+[5.835s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/lib/pkgconfig/sllidar_ros2.pc'
+[5.836s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/lib/python3.12/site-packages'
+[5.839s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/bin'
+[5.842s] INFO:colcon.colcon_core.shell:Creating package script '/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/package.ps1'
+[5.845s] INFO:colcon.colcon_core.shell:Creating package descriptor '/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/package.dsv'
+[5.849s] INFO:colcon.colcon_core.shell:Creating package script '/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/package.sh'
+[5.857s] INFO:colcon.colcon_core.shell:Creating package script '/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/package.bash'
+[5.858s] INFO:colcon.colcon_core.shell:Creating package script '/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/package.zsh'
+[5.860s] Level 1:colcon.colcon_core.environment:create_file_with_runtime_dependencies(/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/colcon-core/packages/sllidar_ros2)
+[6.095s] Level 1:colcon.colcon_core.shell:create_environment_hook('super_robot', 'pythonpath_develop')
+[6.096s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/share/super_robot/hook/pythonpath_develop.ps1'
+[6.100s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/share/super_robot/hook/pythonpath_develop.dsv'
+[6.103s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoked command in '/home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot' returned '0': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py develop --editable --build-directory /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/build --no-deps symlink_data --force
+[6.107s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/share/super_robot/hook/pythonpath_develop.sh'
+[6.111s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot' for CMake module files
+[6.118s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot' for CMake config files
+[6.121s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib'
+[6.121s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/bin'
+[6.122s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/pkgconfig/super_robot.pc'
+[6.122s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages'
+[6.123s] Level 1:colcon.colcon_core.shell:create_environment_hook('super_robot', 'pythonpath')
+[6.129s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot/hook/pythonpath.ps1'
+[6.132s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot/hook/pythonpath.dsv'
+[6.134s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot/hook/pythonpath.sh'
+[6.137s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/bin'
+[6.137s] Level 1:colcon.colcon_core.environment:create_environment_scripts_only(super_robot)
+[6.139s] INFO:colcon.colcon_core.shell:Creating package script '/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot/package.ps1'
+[6.142s] INFO:colcon.colcon_core.shell:Creating package descriptor '/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot/package.dsv'
+[6.144s] INFO:colcon.colcon_core.shell:Creating package script '/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot/package.sh'
+[6.147s] INFO:colcon.colcon_core.shell:Creating package script '/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot/package.bash'
+[6.150s] INFO:colcon.colcon_core.shell:Creating package script '/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot/package.zsh'
+[6.153s] Level 1:colcon.colcon_core.environment:create_file_with_runtime_dependencies(/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/colcon-core/packages/super_robot)
+[6.155s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:closing loop
+[6.155s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:loop closed
+[6.156s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete finished with '0'
+[6.157s] DEBUG:colcon.colcon_core.event_reactor:joining thread
+[6.204s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.terminal_notifier': Not used on non-Darwin systems
+[6.205s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.win32': Not used on non-Windows systems
+[6.206s] INFO:colcon.colcon_notification.desktop_notification:Sending desktop notification using 'notify2'
+[6.293s] DEBUG:colcon.colcon_core.event_reactor:joined thread
+[6.295s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/robobin/Robobin_Project/ros2/robobin_final/install/local_setup.ps1'
+[6.302s] INFO:colcon.colcon_core.shell:Creating prefix util module '/home/robobin/Robobin_Project/ros2/robobin_final/install/_local_setup_util_ps1.py'
+[6.307s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/robobin/Robobin_Project/ros2/robobin_final/install/setup.ps1'
+[6.320s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/robobin/Robobin_Project/ros2/robobin_final/install/local_setup.sh'
+[6.322s] INFO:colcon.colcon_core.shell:Creating prefix util module '/home/robobin/Robobin_Project/ros2/robobin_final/install/_local_setup_util_sh.py'
+[6.330s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/robobin/Robobin_Project/ros2/robobin_final/install/setup.sh'
+[6.337s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/robobin/Robobin_Project/ros2/robobin_final/install/local_setup.bash'
+[6.343s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/robobin/Robobin_Project/ros2/robobin_final/install/setup.bash'
+[6.352s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/robobin/Robobin_Project/ros2/robobin_final/install/local_setup.zsh'
+[6.356s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/robobin/Robobin_Project/ros2/robobin_final/install/setup.zsh'
diff --git a/robobin_final/log/build_2024-12-19_19-16-30/sllidar_ros2/command.log b/robobin_final/log/build_2024-12-19_19-16-30/sllidar_ros2/command.log
new file mode 100644
index 00000000..be010fd8
--- /dev/null
+++ b/robobin_final/log/build_2024-12-19_19-16-30/sllidar_ros2/command.log
@@ -0,0 +1,6 @@
+Invoking command in '/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot:/home/robobin/Robobin_Project/ros2/robobin_main/install/testing:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_localization_ekf:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_description:/home/robobin/Robobin_Project/ros2/robobin_main/install/odometry_publisher:/opt/ros/jazzy DEBUGINFOD_URLS=https://debuginfod.ubuntu.com /usr/bin/cmake /home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2 -DAMENT_CMAKE_SYMLINK_INSTALL=1 -DCMAKE_INSTALL_PREFIX=/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2
+Invoked command in '/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot:/home/robobin/Robobin_Project/ros2/robobin_main/install/testing:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_localization_ekf:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_description:/home/robobin/Robobin_Project/ros2/robobin_main/install/odometry_publisher:/opt/ros/jazzy DEBUGINFOD_URLS=https://debuginfod.ubuntu.com /usr/bin/cmake /home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2 -DAMENT_CMAKE_SYMLINK_INSTALL=1 -DCMAKE_INSTALL_PREFIX=/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2
+Invoking command in '/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot:/home/robobin/Robobin_Project/ros2/robobin_main/install/testing:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_localization_ekf:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_description:/home/robobin/Robobin_Project/ros2/robobin_main/install/odometry_publisher:/opt/ros/jazzy DEBUGINFOD_URLS=https://debuginfod.ubuntu.com /usr/bin/cmake --build /home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2 -- -j4 -l4
+Invoked command in '/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot:/home/robobin/Robobin_Project/ros2/robobin_main/install/testing:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_localization_ekf:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_description:/home/robobin/Robobin_Project/ros2/robobin_main/install/odometry_publisher:/opt/ros/jazzy DEBUGINFOD_URLS=https://debuginfod.ubuntu.com /usr/bin/cmake --build /home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2 -- -j4 -l4
+Invoking command in '/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot:/home/robobin/Robobin_Project/ros2/robobin_main/install/testing:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_localization_ekf:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_description:/home/robobin/Robobin_Project/ros2/robobin_main/install/odometry_publisher:/opt/ros/jazzy DEBUGINFOD_URLS=https://debuginfod.ubuntu.com /usr/bin/cmake --install /home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2
+Invoked command in '/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot:/home/robobin/Robobin_Project/ros2/robobin_main/install/testing:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_localization_ekf:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_description:/home/robobin/Robobin_Project/ros2/robobin_main/install/odometry_publisher:/opt/ros/jazzy DEBUGINFOD_URLS=https://debuginfod.ubuntu.com /usr/bin/cmake --install /home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2
diff --git a/robobin_final/log/build_2024-12-19_19-16-30/sllidar_ros2/stderr.log b/robobin_final/log/build_2024-12-19_19-16-30/sllidar_ros2/stderr.log
new file mode 100644
index 00000000..e69de29b
diff --git a/robobin_final/log/build_2024-12-19_19-16-30/sllidar_ros2/stdout.log b/robobin_final/log/build_2024-12-19_19-16-30/sllidar_ros2/stdout.log
new file mode 100644
index 00000000..dd7e26a6
--- /dev/null
+++ b/robobin_final/log/build_2024-12-19_19-16-30/sllidar_ros2/stdout.log
@@ -0,0 +1,65 @@
+-- Found ament_cmake: 2.5.2 (/opt/ros/jazzy/share/ament_cmake/cmake)
+-- Override CMake install command with custom implementation using symlinks instead of copying resources
+-- Found rclcpp: 28.1.5 (/opt/ros/jazzy/share/rclcpp/cmake)
+-- Found rosidl_generator_c: 4.6.4 (/opt/ros/jazzy/share/rosidl_generator_c/cmake)
+-- Found rosidl_generator_cpp: 4.6.4 (/opt/ros/jazzy/share/rosidl_generator_cpp/cmake)
+-- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c
+-- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp
+-- Found rmw_implementation_cmake: 7.3.1 (/opt/ros/jazzy/share/rmw_implementation_cmake/cmake)
+-- Found rmw_fastrtps_cpp: 8.4.1 (/opt/ros/jazzy/share/rmw_fastrtps_cpp/cmake)
+-- Using RMW implementation 'rmw_fastrtps_cpp' as default
+-- Found sensor_msgs: 5.3.5 (/opt/ros/jazzy/share/sensor_msgs/cmake)
+-- Found std_srvs: 5.3.5 (/opt/ros/jazzy/share/std_srvs/cmake)
+-- Configuring done (1.3s)
+-- Generating done (0.0s)
+-- Build files have been written to: /home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2
+[ 5%] [32m[1mLinking CXX executable sllidar_client[0m
+[ 10%] [32m[1mLinking CXX executable sllidar_node[0m
+[ 95%] Built target sllidar_node
+[100%] Built target sllidar_client
+-- Install configuration: ""
+-- Execute custom install script
+-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_a1_launch.py
+-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_a2m12_launch .py
+-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_a2m7_launch.py
+-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_a2m8_launch.py
+-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_a3_launch.py
+-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_c1_launch.py
+-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_s1_launch.py
+-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_s1_tcp_launch.py
+-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_s2_launch.py
+-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_s2e_launch.py
+-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_s3_launch.py
+-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_t1_launch.py
+-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_a1_launch.py
+-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_a2m12_launch.py
+-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_a2m7_launch.py
+-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_a2m8_launch.py
+-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_a3_launch.py
+-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_c1_launch.py
+-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_s1_launch.py
+-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_s1_tcp_launch.py
+-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_s2_launch.py
+-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_s2e_launch.py
+-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_s3_launch.py
+-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_t1_launch.py
+-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/rviz/sllidar_ros2.rviz
+-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/lib/sllidar_ros2/sllidar_node
+-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/lib/sllidar_ros2/sllidar_client
+-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/ament_index/resource_index/package_run_dependencies/sllidar_ros2
+-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/ament_index/resource_index/parent_prefix_path/sllidar_ros2
+-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/environment/ament_prefix_path.sh
+-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/environment/ament_prefix_path.dsv
+-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/environment/path.sh
+-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/environment/path.dsv
+-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/local_setup.bash
+-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/local_setup.sh
+-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/local_setup.zsh
+-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/local_setup.dsv
+-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/package.dsv
+-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/ament_index/resource_index/packages/sllidar_ros2
+-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/cmake/ament_cmake_export_dependencies-extras.cmake
+-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/cmake/ament_cmake_export_include_directories-extras.cmake
+-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/cmake/sllidar_ros2Config.cmake
+-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/cmake/sllidar_ros2Config-version.cmake
+-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/package.xml
diff --git a/robobin_final/log/build_2024-12-19_19-16-30/sllidar_ros2/stdout_stderr.log b/robobin_final/log/build_2024-12-19_19-16-30/sllidar_ros2/stdout_stderr.log
new file mode 100644
index 00000000..dd7e26a6
--- /dev/null
+++ b/robobin_final/log/build_2024-12-19_19-16-30/sllidar_ros2/stdout_stderr.log
@@ -0,0 +1,65 @@
+-- Found ament_cmake: 2.5.2 (/opt/ros/jazzy/share/ament_cmake/cmake)
+-- Override CMake install command with custom implementation using symlinks instead of copying resources
+-- Found rclcpp: 28.1.5 (/opt/ros/jazzy/share/rclcpp/cmake)
+-- Found rosidl_generator_c: 4.6.4 (/opt/ros/jazzy/share/rosidl_generator_c/cmake)
+-- Found rosidl_generator_cpp: 4.6.4 (/opt/ros/jazzy/share/rosidl_generator_cpp/cmake)
+-- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c
+-- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp
+-- Found rmw_implementation_cmake: 7.3.1 (/opt/ros/jazzy/share/rmw_implementation_cmake/cmake)
+-- Found rmw_fastrtps_cpp: 8.4.1 (/opt/ros/jazzy/share/rmw_fastrtps_cpp/cmake)
+-- Using RMW implementation 'rmw_fastrtps_cpp' as default
+-- Found sensor_msgs: 5.3.5 (/opt/ros/jazzy/share/sensor_msgs/cmake)
+-- Found std_srvs: 5.3.5 (/opt/ros/jazzy/share/std_srvs/cmake)
+-- Configuring done (1.3s)
+-- Generating done (0.0s)
+-- Build files have been written to: /home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2
+[ 5%] [32m[1mLinking CXX executable sllidar_client[0m
+[ 10%] [32m[1mLinking CXX executable sllidar_node[0m
+[ 95%] Built target sllidar_node
+[100%] Built target sllidar_client
+-- Install configuration: ""
+-- Execute custom install script
+-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_a1_launch.py
+-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_a2m12_launch .py
+-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_a2m7_launch.py
+-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_a2m8_launch.py
+-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_a3_launch.py
+-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_c1_launch.py
+-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_s1_launch.py
+-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_s1_tcp_launch.py
+-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_s2_launch.py
+-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_s2e_launch.py
+-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_s3_launch.py
+-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_t1_launch.py
+-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_a1_launch.py
+-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_a2m12_launch.py
+-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_a2m7_launch.py
+-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_a2m8_launch.py
+-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_a3_launch.py
+-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_c1_launch.py
+-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_s1_launch.py
+-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_s1_tcp_launch.py
+-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_s2_launch.py
+-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_s2e_launch.py
+-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_s3_launch.py
+-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_t1_launch.py
+-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/rviz/sllidar_ros2.rviz
+-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/lib/sllidar_ros2/sllidar_node
+-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/lib/sllidar_ros2/sllidar_client
+-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/ament_index/resource_index/package_run_dependencies/sllidar_ros2
+-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/ament_index/resource_index/parent_prefix_path/sllidar_ros2
+-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/environment/ament_prefix_path.sh
+-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/environment/ament_prefix_path.dsv
+-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/environment/path.sh
+-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/environment/path.dsv
+-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/local_setup.bash
+-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/local_setup.sh
+-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/local_setup.zsh
+-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/local_setup.dsv
+-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/package.dsv
+-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/ament_index/resource_index/packages/sllidar_ros2
+-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/cmake/ament_cmake_export_dependencies-extras.cmake
+-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/cmake/ament_cmake_export_include_directories-extras.cmake
+-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/cmake/sllidar_ros2Config.cmake
+-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/cmake/sllidar_ros2Config-version.cmake
+-- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/package.xml
diff --git a/robobin_final/log/build_2024-12-19_19-16-30/sllidar_ros2/streams.log b/robobin_final/log/build_2024-12-19_19-16-30/sllidar_ros2/streams.log
new file mode 100644
index 00000000..a32575e8
--- /dev/null
+++ b/robobin_final/log/build_2024-12-19_19-16-30/sllidar_ros2/streams.log
@@ -0,0 +1,71 @@
+[0.032s] Invoking command in '/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot:/home/robobin/Robobin_Project/ros2/robobin_main/install/testing:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_localization_ekf:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_description:/home/robobin/Robobin_Project/ros2/robobin_main/install/odometry_publisher:/opt/ros/jazzy DEBUGINFOD_URLS=https://debuginfod.ubuntu.com /usr/bin/cmake /home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2 -DAMENT_CMAKE_SYMLINK_INSTALL=1 -DCMAKE_INSTALL_PREFIX=/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2
+[0.069s] -- Found ament_cmake: 2.5.2 (/opt/ros/jazzy/share/ament_cmake/cmake)
+[0.546s] -- Override CMake install command with custom implementation using symlinks instead of copying resources
+[0.557s] -- Found rclcpp: 28.1.5 (/opt/ros/jazzy/share/rclcpp/cmake)
+[0.599s] -- Found rosidl_generator_c: 4.6.4 (/opt/ros/jazzy/share/rosidl_generator_c/cmake)
+[0.619s] -- Found rosidl_generator_cpp: 4.6.4 (/opt/ros/jazzy/share/rosidl_generator_cpp/cmake)
+[0.637s] -- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c
+[0.658s] -- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp
+[0.754s] -- Found rmw_implementation_cmake: 7.3.1 (/opt/ros/jazzy/share/rmw_implementation_cmake/cmake)
+[0.756s] -- Found rmw_fastrtps_cpp: 8.4.1 (/opt/ros/jazzy/share/rmw_fastrtps_cpp/cmake)
+[0.861s] -- Using RMW implementation 'rmw_fastrtps_cpp' as default
+[0.957s] -- Found sensor_msgs: 5.3.5 (/opt/ros/jazzy/share/sensor_msgs/cmake)
+[1.066s] -- Found std_srvs: 5.3.5 (/opt/ros/jazzy/share/std_srvs/cmake)
+[1.323s] -- Configuring done (1.3s)
+[1.367s] -- Generating done (0.0s)
+[1.388s] -- Build files have been written to: /home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2
+[1.407s] Invoked command in '/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot:/home/robobin/Robobin_Project/ros2/robobin_main/install/testing:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_localization_ekf:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_description:/home/robobin/Robobin_Project/ros2/robobin_main/install/odometry_publisher:/opt/ros/jazzy DEBUGINFOD_URLS=https://debuginfod.ubuntu.com /usr/bin/cmake /home/robobin/Robobin_Project/ros2/robobin_final/src/sllidar_ros2 -DAMENT_CMAKE_SYMLINK_INSTALL=1 -DCMAKE_INSTALL_PREFIX=/home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2
+[1.409s] Invoking command in '/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot:/home/robobin/Robobin_Project/ros2/robobin_main/install/testing:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_localization_ekf:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_description:/home/robobin/Robobin_Project/ros2/robobin_main/install/odometry_publisher:/opt/ros/jazzy DEBUGINFOD_URLS=https://debuginfod.ubuntu.com /usr/bin/cmake --build /home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2 -- -j4 -l4
+[1.533s] [ 5%] [32m[1mLinking CXX executable sllidar_client[0m
+[1.582s] [ 10%] [32m[1mLinking CXX executable sllidar_node[0m
+[3.187s] [ 95%] Built target sllidar_node
+[3.253s] [100%] Built target sllidar_client
+[3.299s] Invoked command in '/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot:/home/robobin/Robobin_Project/ros2/robobin_main/install/testing:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_localization_ekf:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_description:/home/robobin/Robobin_Project/ros2/robobin_main/install/odometry_publisher:/opt/ros/jazzy DEBUGINFOD_URLS=https://debuginfod.ubuntu.com /usr/bin/cmake --build /home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2 -- -j4 -l4
+[3.328s] Invoking command in '/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot:/home/robobin/Robobin_Project/ros2/robobin_main/install/testing:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_localization_ekf:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_description:/home/robobin/Robobin_Project/ros2/robobin_main/install/odometry_publisher:/opt/ros/jazzy DEBUGINFOD_URLS=https://debuginfod.ubuntu.com /usr/bin/cmake --install /home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2
+[3.350s] -- Install configuration: ""
+[3.351s] -- Execute custom install script
+[3.355s] -- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_a1_launch.py
+[3.395s] -- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_a2m12_launch .py
+[3.423s] -- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_a2m7_launch.py
+[3.447s] -- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_a2m8_launch.py
+[3.484s] -- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_a3_launch.py
+[3.517s] -- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_c1_launch.py
+[3.555s] -- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_s1_launch.py
+[3.598s] -- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_s1_tcp_launch.py
+[3.646s] -- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_s2_launch.py
+[3.680s] -- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_s2e_launch.py
+[3.768s] -- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_s3_launch.py
+[3.820s] -- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/sllidar_t1_launch.py
+[3.863s] -- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_a1_launch.py
+[3.908s] -- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_a2m12_launch.py
+[3.940s] -- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_a2m7_launch.py
+[4.003s] -- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_a2m8_launch.py
+[4.048s] -- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_a3_launch.py
+[4.094s] -- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_c1_launch.py
+[4.124s] -- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_s1_launch.py
+[4.163s] -- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_s1_tcp_launch.py
+[4.220s] -- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_s2_launch.py
+[4.273s] -- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_s2e_launch.py
+[4.335s] -- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_s3_launch.py
+[4.399s] -- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/launch/view_sllidar_t1_launch.py
+[4.443s] -- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/rviz/sllidar_ros2.rviz
+[4.507s] -- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/lib/sllidar_ros2/sllidar_node
+[4.573s] -- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/lib/sllidar_ros2/sllidar_client
+[4.621s] -- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/ament_index/resource_index/package_run_dependencies/sllidar_ros2
+[4.657s] -- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/ament_index/resource_index/parent_prefix_path/sllidar_ros2
+[4.704s] -- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/environment/ament_prefix_path.sh
+[4.745s] -- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/environment/ament_prefix_path.dsv
+[4.784s] -- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/environment/path.sh
+[4.814s] -- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/environment/path.dsv
+[4.847s] -- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/local_setup.bash
+[4.880s] -- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/local_setup.sh
+[4.959s] -- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/local_setup.zsh
+[4.998s] -- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/local_setup.dsv
+[5.032s] -- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/package.dsv
+[5.062s] -- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/ament_index/resource_index/packages/sllidar_ros2
+[5.104s] -- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/cmake/ament_cmake_export_dependencies-extras.cmake
+[5.143s] -- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/cmake/ament_cmake_export_include_directories-extras.cmake
+[5.166s] -- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/cmake/sllidar_ros2Config.cmake
+[5.204s] -- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/cmake/sllidar_ros2Config-version.cmake
+[5.246s] -- Symlinking: /home/robobin/Robobin_Project/ros2/robobin_final/install/sllidar_ros2/share/sllidar_ros2/package.xml
+[5.286s] Invoked command in '/home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot:/home/robobin/Robobin_Project/ros2/robobin_main/install/testing:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_localization_ekf:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_description:/home/robobin/Robobin_Project/ros2/robobin_main/install/odometry_publisher:/opt/ros/jazzy DEBUGINFOD_URLS=https://debuginfod.ubuntu.com /usr/bin/cmake --install /home/robobin/Robobin_Project/ros2/robobin_final/build/sllidar_ros2
diff --git a/robobin_final/log/build_2024-12-19_19-16-30/super_robot/command.log b/robobin_final/log/build_2024-12-19_19-16-30/super_robot/command.log
new file mode 100644
index 00000000..20eb2338
--- /dev/null
+++ b/robobin_final/log/build_2024-12-19_19-16-30/super_robot/command.log
@@ -0,0 +1,2 @@
+Invoking command in '/home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py develop --editable --build-directory /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/build --no-deps symlink_data --force
+Invoked command in '/home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot' returned '0': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py develop --editable --build-directory /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/build --no-deps symlink_data --force
diff --git a/robobin_final/log/build_2024-12-19_19-16-30/super_robot/stderr.log b/robobin_final/log/build_2024-12-19_19-16-30/super_robot/stderr.log
new file mode 100644
index 00000000..e69de29b
diff --git a/robobin_final/log/build_2024-12-19_19-16-30/super_robot/stdout.log b/robobin_final/log/build_2024-12-19_19-16-30/super_robot/stdout.log
new file mode 100644
index 00000000..8ceb787a
--- /dev/null
+++ b/robobin_final/log/build_2024-12-19_19-16-30/super_robot/stdout.log
@@ -0,0 +1,30 @@
+running develop
+running egg_info
+writing super_robot.egg-info/PKG-INFO
+writing dependency_links to super_robot.egg-info/dependency_links.txt
+writing entry points to super_robot.egg-info/entry_points.txt
+writing requirements to super_robot.egg-info/requires.txt
+writing top-level names to super_robot.egg-info/top_level.txt
+reading manifest file 'super_robot.egg-info/SOURCES.txt'
+writing manifest file 'super_robot.egg-info/SOURCES.txt'
+running build_ext
+Creating /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages/super-robot.egg-link (link to .)
+Installing odometry_node script to /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/super_robot
+Installing test_control_feedback script to /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/super_robot
+Installing test_encoder_node script to /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/super_robot
+Installing test_imu_node script to /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/super_robot
+Installing test_motor_node script to /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/super_robot
+Installing test_route script to /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/super_robot
+Installing test_route_filter script to /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/super_robot
+
+Installed /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot
+running symlink_data
+symbolically linking /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/resource/super_robot -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/ament_index/resource_index/packages
+symbolically linking /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/package.xml -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot
+symbolically linking /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/launch/launch_lidar.py -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot/launch
+symbolically linking /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/launch/ekf_launch.py -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot/launch
+symbolically linking /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/launch/view_robot.py -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot/launch
+symbolically linking /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/config/robot.urdf -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot/config
+symbolically linking /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/config/ekf.yaml -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot/config
+symbolically linking /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/config/urdf_config.rviz -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot/config
+symbolically linking /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/config/scan_filter.yaml -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot/config
diff --git a/robobin_final/log/build_2024-12-19_19-16-30/super_robot/stdout_stderr.log b/robobin_final/log/build_2024-12-19_19-16-30/super_robot/stdout_stderr.log
new file mode 100644
index 00000000..8ceb787a
--- /dev/null
+++ b/robobin_final/log/build_2024-12-19_19-16-30/super_robot/stdout_stderr.log
@@ -0,0 +1,30 @@
+running develop
+running egg_info
+writing super_robot.egg-info/PKG-INFO
+writing dependency_links to super_robot.egg-info/dependency_links.txt
+writing entry points to super_robot.egg-info/entry_points.txt
+writing requirements to super_robot.egg-info/requires.txt
+writing top-level names to super_robot.egg-info/top_level.txt
+reading manifest file 'super_robot.egg-info/SOURCES.txt'
+writing manifest file 'super_robot.egg-info/SOURCES.txt'
+running build_ext
+Creating /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages/super-robot.egg-link (link to .)
+Installing odometry_node script to /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/super_robot
+Installing test_control_feedback script to /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/super_robot
+Installing test_encoder_node script to /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/super_robot
+Installing test_imu_node script to /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/super_robot
+Installing test_motor_node script to /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/super_robot
+Installing test_route script to /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/super_robot
+Installing test_route_filter script to /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/super_robot
+
+Installed /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot
+running symlink_data
+symbolically linking /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/resource/super_robot -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/ament_index/resource_index/packages
+symbolically linking /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/package.xml -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot
+symbolically linking /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/launch/launch_lidar.py -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot/launch
+symbolically linking /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/launch/ekf_launch.py -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot/launch
+symbolically linking /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/launch/view_robot.py -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot/launch
+symbolically linking /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/config/robot.urdf -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot/config
+symbolically linking /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/config/ekf.yaml -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot/config
+symbolically linking /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/config/urdf_config.rviz -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot/config
+symbolically linking /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/config/scan_filter.yaml -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot/config
diff --git a/robobin_final/log/build_2024-12-19_19-16-30/super_robot/streams.log b/robobin_final/log/build_2024-12-19_19-16-30/super_robot/streams.log
new file mode 100644
index 00000000..44b12833
--- /dev/null
+++ b/robobin_final/log/build_2024-12-19_19-16-30/super_robot/streams.log
@@ -0,0 +1,32 @@
+[1.914s] Invoking command in '/home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py develop --editable --build-directory /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/build --no-deps symlink_data --force
+[3.563s] running develop
+[4.780s] running egg_info
+[4.961s] writing super_robot.egg-info/PKG-INFO
+[4.963s] writing dependency_links to super_robot.egg-info/dependency_links.txt
+[4.970s] writing entry points to super_robot.egg-info/entry_points.txt
+[4.971s] writing requirements to super_robot.egg-info/requires.txt
+[4.971s] writing top-level names to super_robot.egg-info/top_level.txt
+[5.348s] reading manifest file 'super_robot.egg-info/SOURCES.txt'
+[5.348s] writing manifest file 'super_robot.egg-info/SOURCES.txt'
+[5.437s] running build_ext
+[5.438s] Creating /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages/super-robot.egg-link (link to .)
+[5.441s] Installing odometry_node script to /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/super_robot
+[5.445s] Installing test_control_feedback script to /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/super_robot
+[5.450s] Installing test_encoder_node script to /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/super_robot
+[5.450s] Installing test_imu_node script to /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/super_robot
+[5.450s] Installing test_motor_node script to /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/super_robot
+[5.451s] Installing test_route script to /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/super_robot
+[5.451s] Installing test_route_filter script to /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/super_robot
+[5.451s]
+[5.451s] Installed /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot
+[5.451s] running symlink_data
+[5.452s] symbolically linking /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/resource/super_robot -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/ament_index/resource_index/packages
+[5.452s] symbolically linking /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/package.xml -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot
+[5.454s] symbolically linking /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/launch/launch_lidar.py -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot/launch
+[5.454s] symbolically linking /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/launch/ekf_launch.py -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot/launch
+[5.454s] symbolically linking /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/launch/view_robot.py -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot/launch
+[5.455s] symbolically linking /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/config/robot.urdf -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot/config
+[5.455s] symbolically linking /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/config/ekf.yaml -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot/config
+[5.455s] symbolically linking /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/config/urdf_config.rviz -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot/config
+[5.455s] symbolically linking /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/config/scan_filter.yaml -> /home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/share/super_robot/config
+[5.703s] Invoked command in '/home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot' returned '0': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/Robobin_Project/ros2/robobin_final/install/super_robot/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py develop --editable --build-directory /home/robobin/Robobin_Project/ros2/robobin_final/build/super_robot/build --no-deps symlink_data --force
diff --git a/robobin_final/log/latest b/robobin_final/log/latest
new file mode 120000
index 00000000..b57d247c
--- /dev/null
+++ b/robobin_final/log/latest
@@ -0,0 +1 @@
+latest_build
\ No newline at end of file
diff --git a/robobin_final/log/latest_build b/robobin_final/log/latest_build
new file mode 120000
index 00000000..98d3e175
--- /dev/null
+++ b/robobin_final/log/latest_build
@@ -0,0 +1 @@
+build_2024-12-19_19-16-30
\ No newline at end of file
diff --git a/robobin_final/src/.vscode/c_cpp_properties.json b/robobin_final/src/.vscode/c_cpp_properties.json
new file mode 100644
index 00000000..675dcbe2
--- /dev/null
+++ b/robobin_final/src/.vscode/c_cpp_properties.json
@@ -0,0 +1,20 @@
+{
+ "configurations": [
+ {
+ "browse": {
+ "databaseFilename": "${default}",
+ "limitSymbolsToIncludedHeaders": false
+ },
+ "includePath": [
+ "/opt/ros/jazzy/include/**",
+ "/usr/include/**"
+ ],
+ "name": "ROS",
+ "intelliSenseMode": "gcc-arm64",
+ "compilerPath": "/usr/bin/gcc",
+ "cStandard": "gnu11",
+ "cppStandard": "c++14"
+ }
+ ],
+ "version": 4
+}
\ No newline at end of file
diff --git a/robobin_final/src/.vscode/settings.json b/robobin_final/src/.vscode/settings.json
new file mode 100644
index 00000000..b07cde31
--- /dev/null
+++ b/robobin_final/src/.vscode/settings.json
@@ -0,0 +1,24 @@
+{
+ "python.autoComplete.extraPaths": [
+ "/home/robobin/Robobin_Project/ros2/robobin_main/build/testing",
+ "/home/robobin/Robobin_Project/ros2/robobin_main/install/testing/lib/python3.12/site-packages",
+ "/home/robobin/Robobin_Project/ros2/robobin_main/build/robot_localization_ekf",
+ "/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_localization_ekf/lib/python3.12/site-packages",
+ "/home/robobin/Robobin_Project/ros2/robobin_main/build/robot_description",
+ "/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_description/lib/python3.12/site-packages",
+ "/home/robobin/Robobin_Project/ros2/robobin_main/build/odometry_publisher",
+ "/home/robobin/Robobin_Project/ros2/robobin_main/install/odometry_publisher/lib/python3.12/site-packages",
+ "/opt/ros/jazzy/lib/python3.12/site-packages"
+ ],
+ "python.analysis.extraPaths": [
+ "/home/robobin/Robobin_Project/ros2/robobin_main/build/testing",
+ "/home/robobin/Robobin_Project/ros2/robobin_main/install/testing/lib/python3.12/site-packages",
+ "/home/robobin/Robobin_Project/ros2/robobin_main/build/robot_localization_ekf",
+ "/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_localization_ekf/lib/python3.12/site-packages",
+ "/home/robobin/Robobin_Project/ros2/robobin_main/build/robot_description",
+ "/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_description/lib/python3.12/site-packages",
+ "/home/robobin/Robobin_Project/ros2/robobin_main/build/odometry_publisher",
+ "/home/robobin/Robobin_Project/ros2/robobin_main/install/odometry_publisher/lib/python3.12/site-packages",
+ "/opt/ros/jazzy/lib/python3.12/site-packages"
+ ]
+}
\ No newline at end of file
diff --git a/robobin_final/src/sllidar_ros2 b/robobin_final/src/sllidar_ros2
new file mode 160000
index 00000000..34300099
--- /dev/null
+++ b/robobin_final/src/sllidar_ros2
@@ -0,0 +1 @@
+Subproject commit 34300099fadfc772965962dec837bf436706188f
diff --git a/robobin_final/src/super_robot/config/ekf.yaml b/robobin_final/src/super_robot/config/ekf.yaml
new file mode 100755
index 00000000..7f16396b
--- /dev/null
+++ b/robobin_final/src/super_robot/config/ekf.yaml
@@ -0,0 +1,39 @@
+ekf_filter_node:
+ ros__parameters:
+ frequency: 10.0
+ two_d_mode: true
+ publish_tf: true # Transform broadcasting
+
+ # Frame IDs
+ map_frame: map # Global frame
+ odom_frame: odom # Odometry frame
+ base_link_frame: base_link
+ world_frame: odom
+
+ # Sensor Inputs
+ odom0: odom
+ odom0_config: [true, true, false,
+ false, false, true,
+ false, false, false,
+ false, false, false,
+ false, false, false]
+ odom0_queue_size: 10
+
+ #[x_pos, y_pos, z_pos,
+ # roll, pitch, yaw,
+ # x_vel, y_vel, z_vel,
+ # roll_vel, pitch_vel, yaw_vel,
+ # x_acce, y_acce, z_acce]
+
+ imu0: imu
+ imu0_config: [false, false, false,
+ true, true, true,
+ false, false, false,
+ false, false, true,
+ true, false, false]
+
+ imu0_queue_size: 10
+
+ # Set to true if IMU provides orientation data
+
+
diff --git a/robobin_final/src/super_robot/config/robot.urdf b/robobin_final/src/super_robot/config/robot.urdf
new file mode 100644
index 00000000..1f3e1f54
--- /dev/null
+++ b/robobin_final/src/super_robot/config/robot.urdf
@@ -0,0 +1,123 @@
+<robot name="robo_bin">
+
+ <!-- Base Link -->
+ <link name="base_link">
+ </link>
+
+ <!-- Platform -->
+ <link name="Platform">
+ <visual>
+ <origin xyz="0 0 0.1"/>
+ <geometry>
+ <box size = "0.36 0.36 0.25"/>
+ </geometry>
+ <material name="white">
+ <color rgba="1 1 1 1"/>
+ </material>
+ </visual>
+ </link>
+
+ <joint name="platform_joint" type="fixed">
+ <parent link="base_link"/>
+ <child link="Platform"/>
+ <origin xyz="0 0 0"/>
+ </joint>
+
+
+
+ <!-- Left Wheel -->
+ <link name="left_wheel">
+ <visual>
+ <geometry>
+ <cylinder length="0.04" radius="0.075"/>
+ </geometry>
+ <material name="black">
+ <color rgba="0 0 0 1"/>
+ </material>
+ </visual>
+ </link>
+
+ <!-- Right Wheel -->
+ <link name="right_wheel">
+ <visual>
+ <geometry>
+ <cylinder length="0.04" radius="0.075"/>
+ </geometry>
+ <material name="black">
+ <color rgba="0 0 0 1"/>
+ </material>
+ </visual>
+ </link>
+
+ <!-- Base to Left Wheel Joint -->
+ <joint name="base_to_left_wheel" type="continuous">
+ <parent link="base_link"/>
+ <child link="left_wheel"/>
+ <origin xyz="0 0.20 0" rpy="-1.57 0 0"/> <!-- No rotation needed if wheels align by default -->
+ <axis xyz="0 0 1"/> <!-- X-axis for forward rotation -->
+ </joint>
+
+ <!-- Base to Right Wheel Joint -->
+ <joint name="base_to_right_wheel" type="continuous">
+ <parent link="base_link"/>
+ <child link="right_wheel"/>
+ <origin xyz="0 -0.20 0" rpy="1.57 0 0"/> <!-- No rotation needed -->
+ <axis xyz="0 0 -1"/> <!-- X-axis for forward rotation -->
+ </joint>
+
+ <!-- Transmission for Left Wheel -->
+ <transmission name="left_wheel_transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="base_to_left_wheel">
+ <hardwareInterface>PositionJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+
+ <!-- Transmission for Right Wheel -->
+ <transmission name="right_wheel_transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="base_to_right_wheel">
+ <hardwareInterface>PositionJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+
+ <!-- IMU Link -->
+<link name="imu_link">
+ <visual>
+ <geometry>
+ <cylinder length="0.05" radius="0.02"/>
+ </geometry>
+ <material name="gray">
+ <color rgba="0.5 0.5 0.5 1"/>
+ </material>
+ </visual>
+</link>
+
+<!-- IMU Joint -->
+<joint name="imu_joint" type="fixed">
+ <parent link="base_link"/>
+ <child link="imu_link"/>
+ <origin xyz="0 0 0.1" rpy="0 0 0"/> <!-- Adjust position as needed -->
+</joint>
+
+<!-- LiDAR Link -->
+<link name="lidar_link">
+ <visual>
+ <geometry>
+ <cylinder length="0.05" radius="0.03"/>
+ </geometry>
+ <material name="blue">
+ <color rgba="0 0 1 1"/>
+ </material>
+ </visual>
+</link>
+
+<!-- LiDAR Joint -->
+<joint name="base_to_lidar" type="fixed">
+ <parent link="base_link"/>
+ <child link="lidar_link"/>
+ <origin xyz="0 0 0.25" rpy="0 0 0"/> <!-- Adjust the height as needed -->
+</joint>
+
+
+</robot>
diff --git a/robobin_final/src/super_robot/config/scan_filter.yaml b/robobin_final/src/super_robot/config/scan_filter.yaml
new file mode 100644
index 00000000..072b5446
--- /dev/null
+++ b/robobin_final/src/super_robot/config/scan_filter.yaml
@@ -0,0 +1,9 @@
+scan_to_scan_filter_chain:
+ ros__parameters:
+ filter1:
+ name: range_filter
+ type: laser_filters/LaserScanRangeFilter
+ params:
+ lower_threshold: 0.25
+ upper_threshold: 12.0
+
diff --git a/robobin_final/src/super_robot/config/urdf_config.rviz b/robobin_final/src/super_robot/config/urdf_config.rviz
new file mode 100644
index 00000000..6d1a6242
--- /dev/null
+++ b/robobin_final/src/super_robot/config/urdf_config.rviz
@@ -0,0 +1,370 @@
+Panels:
+ - Class: rviz_common/Displays
+ Help Height: 78
+ Name: Displays
+ Property Tree Widget:
+ Expanded:
+ - /Global Options1
+ - /Status1
+ - /Imu1/Axes properties1
+ - /Odometry2/Shape1
+ - /Odometry2/Covariance1
+ - /LaserScan1
+ Splitter Ratio: 0.5
+ Tree Height: 542
+ - Class: rviz_common/Selection
+ Name: Selection
+ - Class: rviz_common/Tool Properties
+ Expanded:
+ - /2D Goal Pose1
+ - /Publish Point1
+ Name: Tool Properties
+ Splitter Ratio: 0.5886790156364441
+ - Class: rviz_common/Views
+ Expanded:
+ - /Current View1
+ Name: Views
+ Splitter Ratio: 0.5
+ - Class: rviz_common/Time
+ Experimental: false
+ Name: Time
+ SyncMode: 0
+ SyncSource: LaserScan
+Visualization Manager:
+ Class: ""
+ Displays:
+ - Alpha: 0.5
+ Cell Size: 1
+ Class: rviz_default_plugins/Grid
+ Color: 160; 160; 164
+ Enabled: true
+ Line Style:
+ Line Width: 0.029999999329447746
+ Value: Lines
+ Name: Grid
+ Normal Cell Count: 0
+ Offset:
+ X: 0
+ Y: 0
+ Z: 0
+ Plane: XY
+ Plane Cell Count: 10
+ Reference Frame: <Fixed Frame>
+ Value: true
+ - Class: rviz_default_plugins/TF
+ Enabled: true
+ Filter (blacklist): ""
+ Filter (whitelist): ""
+ Frame Timeout: 15
+ Frames:
+ All Enabled: true
+ Platform:
+ Value: true
+ base_link:
+ Value: true
+ imu_link:
+ Value: true
+ left_wheel:
+ Value: true
+ lidar_link:
+ Value: true
+ right_wheel:
+ Value: true
+ Marker Scale: 1
+ Name: TF
+ Show Arrows: true
+ Show Axes: true
+ Show Names: false
+ Tree:
+ base_link:
+ Platform:
+ {}
+ imu_link:
+ {}
+ left_wheel:
+ {}
+ lidar_link:
+ {}
+ right_wheel:
+ {}
+ Update Interval: 0
+ Value: true
+ - Alpha: 1
+ Class: rviz_default_plugins/RobotModel
+ Collision Enabled: false
+ Description File: ""
+ Description Source: Topic
+ Description Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /robot_description
+ Enabled: true
+ Links:
+ All Links Enabled: true
+ Expand Joint Details: false
+ Expand Link Details: false
+ Expand Tree: false
+ Link Tree Style: Links in Alphabetic Order
+ Platform:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ base_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ imu_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ left_wheel:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ lidar_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ right_wheel:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ Mass Properties:
+ Inertia: false
+ Mass: false
+ Name: RobotModel
+ TF Prefix: ""
+ Update Interval: 0
+ Value: true
+ Visual Enabled: true
+ - Angle Tolerance: 0.10000000149011612
+ Class: rviz_default_plugins/Odometry
+ Covariance:
+ Orientation:
+ Alpha: 0.5
+ Color: 255; 255; 127
+ Color Style: Unique
+ Frame: Local
+ Offset: 1
+ Scale: 1
+ Value: true
+ Position:
+ Alpha: 0.30000001192092896
+ Color: 204; 51; 204
+ Scale: 1
+ Value: true
+ Value: false
+ Enabled: true
+ Keep: 100
+ Name: Odometry
+ Position Tolerance: 0.10000000149011612
+ Shape:
+ Alpha: 1
+ Axes Length: 1
+ Axes Radius: 0.10000000149011612
+ Color: 255; 25; 0
+ Head Length: 0.30000001192092896
+ Head Radius: 0.10000000149011612
+ Shaft Length: 1
+ Shaft Radius: 0.05000000074505806
+ Value: Arrow
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ Filter size: 10
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: odom
+ Value: true
+ - Acceleration properties:
+ Acc. vector alpha: 1
+ Acc. vector color: 255; 0; 0
+ Acc. vector scale: 1
+ Derotate acceleration: true
+ Enable acceleration: false
+ Axes properties:
+ Axes scale: 0.5
+ Enable axes: true
+ Box properties:
+ Box alpha: 1
+ Box color: 255; 0; 0
+ Enable box: false
+ x_scale: 1
+ y_scale: 1
+ z_scale: 1
+ Class: rviz_imu_plugin/Imu
+ Enabled: false
+ Name: Imu
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ Filter size: 10
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: imu
+ Value: false
+ fixed_frame_orientation: true
+ - Angle Tolerance: 0.10000000149011612
+ Class: rviz_default_plugins/Odometry
+ Covariance:
+ Orientation:
+ Alpha: 0.5
+ Color: 255; 255; 127
+ Color Style: Unique
+ Frame: Local
+ Offset: 1
+ Scale: 1
+ Value: true
+ Position:
+ Alpha: 0.30000001192092896
+ Color: 204; 51; 204
+ Scale: 1
+ Value: true
+ Value: false
+ Enabled: true
+ Keep: 100
+ Name: Odometry
+ Position Tolerance: 0.10000000149011612
+ Shape:
+ Alpha: 1
+ Axes Length: 1
+ Axes Radius: 0.10000000149011612
+ Color: 0; 255; 0
+ Head Length: 0.30000001192092896
+ Head Radius: 0.10000000149011612
+ Shaft Length: 0.5
+ Shaft Radius: 0.05000000074505806
+ Value: Arrow
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ Filter size: 10
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /odometry/filtered
+ Value: true
+ - Alpha: 1
+ Autocompute Intensity Bounds: true
+ Autocompute Value Bounds:
+ Max Value: 10
+ Min Value: -10
+ Value: true
+ Axis: Z
+ Channel Name: intensity
+ Class: rviz_default_plugins/LaserScan
+ Color: 255; 255; 255
+ Color Transformer: Intensity
+ Decay Time: 0
+ Enabled: true
+ Invert Rainbow: false
+ Max Color: 255; 255; 255
+ Max Intensity: 47
+ Min Color: 0; 0; 0
+ Min Intensity: 47
+ Name: LaserScan
+ Position Transformer: XYZ
+ Selectable: true
+ Size (Pixels): 3
+ Size (m): 0.009999999776482582
+ Style: Flat Squares
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ Filter size: 10
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /scan
+ Use Fixed Frame: true
+ Use rainbow: true
+ Value: true
+ Enabled: true
+ Global Options:
+ Background Color: 48; 48; 48
+ Fixed Frame: base_link
+ Frame Rate: 30
+ Name: root
+ Tools:
+ - Class: rviz_default_plugins/Interact
+ Hide Inactive Objects: true
+ - Class: rviz_default_plugins/MoveCamera
+ - Class: rviz_default_plugins/Select
+ - Class: rviz_default_plugins/FocusCamera
+ - Class: rviz_default_plugins/Measure
+ Line color: 128; 128; 0
+ - Class: rviz_default_plugins/SetInitialPose
+ Covariance x: 0.25
+ Covariance y: 0.25
+ Covariance yaw: 0.06853891909122467
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /initialpose
+ - Class: rviz_default_plugins/SetGoal
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /goal_pose
+ - Class: rviz_default_plugins/PublishPoint
+ Single click: true
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /clicked_point
+ Transformation:
+ Current:
+ Class: rviz_default_plugins/TF
+ Value: true
+ Views:
+ Current:
+ Class: rviz_default_plugins/Orbit
+ Distance: 2.230358839035034
+ Enable Stereo Rendering:
+ Stereo Eye Separation: 0.05999999865889549
+ Stereo Focal Distance: 1
+ Swap Stereo Eyes: false
+ Value: false
+ Focal Point:
+ X: 0
+ Y: 0
+ Z: 0
+ Focal Shape Fixed Size: true
+ Focal Shape Size: 0.05000000074505806
+ Invert Z Axis: false
+ Name: Current View
+ Near Clip Distance: 0.009999999776482582
+ Pitch: 0.7703984975814819
+ Target Frame: <Fixed Frame>
+ Value: Orbit (rviz)
+ Yaw: 2.677208662033081
+ Saved: ~
+Window Geometry:
+ Displays:
+ collapsed: false
+ Height: 846
+ Hide Left Dock: false
+ Hide Right Dock: false
+ QMainWindow State: 000000ff00000000fd000000040000000000000156000002acfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005d00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003f000002ac000000cc00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002acfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003f000002ac000000a900fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000026f00fffffffb0000000800540069006d006501000000000000045000000000000000000000023f000002ac00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+ Selection:
+ collapsed: false
+ Time:
+ collapsed: false
+ Tool Properties:
+ collapsed: false
+ Views:
+ collapsed: false
+ Width: 1200
+ X: 1142
+ Y: 206
diff --git a/robobin_final/src/super_robot/launch/ekf_launch.py b/robobin_final/src/super_robot/launch/ekf_launch.py
new file mode 100644
index 00000000..0e7e851c
--- /dev/null
+++ b/robobin_final/src/super_robot/launch/ekf_launch.py
@@ -0,0 +1,22 @@
+import os
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from ament_index_python.packages import get_package_share_directory
+
+def generate_launch_description():
+ # Get the absolute path to ekf.yaml
+ ekf_config = os.path.join(
+ get_package_share_directory('super_robot'), # Replace with your package name
+ 'config',
+ 'ekf.yaml'
+ )
+
+ return LaunchDescription([
+ Node(
+ package='robot_localization',
+ executable='ekf_node',
+ name='ekf_filter_node',
+ output='screen',
+ parameters=[ekf_config],
+ )
+ ])
\ No newline at end of file
diff --git a/robobin_final/src/super_robot/launch/launch_lidar.py b/robobin_final/src/super_robot/launch/launch_lidar.py
new file mode 100755
index 00000000..34fba051
--- /dev/null
+++ b/robobin_final/src/super_robot/launch/launch_lidar.py
@@ -0,0 +1,78 @@
+#!/usr/bin/env python3
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.actions import LogInfo
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+ channel_type = LaunchConfiguration('channel_type', default='serial')
+ serial_port = LaunchConfiguration('serial_port', default='/dev/ttyUSB0')
+ serial_baudrate = LaunchConfiguration('serial_baudrate', default='115200')
+ frame_id = LaunchConfiguration('frame_id', default='laser')
+ inverted = LaunchConfiguration('inverted', default='false')
+ angle_compensate = LaunchConfiguration('angle_compensate', default='true')
+ scan_mode = LaunchConfiguration('scan_mode', default='Sensitivity')
+
+ return LaunchDescription([
+
+ DeclareLaunchArgument(
+ 'channel_type',
+ default_value=channel_type,
+ description='Specifying channel type of lidar'),
+
+ DeclareLaunchArgument(
+ 'serial_port',
+ default_value=serial_port,
+ description='Specifying usb port to connected lidar'),
+
+ DeclareLaunchArgument(
+ 'serial_baudrate',
+ default_value=serial_baudrate,
+ description='Specifying usb port baudrate to connected lidar'),
+
+ DeclareLaunchArgument(
+ 'frame_id',
+ default_value=frame_id,
+ description='Specifying frame_id of lidar'),
+
+ DeclareLaunchArgument(
+ 'inverted',
+ default_value=inverted,
+ description='Specifying whether or not to invert scan data'),
+
+ DeclareLaunchArgument(
+ 'angle_compensate',
+ default_value=angle_compensate,
+ description='Specifying whether or not to enable angle_compensate of scan data'),
+ DeclareLaunchArgument(
+ 'scan_mode',
+ default_value=scan_mode,
+ description='Specifying scan mode of lidar'),
+
+
+ Node(
+ package='sllidar_ros2',
+ executable='sllidar_node',
+ name='sllidar_node',
+ parameters=[{'channel_type':channel_type,
+ 'serial_port': serial_port,
+ 'serial_baudrate': serial_baudrate,
+ 'frame_id': frame_id,
+ 'inverted': inverted,
+ 'angle_compensate': angle_compensate}],
+ output='screen'),
+
+ Node(
+ package='tf2_ros',
+ executable='static_transform_publisher',
+ name='static_tf_pub_laser',
+ arguments=['0', '0', '0', '0', '0', '0', 'base_link', 'laser']
+ ),
+ ])
+
diff --git a/robobin_final/src/super_robot/launch/view_robot.py b/robobin_final/src/super_robot/launch/view_robot.py
new file mode 100644
index 00000000..f0f262af
--- /dev/null
+++ b/robobin_final/src/super_robot/launch/view_robot.py
@@ -0,0 +1,73 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from ament_index_python.packages import get_package_share_directory
+import os
+
+def generate_launch_description():
+ urdf_file_name = 'robot.urdf'
+ urdf = os.path.join(
+ get_package_share_directory('super_robot'),
+ 'config',
+ urdf_file_name)
+
+ rviz_config_file = os.path.join(
+ get_package_share_directory('super_robot'),
+ 'config',
+ 'urdf_config.rviz')
+
+ lidar_config = os.path.join(
+ get_package_share_directory('super_robot'),
+ 'config',
+ 'scan_filter.yaml'
+ )
+
+ return LaunchDescription([
+ Node(
+ package='joint_state_publisher',
+ executable='joint_state_publisher',
+ name='joint_state_publisher',
+ output='screen',
+ ),
+ Node(
+ package='robot_state_publisher',
+ executable='robot_state_publisher',
+ name='robot_state_publisher',
+ output='screen',
+ parameters=[{'robot_description': open(urdf).read()}]
+ ),
+ Node(
+ package='rviz2',
+ executable='rviz2',
+ name='rviz2',
+ output='screen',
+ arguments=['-d', rviz_config_file]
+ ),
+
+ # LiDAR Node
+ Node(
+ package='sllidar_ros2',
+ executable='sllidar_node',
+ name='sllidar_node',
+ parameters=[{
+ 'channel_type': 'serial',
+ 'serial_port': '/dev/ttyUSB0',
+ 'serial_baudrate': 115200,
+ 'frame_id': 'lidar_link', # Match the LiDAR frame to the URDF
+ 'inverted': False,
+ 'angle_compensate': True
+ }],
+ output='screen'
+ ),
+
+ # Laser Filter Node
+ Node(
+ package='laser_filters',
+ executable='scan_to_scan_filter_chain',
+ parameters=[lidar_config],
+ remappings=[
+ ('scan', '/scan'),
+ ('scan_filtered', '/scan_filtered')
+ ],
+ output='screen'
+ )
+ ])
\ No newline at end of file
diff --git a/robobin_final/src/super_robot/package.xml b/robobin_final/src/super_robot/package.xml
new file mode 100644
index 00000000..b4b2cebd
--- /dev/null
+++ b/robobin_final/src/super_robot/package.xml
@@ -0,0 +1,42 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+ <name>super_robot</name>
+ <version>0.0.0</version>
+ <description>TODO: Package description</description>
+ <maintainer email="jzc1e20@soton.ac.uk">robobin</maintainer>
+ <license>TODO: License declaration</license>
+
+ <depend>rclpy</depend>
+ <depend>sensor_msgs</depend>
+ <depend>geometry_msgs</depend>
+
+
+ <test_depend>ament_copyright</test_depend>
+ <test_depend>ament_flake8</test_depend>
+ <test_depend>ament_pep257</test_depend>
+ <test_depend>python3-pytest</test_depend>
+
+ <exec_depend>std_msgs</exec_depend>
+ <exec_depend>nav_msgs</exec_depend>
+ <exec_depend>tf_transformations</exec_depend>
+ <exec_depend>tf2_ros</exec_depend>
+
+ <exec_depend>robot_state_publisher</exec_depend>
+ <exec_depend>rviz2</exec_depend>
+ <exec_depend>launch</exec_depend>
+ <exec_depend>launch_ros</exec_depend>
+
+
+ <exec_depend>robot_localization</exec_depend>
+
+ <exec_depend>python3-smbus</exec_depend>
+ <exec_depend>python3-gpiozero</exec_depend>
+
+ <depend>std_srvs</depend>
+
+
+ <export>
+ <build_type>ament_python</build_type>
+ </export>
+</package>
diff --git a/robobin_final/src/super_robot/resource/super_robot b/robobin_final/src/super_robot/resource/super_robot
new file mode 100644
index 00000000..e69de29b
diff --git a/robobin_final/src/super_robot/setup.cfg b/robobin_final/src/super_robot/setup.cfg
new file mode 100644
index 00000000..10ebf255
--- /dev/null
+++ b/robobin_final/src/super_robot/setup.cfg
@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/super_robot
+[install]
+install_scripts=$base/lib/super_robot
diff --git a/robobin_final/src/super_robot/setup.py b/robobin_final/src/super_robot/setup.py
new file mode 100644
index 00000000..620c7be3
--- /dev/null
+++ b/robobin_final/src/super_robot/setup.py
@@ -0,0 +1,40 @@
+from setuptools import find_packages, setup
+from glob import glob
+package_name = 'super_robot'
+
+setup(
+ name=package_name,
+ version='0.0.0',
+ packages=find_packages(exclude=['test']),
+ data_files=[
+ ('share/ament_index/resource_index/packages',
+ ['resource/' + package_name]),
+ ('share/' + package_name, ['package.xml']),
+ ('share/' + package_name + '/launch', glob('launch/*.py')),
+ ('share/' + package_name + '/config', ['config/robot.urdf']),
+ ('share/' + package_name + '/config', ['config/ekf.yaml']),
+ ('share/' + package_name + '/config', ['config/urdf_config.rviz']),
+ ('share/' + package_name + '/config', ['config/scan_filter.yaml']),
+
+ ],
+ install_requires=['setuptools',
+ 'gpiozero'],
+ zip_safe=True,
+ maintainer='robobin',
+ maintainer_email='jzc1e20@soton.ac.uk',
+ description='TODO: Package description',
+ license='TODO: License declaration',
+ tests_require=['pytest'],
+ entry_points={
+ 'console_scripts': [
+ 'odometry_node = super_robot.odometry_node:main',
+ 'test_imu_node = super_robot.imu_node:main',
+ 'test_motor_node = super_robot.motor_control_node:main',
+ 'test_encoder_node = super_robot.encoder:main',
+ 'test_control_feedback = super_robot.control_feedback:main',
+ 'test_route = super_robot.route:main',
+ 'test_route_filter = super_robot.route_filtered:main',
+
+ ],
+ },
+)
diff --git a/robobin_final/src/super_robot/super_robot/__init__.py b/robobin_final/src/super_robot/super_robot/__init__.py
new file mode 100755
index 00000000..e69de29b
diff --git a/robobin_final/src/super_robot/super_robot/__pycache__/__init__.cpython-312.pyc b/robobin_final/src/super_robot/super_robot/__pycache__/__init__.cpython-312.pyc
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diff --git a/robobin_final/src/super_robot/super_robot/control_feedback.py b/robobin_final/src/super_robot/super_robot/control_feedback.py
new file mode 100755
index 00000000..9762167a
--- /dev/null
+++ b/robobin_final/src/super_robot/super_robot/control_feedback.py
@@ -0,0 +1,320 @@
+import rclpy
+from rclpy.node import Node
+from geometry_msgs.msg import Twist
+from std_msgs.msg import Int64, Float64
+from gpiozero import PWMOutputDevice, DigitalOutputDevice
+import time
+from rclpy.clock import Clock
+from rclpy.time import Time
+import bisect
+
+
+
+# Example of how you could implement a simple PID controller
+class PIDController:
+ def __init__(self, kp, ki, kd):
+ self.kp = kp
+ self.ki = ki
+ self.kd = kd
+ self.prev_error = 0
+ self.integral = 0
+
+ def reset(self):
+ self.prev_error = 0
+ self.integral = 0
+
+ def calculate(self, error, dt):
+ self.integral += error * dt
+ derivative = (error - self.prev_error) / dt
+ output = self.kp * error + self.ki * self.integral + self.kd * derivative
+ self.prev_error = error
+ return output
+
+
+
+
+class MotorControlNode(Node):
+ def __init__(self):
+ super().__init__('control_feedback_node')
+
+ # Initialize encoder values
+ self.encoder_left_steps = 0
+ self.encoder_right_steps = 0
+
+ # Desired speeds from cmd_vel
+ self.desired_linear_speed = 0.0
+ self.desired_angular_speed = 0.0
+
+ self.prev_left_steps = 0
+ self.prev_right_steps = 0
+
+ self.left_pwm = 0
+ self.right_pwm = 0
+
+ self.prev_desired_speed = 0.0
+
+
+ #Time
+ self.prev_time = time.time()
+ #self.prev_time = self.get_clock().now
+
+
+ # Robot parameters
+ self.wheel_base = 0.40
+ self.encoder_steps_per_rotation = 310
+ self.wheel_radius = 0.075
+
+ # Initialize the motors
+ self.motor = Motor(self,14,15,18, 17, 22, 27)
+
+ # PID controllers
+ self.pid_left_forward = PIDController(kp=0.5, ki=0.0, kd=0.001)
+ self.pid_right_forward = PIDController(kp=0.525, ki=0.0, kd=0.001)
+
+ self.pid_left_backward = PIDController(kp=0.525, ki=0.0, kd=0.001)
+ self.pid_right_backward = PIDController(kp=0.5, ki=0.0, kd=0.001)
+
+
+
+
+ # Subscribe to cmd_vel topic
+ self.subscription = self.create_subscription(
+ Twist,
+ '/cmd_vel',
+ self.cmd_vel_callback,
+ 10
+ )
+
+ # Subscribe to encoder data
+ self.left_encoder_sub = self.create_subscription(
+ Int64,
+ 'left_wheel_steps',
+ self.left_encoder_callback,
+ 10
+ )
+ self.right_encoder_sub = self.create_subscription(
+ Int64,
+ 'right_wheel_steps',
+ self.right_encoder_callback,
+ 10
+ )
+
+ self.left_actual_speed_pub = self.create_publisher(Float64, 'left_actual_wheel_speed', 10)
+ self.right_actual_speed_pub = self.create_publisher(Float64, 'right_actual_wheel_speed', 10)
+ self.desired_speed_pub = self.create_publisher(Float64, 'desired_wheel_speed', 10)
+
+ # Timer to update motor speeds
+ self.control_timer = self.create_timer(0.1, self.control_loop)
+
+ self.get_logger().info('Motor control node with encoder feedback has been started.')
+
+ def cmd_vel_callback(self, msg):
+ # Store desired speeds
+ self.desired_linear_speed = msg.linear.x # Forward/backward speed
+ self.desired_angular_speed = msg.angular.z # Turning rate
+
+ # if (self.desired_linear_speed >= 0 and self.prev_desired_speed < 0) or (self.desired_linear_speed < 0 and self.prev_desired_speed >= 0):
+
+ # self.pid_left_forward.reset()
+ # self.pid_right_forward.reset()
+ # self.pid_left_backward.reset()
+ # self.pid_right_backward.reset()
+
+
+
+
+
+ self.prev_desired_speed = self.desired_linear_speed
+
+ def left_encoder_callback(self, msg):
+ self.encoder_left_steps = msg.data
+
+ def right_encoder_callback(self, msg):
+ self.encoder_right_steps = msg.data
+
+
+ def control_loop(self):
+
+ if self.desired_linear_speed >= 0:
+ # Forward motion
+ left_pid = self.pid_left_forward
+ right_pid = self.pid_right_forward
+ else:
+ # Backward motion
+ left_pid = self.pid_left_backward
+ right_pid = self.pid_right_backward
+
+ if (self.desired_linear_speed == 0) and (self.desired_angular_speed == 0):
+ self.stop_motors()
+ self.pid_left_forward.reset()
+ self.pid_right_forward.reset()
+ self.pid_left_backward.reset()
+ self.pid_right_backward.reset()
+ self.left_pwm =0
+ self.right_pwm =0
+ return
+
+
+
+
+ #Calculate the actual speed
+ #-------------------------------
+ # Calculate elapsed time
+ current_time = time.time()
+ #dt = current_time - self.prev_time
+ dt = max(current_time - self.prev_time, 0.01) # Prevent dt from being too small
+ #dt = max(current_time - self.prev_time, 1e-6) # Avoid zero or too small dt
+ if dt == 0:
+ return
+ self.prev_time = current_time
+
+ # self.prev_time = self.get_clock().now()
+ # current_time = self.get_clock().now()
+ # dt = (current_time - self.prev_time).to_sec()
+ # if dt <= 0.0:
+ # return
+ # self.prev_time = current_time
+
+ #Actual Speed calculation
+ #------------------------------------
+ # Calculate change in encoder steps
+ delta_left_steps = self.encoder_left_steps - self.prev_left_steps
+ delta_right_steps = self.encoder_right_steps - self.prev_right_steps
+
+ self.prev_left_steps = self.encoder_left_steps
+ self.prev_right_steps = self.encoder_right_steps
+
+ # Calculate rotational speeds (RPS)
+ left_rps = delta_left_steps / (self.encoder_steps_per_rotation * dt)
+ right_rps = delta_right_steps / (self.encoder_steps_per_rotation * dt)
+
+ # Convert to linear speed (m/s)
+ left_speed_actual = left_rps * 2 * 3.14159 * self.wheel_radius
+ right_speed_actual = right_rps * 2 * 3.14159 * self.wheel_radius
+
+
+
+ #Desired Speed calculation
+ #------------------------------------
+ # Desired speeds for left and right wheels
+ left_speed_desired = self.desired_linear_speed - (self.desired_angular_speed * self.wheel_base / 2.0)
+ right_speed_desired = self.desired_linear_speed + (self.desired_angular_speed * self.wheel_base / 2.0)
+
+
+
+ # Speed Errors calculation
+ #------------------------------------
+ left_error = left_speed_desired - left_speed_actual
+ right_error = right_speed_desired - right_speed_actual
+
+
+
+ # Use PID controllers for left and right wheels
+ left_pwm_error = left_pid.calculate(left_error, dt)
+ right_pwm_error = right_pid.calculate(right_error, dt)
+
+ self.left_pwm += left_pwm_error
+ self.right_pwm += right_pwm_error
+
+
+
+ # Ensure PWM values are within [-1, 1]
+ left_pwm = max(-1, min(1, self.left_pwm))
+ right_pwm = max(-1, min(1, self.right_pwm))
+
+ # Apply PWM values to motors
+ self.motor.set_pwm(left_pwm, right_pwm)
+
+
+
+
+ # Publish actual speeds
+ left_actual_speed_msg = Float64()
+ left_actual_speed_msg.data = left_speed_actual
+ self.left_actual_speed_pub.publish(left_actual_speed_msg)
+
+ right_actual_speed_msg = Float64()
+ right_actual_speed_msg.data = right_speed_actual
+ self.right_actual_speed_pub.publish(right_actual_speed_msg)
+
+ desired_speed_msg = Float64()
+ desired_speed_msg.data = right_speed_desired
+ self.desired_speed_pub.publish(desired_speed_msg)
+
+
+ # Debugging info
+ self.get_logger().info(f'Left PWM IN: {self.left_pwm:.2f}, Right PWM IN: {right_pwm:.2f}')
+ self.get_logger().info(f'Left Speed Actual: {left_speed_actual:.2f}, Right Speed Actual: {right_speed_actual:.2f}')
+ self.get_logger().info(f'Left Error: {left_error:.2f}, Right Error: {left_pwm_error:.2f}')
+ self.get_logger().info(f'Left_speed_desired: {left_speed_desired:.2f}, Right_speed_desired: {right_speed_desired:.2f}')
+ self.get_logger().info('-----------------------------------------------------------------')
+
+
+ def stop_motors(self):
+ self.motor.stop()
+ self.get_logger().info('Motors have been stopped.')
+
+class Motor:
+ def __init__(self,node, EnaA, In1A, In2A, EnaB, In1B, In2B):
+
+ self.node = node
+ # Left motor control pins
+ self.pwmA = PWMOutputDevice(EnaA)
+ self.in1A = DigitalOutputDevice(In1A)
+ self.in2A = DigitalOutputDevice(In2A)
+
+ # Right motor control pins
+ self.pwmB = PWMOutputDevice(EnaB)
+ self.in1B = DigitalOutputDevice(In1B)
+ self.in2B = DigitalOutputDevice(In2B)
+
+ def set_pwm(self, left_pwm, right_pwm):
+
+ #Deadband to prevent the motors from responding to very small PWM values that could cause jitter.
+ DEADZONE = 0.002
+
+ if abs(left_pwm) < DEADZONE:
+ self.pwmA.value = 0
+ self.in1A.off()
+ self.in2A.off()
+ else:
+ self.pwmA.value = abs(left_pwm)
+ self.in1A.value = left_pwm > 0
+ self.in2A.value = left_pwm < 0
+
+ if abs(right_pwm) < DEADZONE:
+ self.pwmB.value = 0
+ self.in1B.off()
+ self.in2B.off()
+ else:
+ self.pwmB.value = abs(right_pwm)
+ self.in1B.value = right_pwm > 0
+ self.in2B.value = right_pwm < 0
+
+ #self.node.get_logger().info(f"Left Motor PWM: Speed={left_pwm}, Right Motor PWM: Speed={right_pwm}")
+
+ def stop(self):
+ # Stop both motors
+ self.pwmA.value = 0
+ self.pwmB.value = 0
+ self.in1A.off()
+ self.in2A.off()
+ self.in1B.off()
+ self.in2B.off()
+
+
+def main(args=None):
+ rclpy.init(args=args)
+ node = MotorControlNode()
+
+ try:
+ rclpy.spin(node)
+ except KeyboardInterrupt:
+ pass
+ finally:
+ node.stop_motors()
+ node.destroy_node()
+ rclpy.shutdown()
+
+if __name__ == '__main__':
+ main()
diff --git a/robobin_final/src/super_robot/super_robot/encoder.py b/robobin_final/src/super_robot/super_robot/encoder.py
new file mode 100755
index 00000000..4e687cd9
--- /dev/null
+++ b/robobin_final/src/super_robot/super_robot/encoder.py
@@ -0,0 +1,63 @@
+import rclpy
+from rclpy.node import Node
+from std_msgs.msg import Int64
+from gpiozero import RotaryEncoder, InputDevice
+
+
+
+class EncoderReaderNode(Node):
+ def __init__(self):
+ super().__init__('encoder_reader_node')
+
+ motor1A = 5
+ motor1B = 6
+ motor2A = 20
+ motor2B = 21
+
+ self.encoder_left = RotaryEncoder(a = motor1A,b = motor1B, max_steps=0)
+ self.encoder_right = RotaryEncoder(a = motor2A,b = motor2B, max_steps=0)
+
+ # Publishers for encoder steps
+ self.left_encoder_pub = self.create_publisher(Int64, 'left_wheel_steps', 10)
+ self.right_encoder_pub = self.create_publisher(Int64, 'right_wheel_steps', 10)
+
+ # Timer to read encoders
+ self.timer = self.create_timer(0.1, self.publish_encoder_steps)
+
+ self.get_logger().info('Encoder reader node has been started.')
+
+ def publish_encoder_steps(self):
+ # Read encoder steps
+ left_steps = self.encoder_left.steps
+ right_steps = -(self.encoder_right.steps)
+
+ # Create messages
+ left_msg = Int64()
+ left_msg.data = left_steps
+
+ right_msg = Int64()
+ right_msg.data = right_steps
+
+ # Publish messages
+ self.left_encoder_pub.publish(left_msg)
+ self.right_encoder_pub.publish(right_msg)
+
+ # Log the steps
+ self.get_logger().info(f'Left Steps: {left_steps}, Right Steps: {right_steps}')
+
+
+
+def main(args=None):
+ rclpy.init(args=args)
+ node = EncoderReaderNode()
+
+ try:
+ rclpy.spin(node)
+ except KeyboardInterrupt:
+ pass
+ finally:
+ node.destroy_node()
+ rclpy.shutdown()
+
+if __name__ == '__main__':
+ main()
diff --git a/robobin_final/src/super_robot/super_robot/imu_node.py b/robobin_final/src/super_robot/super_robot/imu_node.py
new file mode 100755
index 00000000..1ad68a63
--- /dev/null
+++ b/robobin_final/src/super_robot/super_robot/imu_node.py
@@ -0,0 +1,139 @@
+#!/usr/bin/env python3
+
+import rclpy
+from rclpy.node import Node
+from sensor_msgs.msg import Imu
+from smbus2 import SMBus
+import time
+import math
+
+class BNO055Publisher(Node):
+ def __init__(self):
+ super().__init__('imu_node')
+ self.publisher_ = self.create_publisher(Imu, 'imu', 10)
+ self.timer = self.create_timer(0.1, self.timer_callback) # 10 Hz
+ self.bus = SMBus(1)
+ self.address = 0x28
+ self.init_bno055()
+ time.sleep(1)
+
+ def write_register(self, register, value):
+ self.bus.write_byte_data(self.address, register, value)
+
+ def read_register(self, register, length=1):
+ if length == 1:
+ return self.bus.read_byte_data(self.address, register)
+ else:
+ return self.bus.read_i2c_block_data(self.address, register, length)
+
+ def init_bno055(self):
+ # Switch to CONFIG mode
+ self.write_register(0x3D, 0x00)
+ time.sleep(0.05)
+ # Set power mode to Normal
+ self.write_register(0x3E, 0x00)
+ # Set to NDOF mode
+ self.write_register(0x3D, 0x0C)
+ time.sleep(0.5)
+
+ def read_euler_angles(self):
+ data = self.read_register(0x1A, 6)
+ yaw = (data[1] << 8) | data[0]
+ roll = (data[3] << 8) | data[2]
+ pitch = (data[5] << 8) | data[4]
+ yaw = yaw if yaw < 32768 else yaw - 65536
+ roll = roll if roll < 32768 else roll - 65536
+ pitch = pitch if pitch < 32768 else pitch - 65536
+ yaw = yaw / 16.0
+ roll = roll / 16.0
+ pitch = pitch / 16.0
+ return yaw, pitch, roll
+
+ def read_gyroscope(self):
+ data = self.read_register(0x14, 6)
+ gyro_x = (data[1] << 8) | data[0]
+ gyro_y = (data[3] << 8) | data[2]
+ gyro_z = (data[5] << 8) | data[4]
+ gyro_x = gyro_x if gyro_x < 32768 else gyro_x - 65536
+ gyro_y = gyro_y if gyro_y < 32768 else gyro_y - 65536
+ gyro_z = gyro_z if gyro_z < 32768 else gyro_z - 65536
+ # Convert to degrees per second
+ gyro_x = gyro_x / 900.0
+ gyro_y = gyro_y / 900.0
+ gyro_z = gyro_z / 900.0
+ return gyro_x, gyro_y, gyro_z
+
+ def read_linear_acceleration(self):
+ data = self.read_register(0x08, 6)
+ accel_x = (data[1] << 8) | data[0]
+ accel_y = (data[3] << 8) | data[2]
+ accel_z = (data[5] << 8) | data[4]
+ accel_x = accel_x if accel_x < 32768 else accel_x - 65536
+ accel_y = accel_y if accel_y < 32768 else accel_y - 65536
+ accel_z = accel_z if accel_z < 32768 else accel_z - 65536
+ # Convert to m/s^2 (assuming sensitivity of 1 m/s^2 per LSB)
+ accel_x = accel_x / 100.0 # Adjust based on sensor's sensitivity
+ accel_y = accel_y / 100.0
+ accel_z = accel_z / 100.0
+ return accel_x, accel_y, accel_z
+
+ def timer_callback(self):
+ yaw, pitch, roll = self.read_euler_angles()
+ gyro_x, gyro_y, gyro_z = self.read_gyroscope()
+ accel_x, accel_y, accel_z = self.read_linear_acceleration()
+
+ imu_msg = Imu()
+ imu_msg.header.stamp = self.get_clock().now().to_msg()
+ imu_msg.header.frame_id = 'imu_link'
+
+ # Convert degrees to radians
+ yaw_rad = -(math.radians(yaw))
+ roll_rad = -(math.radians(pitch)) # Note: Check if pitch corresponds to roll
+ pitch_rad = -(math.radians(roll)) # Note: Check if roll corresponds to pitch
+ # Compute quaternion
+ cy = math.cos(yaw_rad * 0.5)
+ sy = math.sin(yaw_rad * 0.5)
+ cp = math.cos(pitch_rad * 0.5)
+ sp = math.sin(pitch_rad * 0.5)
+ cr = math.cos(roll_rad * 0.5)
+ sr = math.sin(roll_rad * 0.5)
+ imu_msg.orientation.w = cr * cp * cy + sr * sp * sy
+ imu_msg.orientation.x = sr * cp * cy - cr * sp * sy
+ imu_msg.orientation.y = cr * sp * cy + sr * cp * sy
+ imu_msg.orientation.z = cr * cp * sy - sr * sp * cy
+
+ # Populate angular velocity (in rad/s)
+ imu_msg.angular_velocity.x = math.radians(gyro_x) # Convert to rad/s
+ imu_msg.angular_velocity.y = math.radians(gyro_y)
+ imu_msg.angular_velocity.z = math.radians(gyro_z)
+
+ # Populate linear acceleration (in m/s^2)
+ imu_msg.linear_acceleration.x = accel_x
+ imu_msg.linear_acceleration.y = accel_y
+ imu_msg.linear_acceleration.z = accel_z
+
+ # Covariances
+ imu_msg.orientation_covariance = [0.0025, 0, 0,
+ 0, 0.0025, 0,
+ 0, 0, 0.0025]
+ imu_msg.angular_velocity_covariance = [0.02, 0, 0,
+ 0, 0.02, 0,
+ 0, 0, 0.02]
+ imu_msg.linear_acceleration_covariance = [0.04, 0, 0,
+ 0, 0.04, 0,
+ 0, 0, 0.04]
+
+ self.publisher_.publish(imu_msg)
+ self.get_logger().info(f'Publishing: Yaw={yaw:.2f}, Pitch={pitch:.2f}, Roll={roll:.2f}, '
+ f'Gyro=({gyro_x:.2f}, {gyro_y:.2f}, {gyro_z:.2f}), '
+ f'Accel=({accel_x:.2f}, {accel_y:.2f}, {accel_z:.2f})')
+
+def main(args=None):
+ rclpy.init(args=args)
+ bno055_publisher = BNO055Publisher()
+ rclpy.spin(bno055_publisher)
+ bno055_publisher.destroy_node()
+ rclpy.shutdown()
+
+if __name__ == '__main__':
+ main()
diff --git a/robobin_final/src/super_robot/super_robot/motor_control_node.py b/robobin_final/src/super_robot/super_robot/motor_control_node.py
new file mode 100755
index 00000000..d882ed7d
--- /dev/null
+++ b/robobin_final/src/super_robot/super_robot/motor_control_node.py
@@ -0,0 +1,78 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from geometry_msgs.msg import Twist
+from gpiozero import PWMOutputDevice
+from time import sleep
+
+class Motor:
+ def __init__(self, node, EnaA, In1A, In2A, EnaB, In1B, In2B):
+ self.node = node
+ self.pwmA = PWMOutputDevice(EnaA)
+ self.in1A = PWMOutputDevice(In1A)
+ self.in2A = PWMOutputDevice(In2A)
+ self.pwmB = PWMOutputDevice(EnaB)
+ self.in1B = PWMOutputDevice(In1B)
+ self.in2B = PWMOutputDevice(In2B)
+
+ def move(self, speed=0.0, turn=0.0):
+ speed = max(-1, min(1, speed))
+ turn = max(-1, min(1, turn))
+
+ leftSpeed = speed - turn
+ rightSpeed = speed + turn
+ '''
+ left_speed = self.desired_speed - (turn_rate * self.motor.wheel_base / 2)
+ right_speed = self.desired_speed + (turn_rate * self.motor.wheel_base / 2)
+ '''
+
+ leftSpeed = max(-1, min(1, leftSpeed))
+ rightSpeed = max(-1, min(1, rightSpeed))
+
+ self.pwmA.value = abs(leftSpeed)
+ self.in1A.value = leftSpeed > 0
+ self.in2A.value = leftSpeed <= 0
+
+ self.pwmB.value = abs(rightSpeed)
+ self.in1B.value = rightSpeed > 0
+ self.in2B.value = rightSpeed <= 0
+
+ self.node.get_logger().info(f"Lefts Motor: Speed={leftSpeed}, Right Motor: Speed={rightSpeed}")
+ #print("hi")
+
+
+ def stop(self):
+ self.pwmA.value = 0
+ self.pwmB.value = 0
+ self.node.get_logger().info("Motors have been stopped.")
+
+class MotorControlNode(Node):
+ def __init__(self):
+ super().__init__('motor_control_node')
+ #left 14,15,18 right 17,27,22
+ self.motor = Motor(self,14,15,18, 17, 22, 27)
+ self.subscription = self.create_subscription(
+ Twist,
+ 'cmd_vel',
+ self.cmd_vel_callback,
+ 10
+ )
+ self.subscription # prevent unused variable warning
+ self.get_logger().info('Motor control node has been started.')
+
+ def cmd_vel_callback(self, msg):
+ linear_x = msg.linear.x
+ angular_z = msg.angular.z
+ self.get_logger().info(f'Speed: {linear_x}, Turn Rate: {angular_z}')
+ self.motor.move(speed=linear_x, turn=angular_z)
+
+def main(args=None):
+ rclpy.init(args=args)
+ node = MotorControlNode()
+ rclpy.spin(node)
+ rclpy.shutdown()
+
+if __name__ == '__main__':
+ main()
+
+#colcon build --symlink-install
\ No newline at end of file
diff --git a/robobin_final/src/super_robot/super_robot/odometry_node.py b/robobin_final/src/super_robot/super_robot/odometry_node.py
new file mode 100755
index 00000000..dd86a746
--- /dev/null
+++ b/robobin_final/src/super_robot/super_robot/odometry_node.py
@@ -0,0 +1,197 @@
+import rclpy
+from rclpy.node import Node
+from std_msgs.msg import Int64
+from nav_msgs.msg import Odometry
+from geometry_msgs.msg import Quaternion, TransformStamped
+from math import sin, cos, pi
+import tf2_ros
+import math
+from sensor_msgs.msg import JointState
+
+
+class OdometryPublisher(Node):
+ def __init__(self):
+ super().__init__('odometry_publisher')
+
+ # Robot parameters
+ self.wheel_radius = 0.075 # meters (example value)
+ self.wheel_base = 0.4 # meters (distance between wheels)
+ self.steps_per_revolution = 310 # from your encoder observations
+ self.wheel_circumference = 2 * pi * self.wheel_radius
+ self.steps_per_meter = self.steps_per_revolution / self.wheel_circumference
+
+ # Initialize encoder readings
+ self.left_encoder = 0
+ self.right_encoder = 0
+ self.last_left_encoder = 0
+ self.last_right_encoder = 0
+
+ # Robot pose
+ self.x = 0.0
+ self.y = 0.0
+ self.theta = 0.0 # Robot's orientation
+
+ # Create subscribers for encoders
+ self.left_encoder_sub = self.create_subscription(
+ Int64,
+ 'left_wheel_steps',
+ self.left_encoder_callback,
+ 10
+ )
+ self.right_encoder_sub = self.create_subscription(
+ Int64,
+ 'right_wheel_steps',
+ self.right_encoder_callback,
+ 10
+ )
+
+ # Publisher for odometry
+ self.odom_pub = self.create_publisher(Odometry, 'odom', 10)
+
+ #self.joint_state_pub = self.create_publisher(JointState, 'joint_states', 10) # New joint state publisher
+
+ # Transform broadcaster
+ #self.tf_broadcaster = tf2_ros.TransformBroadcaster(self)
+
+ # Timer for updating odometry
+ self.timer = self.create_timer(0.1, self.update_odometry)
+
+ self.get_logger().info('Odometry publisher node has been started.')
+
+ def left_encoder_callback(self, msg):
+ self.left_encoder = msg.data
+
+ def right_encoder_callback(self, msg):
+ self.right_encoder = msg.data
+
+ def euler_to_quaternion(self, roll, pitch, yaw):
+ # Compute the half angles
+ cy = math.cos(yaw * 0.5)
+ sy = math.sin(yaw * 0.5)
+ cp = math.cos(pitch * 0.5)
+ sp = math.sin(pitch * 0.5)
+ cr = math.cos(roll * 0.5)
+ sr = math.sin(roll * 0.5)
+
+ # Compute the quaternion components
+ w = cr * cp * cy + sr * sp * sy
+ x = sr * cp * cy - cr * sp * sy
+ y = cr * sp * cy + sr * cp * sy
+ z = cr * cp * sy - sr * sp * cy
+
+ return x, y, z, w
+
+ def update_odometry(self):
+ # Calculate change in encoder readings
+ delta_left = self.left_encoder - self.last_left_encoder
+ delta_right = self.right_encoder - self.last_right_encoder
+
+ self.last_left_encoder = self.left_encoder
+ self.last_right_encoder = self.right_encoder
+
+ # Calculate distance traveled by each wheel
+ distance_left = (delta_left / self.steps_per_revolution) * self.wheel_circumference
+ distance_right = (delta_right / self.steps_per_revolution) * self.wheel_circumference
+
+ # Calculate average distance and change in orientation
+ delta_distance = (distance_right + distance_left) / 2.0
+ delta_theta = (distance_right - distance_left) / self.wheel_base
+
+ # Update robot pose
+ self.theta += delta_theta
+ delta_x = delta_distance * cos(self.theta)
+ delta_y = delta_distance * sin(self.theta)
+
+ self.x += delta_x
+ self.y += delta_y
+
+ # Create quaternion from yaw (using custom euler_to_quaternion)
+ odom_quat = self.euler_to_quaternion(0, 0, self.theta)
+
+ # Publish the odometry message over ROS2
+ odom = Odometry()
+ odom.header.stamp = self.get_clock().now().to_msg()
+ odom.header.frame_id = "raw_odom"
+ #odom.header.frame_id = "odom/filtered"
+
+ # Set the position
+ odom.pose.pose.position.x = self.x
+ odom.pose.pose.position.y = self.y
+ odom.pose.pose.position.z = 0.0
+ odom.pose.pose.orientation = Quaternion(
+ x=odom_quat[0],
+ y=odom_quat[1],
+ z=odom_quat[2],
+ w=odom_quat[3]
+ )
+
+ # Set the velocity (optional, can be set to zero for now)
+ odom.child_frame_id = "base_link"
+
+ odom.twist.twist.linear.x = delta_distance / 0.1 # dt is 0.1 seconds
+ odom.twist.twist.angular.z = delta_theta / 0.1
+
+
+ # Set pose covariance
+ odom.pose.covariance = [0.001, 0, 0, 0, 0, 0,
+ 0, 0.001, 0, 0, 0, 0,
+ 0, 0, 1000000, 0, 0, 0,
+ 0, 0, 0, 1000000, 0, 0,
+ 0, 0, 0, 0, 1000000, 0,
+ 0, 0, 0, 0, 0, 0.01]
+
+ # Set twist covariance
+ odom.twist.covariance = [0.0001, 0, 0, 0, 0, 0,
+ 0, 0.0001, 0, 0, 0, 0,
+ 0, 0, 1000000, 0, 0, 0,
+ 0, 0, 0, 1000000, 0, 0,
+ 0, 0, 0, 0, 1000000, 0,
+ 0, 0, 0, 0, 0, 0.001]
+
+
+ # Publish the message
+ self.odom_pub.publish(odom)
+
+ # # Publish the transform over TF
+ # t = TransformStamped()
+ # t.header.stamp = self.get_clock().now().to_msg()
+ # t.header.frame_id = 'odom'
+ # #t.header.frame_id = 'odom'
+ # t.child_frame_id = 'base_link'
+
+ # t.transform.translation.x = self.x
+ # t.transform.translation.y = self.y
+ # t.transform.translation.z = 0.0
+ # t.transform.rotation = Quaternion(
+ # x=odom_quat[0],
+ # y=odom_quat[1],
+ # z=odom_quat[2],
+ # w=odom_quat[3]
+ # )
+
+ # self.tf_broadcaster.sendTransform(t)
+
+ # #Publish joint states
+ # joint_state_msg = JointState()
+ # joint_state_msg.header.stamp = self.get_clock().now().to_msg()
+ # joint_state_msg.name = ['base_to_left_wheel', 'base_to_right_wheel']
+ # joint_state_msg.position = [
+ # self.left_encoder / self.steps_per_revolution * 2 * pi, # Left wheel position (radians)
+ # self.right_encoder / self.steps_per_revolution * 2 * pi # Right wheel position (radians)
+ # ]
+ # self.joint_state_pub.publish(joint_state_msg)
+
+def main(args=None):
+ rclpy.init(args=args)
+ node = OdometryPublisher()
+
+ try:
+ rclpy.spin(node)
+ except KeyboardInterrupt:
+ pass
+ finally:
+ node.destroy_node()
+ rclpy.shutdown()
+
+if __name__ == '__main__':
+ main()
\ No newline at end of file
diff --git a/robobin_final/src/super_robot/super_robot/route.py b/robobin_final/src/super_robot/super_robot/route.py
new file mode 100755
index 00000000..b3d2bff6
--- /dev/null
+++ b/robobin_final/src/super_robot/super_robot/route.py
@@ -0,0 +1,158 @@
+import rclpy
+from rclpy.node import Node
+from geometry_msgs.msg import Twist
+from nav_msgs.msg import Odometry
+from math import sqrt, pow, atan2, radians, sin, cos
+import time
+
+class MoveTurnNode(Node):
+ def __init__(self):
+ super().__init__('move_turn_node')
+
+ # Publisher for cmd_vel
+ self.cmd_vel_pub = self.create_publisher(Twist, '/cmd_vel', 10)
+
+ # Subscriber for odometry
+ self.create_subscription(Odometry, '/odom', self.odom_callback, 10)
+
+ # Robot position and orientation
+ self.x = 0.0
+ self.y = 0.0
+ self.yaw = 0.0
+
+ # Movement parameters[=]
+ self.distance_threshold = 0.01 # meters
+ self.angle_threshold = radians(0.1) # 3 degrees in radians
+ #self.linear_speed = 0.2 # m/s
+ #self.angular_speed = 0rr.25 # rad/s
+
+ self.get_logger().info('Move and Turn node started.')
+ self.execute_movement()
+
+ def odom_callback(self, msg):
+ self.x = msg.pose.pose.position.x
+ self.y = msg.pose.pose.position.y
+ self.get_logger().info(f'start_x :{self.x} , start_y :{self.y}')
+
+ # Extract yaw (orientation around Z axis)
+ _, _, self.yaw = self.quaternion_to_euler(
+ msg.pose.pose.orientation.x,
+ msg.pose.pose.orientation.y,
+ msg.pose.pose.orientation.z,
+ msg.pose.pose.orientation.w
+ )
+
+ def quaternion_to_euler(self, x, y, z, w):
+ t3 = 2.0 * (w * z + x * y)
+ t4 = 1.0 - 2.0 * (y * y + z * z)
+ yaw = atan2(t3, t4)
+
+ return 0.0, 0.0, yaw
+
+ def execute_movement(self):
+
+ # #self.move_forward(1)
+ # self.turn_angle(90)
+
+
+
+ # for i in range(10):
+ # self.get_logger().info(f'Starting loop {i + 1} of 5')
+ # # # Move forward 1 meter
+ # self.move_forward(1)
+ # self.turn_angle(180)
+
+ # # Turn 90 degrees
+ # self.stop_robot()
+
+ for i in range(4):
+ self.get_logger().info(f'Starting loop {i + 1} of 5')
+ # Move forward 1 meter
+ self.move_forward(1)
+ # Turn 90 degree
+ self.turn_angle(90)
+ self.stop_robot()
+
+
+ self.get_logger().info('Completed all loops.')
+ self.stop_robot()
+
+ def move_forward(self, distance):
+ start_x, start_y = self.x, self.y
+
+ kp = 1.0
+ max_speed = 0.2
+ min_speed = 0.05
+
+
+
+ while True:
+
+ current_distance = sqrt(pow(self.x - start_x, 2) + pow(self.y - start_y, 2))
+ distance_error = distance - current_distance
+
+ if distance_error <= self.distance_threshold:
+ self.stop_robot()
+ break
+
+ linear_speed = kp * distance_error
+ linear_speed = max(min_speed, min (max_speed, linear_speed))
+
+
+ twist = Twist()
+ twist.linear.x = linear_speed
+ self.cmd_vel_pub.publish(twist)
+
+ rclpy.spin_once(self)
+
+ def turn_angle(self, angle_degrees):
+ # Capture the starting yaw before turning
+ start_yaw = self.yaw
+
+ # Calculate the target yaw relative to the current orientation
+ target_yaw = start_yaw + radians(angle_degrees)
+ target_yaw = atan2(sin(target_yaw), cos(target_yaw))
+ kp = 1.0
+ max_speed = 0.8
+ min_speed = 0.05
+
+ while True:
+ yaw_error = target_yaw - self.yaw
+ yaw_error = atan2(sin(yaw_error), cos(yaw_error)) # Normalize angle
+
+ if abs(yaw_error) < self.angle_threshold:
+ self.stop_robot()
+ break
+
+ angular_speed = kp * abs(yaw_error)
+
+ angular_speed = max(min_speed, min (max_speed, angular_speed))
+
+ twist = Twist()
+ twist.angular.z = angular_speed if yaw_error > 0 else -angular_speed
+ self.cmd_vel_pub.publish(twist)
+
+ rclpy.spin_once(self)
+
+ def stop_robot(self):
+ twist = Twist()
+ twist.linear.x = 0.0
+ twist.angular.z = 0.0
+ self.cmd_vel_pub.publish(twist)
+ self.get_logger().info('Robot stopped.')
+ time.sleep(0.5)
+
+def main(args=None):
+ rclpy.init(args=args)
+ node = MoveTurnNode()
+
+ try:
+ rclpy.spin(node)
+ except KeyboardInterrupt:
+ pass
+ finally:
+ node.destroy_node()
+ rclpy.shutdown()
+
+if __name__ == '__main__':
+ main()
diff --git a/robobin_final/src/super_robot/super_robot/route_filtered.py b/robobin_final/src/super_robot/super_robot/route_filtered.py
new file mode 100755
index 00000000..e79cf08e
--- /dev/null
+++ b/robobin_final/src/super_robot/super_robot/route_filtered.py
@@ -0,0 +1,191 @@
+import rclpy
+from rclpy.node import Node
+from geometry_msgs.msg import Twist
+from nav_msgs.msg import Odometry
+from math import sqrt, pow, atan2, radians, sin, cos, degrees
+import time
+
+class MoveTurnFilteredNode(Node):
+ def __init__(self):
+ super().__init__('move_turn_filtered_node')
+
+ # Publisher for cmd_vel
+ self.cmd_vel_pub = self.create_publisher(Twist, '/cmd_vel', 10)
+
+ # Subscriber for filtered odometry
+ self.create_subscription(Odometry, '/odometry/filtered', self.odom_callback, 10)
+
+ # Robot position and orientation
+ self.x = 0.0
+ self.y = 0.0
+ self.yaw = 0.0
+
+ # Movement parameters
+ self.distance_threshold = 0.01 # meters
+ self.angle_threshold = radians(0.1) # 0.1 degree in radians
+ self.linear_speed = 0.2 # m/s
+
+ self.get_logger().info('Move and Turn (Filtered) node started.')
+ self.execute_movement()
+
+ def odom_callback(self, msg):
+ self.x = msg.pose.pose.position.x
+ self.y = msg.pose.pose.position.y
+ self.get_logger().info(f'start_x :{self.x} , start_y :{self.y}')
+
+ # Extract yaw (orientation around Z axis)
+ _, _, self.yaw = self.quaternion_to_euler(
+ msg.pose.pose.orientation.x,
+ msg.pose.pose.orientation.y,
+ msg.pose.pose.orientation.z,
+ msg.pose.pose.orientation.w
+ )
+
+ self.get_logger().info(f'yaw :{degrees(self.yaw)} ')
+
+ def quaternion_to_euler(self, x, y, z, w):
+ t3 = 2.0 * (w * z + x * y)
+ t4 = 1.0 - 2.0 * (y * y + z * z)
+ yaw = atan2(t3, t4)
+
+ return 0.0, 0.0, yaw
+
+ def execute_movement(self):
+ # for i in range(1):
+ # self.get_logger().info(f'Starting loop {i + 1} of 5')
+ # self.move_forward(1)
+ # self.turn_angle(90)
+
+ for i in range(5):
+ self.get_logger().info(f'Starting loop {i + 1} of 5')
+ # # Move forward 1 meter
+ self.move_forward(1)
+ self.turn_to_angle(0)
+ # # Turn 90 degrees
+ self.stop_robot()
+ self.move_forward(1)
+ self.turn_to_angle(180)
+ # # Turn 90 degree
+ self.stop_robot()
+
+
+ # for i in range(4):
+ # self.get_logger().info(f'Starting loop {i + 1} of 5')
+ # # Move forward 1 meter
+ # self.move_forward(1)
+ # # Turn 90 degree
+ # self.turn_angle(90)
+ # self.stop_robot()
+
+ # self.move_forward(1)
+ # self.turn_to_angle(-90)
+ # self.stop_robot()
+
+ # self.move_forward(1)
+ # self.turn_to_angle(0)
+ # self.stop_robot()
+
+ # self.move_forward(1)
+ # self.turn_to_angle(90)
+ # self.stop_robot()
+
+ # self.move_forward(1)
+ # self.turn_to_angle(180)
+ # self.stop_robot()
+
+
+ self.get_logger().info('Completed all loops.')
+ self.stop_robot()
+
+ def move_forward(self, distance):
+ start_x, start_y = self.x, self.y
+ kp = 1.0
+ max_speed = 0.2
+ min_speed = 0.05
+ while True:
+
+ current_distance = sqrt(pow(self.x - start_x, 2) + pow(self.y - start_y, 2))
+ distance_error = distance - current_distance
+
+ if distance_error <= self.distance_threshold:
+ self.stop_robot()
+ break
+
+ linear_speed = kp * distance_error
+ linear_speed = max(min_speed, min (max_speed, linear_speed))
+
+
+ twist = Twist()
+ twist.linear.x = linear_speed
+ self.cmd_vel_pub.publish(twist)
+
+ rclpy.spin_once(self)
+
+ def turn_angle(self, angle_degrees):
+ target_yaw = self.yaw + radians(angle_degrees)
+ kp = 1.0
+ max_speed = 0.8
+ min_speed = 0.05
+
+ while True:
+ yaw_error = target_yaw - self.yaw
+ yaw_error = atan2(sin(yaw_error), cos(yaw_error)) # Normalize angle
+
+ if abs(yaw_error) < self.angle_threshold:
+ self.stop_robot()
+ break
+
+ angular_speed = kp * abs(yaw_error)
+ angular_speed = max(min_speed, min(max_speed, angular_speed))
+
+ twist = Twist()
+ twist.angular.z = angular_speed if yaw_error > 0 else -angular_speed
+ self.cmd_vel_pub.publish(twist)
+
+ rclpy.spin_once(self)
+
+ def turn_to_angle(self, target_angle_degrees):
+ target_angle_radian = radians(target_angle_degrees)
+ kp = 1.0
+ max_speed = 0.8
+ min_speed = 0.05
+
+ while True:
+ yaw_error = target_angle_radian - self.yaw
+ yaw_error = atan2(sin(yaw_error), cos(yaw_error)) # Normalize angle
+
+ if abs(yaw_error) < self.angle_threshold:
+ self.stop_robot()
+ break
+
+ angular_speed = kp * abs(yaw_error)
+ angular_speed = max(min_speed, min(max_speed, angular_speed))
+
+ twist = Twist()
+ twist.angular.z = angular_speed if yaw_error > 0 else -angular_speed
+ self.cmd_vel_pub.publish(twist)
+
+ rclpy.spin_once(self)
+
+ def stop_robot(self):
+ twist = Twist()
+ twist.linear.x = 0.0
+ twist.angular.z = 0.0
+ self.cmd_vel_pub.publish(twist)
+ self.get_logger().info('Robot stopped.')
+ time.sleep(0.2)
+
+def main(args=None):
+ rclpy.init(args=args)
+ node = MoveTurnFilteredNode()
+
+ try:
+ rclpy.spin(node)
+ except KeyboardInterrupt:
+ pass
+ finally:
+ node.destroy_node()
+ rclpy.shutdown()
+
+if __name__ == '__main__':
+ main()
diff --git a/robobin_final/src/super_robot/test/test_copyright.py b/robobin_final/src/super_robot/test/test_copyright.py
new file mode 100644
index 00000000..97a39196
--- /dev/null
+++ b/robobin_final/src/super_robot/test/test_copyright.py
@@ -0,0 +1,25 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+import pytest
+
+
+# Remove the `skip` decorator once the source file(s) have a copyright header
+@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+ rc = main(argv=['.', 'test'])
+ assert rc == 0, 'Found errors'
diff --git a/robobin_final/src/super_robot/test/test_flake8.py b/robobin_final/src/super_robot/test/test_flake8.py
new file mode 100644
index 00000000..27ee1078
--- /dev/null
+++ b/robobin_final/src/super_robot/test/test_flake8.py
@@ -0,0 +1,25 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+ rc, errors = main_with_errors(argv=[])
+ assert rc == 0, \
+ 'Found %d code style errors / warnings:\n' % len(errors) + \
+ '\n'.join(errors)
diff --git a/robobin_final/src/super_robot/test/test_pep257.py b/robobin_final/src/super_robot/test/test_pep257.py
new file mode 100644
index 00000000..b234a384
--- /dev/null
+++ b/robobin_final/src/super_robot/test/test_pep257.py
@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+ rc = main(argv=['.', 'test'])
+ assert rc == 0, 'Found code style errors / warnings'
diff --git a/robobin_main/src/build/.built_by b/robobin_main/src/build/.built_by
new file mode 100644
index 00000000..06e74acb
--- /dev/null
+++ b/robobin_main/src/build/.built_by
@@ -0,0 +1 @@
+colcon
diff --git a/robobin_main/src/build/COLCON_IGNORE b/robobin_main/src/build/COLCON_IGNORE
new file mode 100644
index 00000000..e69de29b
diff --git a/robobin_main/src/build/odometry_publisher/build/lib/odometry_publisher/__init__.py b/robobin_main/src/build/odometry_publisher/build/lib/odometry_publisher/__init__.py
new file mode 100644
index 00000000..e69de29b
diff --git a/robobin_main/src/build/odometry_publisher/build/lib/odometry_publisher/backup.py b/robobin_main/src/build/odometry_publisher/build/lib/odometry_publisher/backup.py
new file mode 100644
index 00000000..7402f291
--- /dev/null
+++ b/robobin_main/src/build/odometry_publisher/build/lib/odometry_publisher/backup.py
@@ -0,0 +1,193 @@
+import rclpy
+from rclpy.node import Node
+from std_msgs.msg import Int64
+from nav_msgs.msg import Odometry
+from geometry_msgs.msg import Quaternion, TransformStamped
+from math import sin, cos, pi
+import tf2_ros
+import math
+from sensor_msgs.msg import JointState
+
+
+class OdometryPublisher(Node):
+ def __init__(self):
+ super().__init__('odometry_publisher')
+
+ # Robot parameters
+ self.wheel_radius = 0.075 # meters (example value)
+ self.wheel_base = 0.4 # meters (distance between wheels)
+ self.steps_per_revolution = 310 # from your encoder observations
+ self.wheel_circumference = 2 * pi * self.wheel_radius
+ self.steps_per_meter = self.steps_per_revolution / self.wheel_circumference
+
+ # Initialize encoder readings
+ self.left_encoder = 0
+ self.right_encoder = 0
+ self.last_left_encoder = 0
+ self.last_right_encoder = 0
+
+ # Robot pose
+ self.x = 0.0
+ self.y = 0.0
+ self.theta = 0.0 # Robot's orientation
+
+ # Create subscribers for encoders
+ self.left_encoder_sub = self.create_subscription(
+ Int64,
+ 'left_wheel_steps',
+ self.left_encoder_callback,
+ 10
+ )
+ self.right_encoder_sub = self.create_subscription(
+ Int64,
+ 'right_wheel_steps',
+ self.right_encoder_callback,
+ 10
+ )
+
+ # Publisher for odometry
+ self.odom_pub = self.create_publisher(Odometry, 'odom', 10)
+
+ self.joint_state_pub = self.create_publisher(JointState, 'joint_states', 10) # New joint state publisher
+
+ # Transform broadcaster
+ self.tf_broadcaster = tf2_ros.TransformBroadcaster(self)
+
+ # Timer for updating odometry
+ self.timer = self.create_timer(0.1, self.update_odometry)
+
+ self.get_logger().info('Odometry publisher node has been started.')
+
+ def left_encoder_callback(self, msg):
+ self.left_encoder = msg.data
+
+ def right_encoder_callback(self, msg):
+ self.right_encoder = msg.data
+
+ def euler_to_quaternion(self, roll, pitch, yaw):
+ # Compute the half angles
+ cy = math.cos(yaw * 0.5)
+ sy = math.sin(yaw * 0.5)
+ cp = math.cos(pitch * 0.5)
+ sp = math.sin(pitch * 0.5)
+ cr = math.cos(roll * 0.5)
+ sr = math.sin(roll * 0.5)
+
+ # Compute the quaternion components
+ w = cr * cp * cy + sr * sp * sy
+ x = sr * cp * cy - cr * sp * sy
+ y = cr * sp * cy + sr * cp * sy
+ z = cr * cp * sy - sr * sp * cy
+
+ return x, y, z, w
+
+ def update_odometry(self):
+ # Calculate change in encoder readings
+ delta_left = self.left_encoder - self.last_left_encoder
+ delta_right = self.right_encoder - self.last_right_encoder
+
+ self.last_left_encoder = self.left_encoder
+ self.last_right_encoder = self.right_encoder
+
+ # Calculate distance traveled by each wheel
+ distance_left = (delta_left / self.steps_per_revolution) * self.wheel_circumference
+ distance_right = (delta_right / self.steps_per_revolution) * self.wheel_circumference
+
+ # Calculate average distance and change in orientation
+ delta_distance = (distance_right + distance_left) / 2.0
+ delta_theta = (distance_right - distance_left) / self.wheel_base
+
+ # Update robot pose
+ self.theta += delta_theta
+ delta_x = delta_distance * cos(self.theta)
+ delta_y = delta_distance * sin(self.theta)
+
+ self.x += delta_x
+ self.y += delta_y
+
+ # Create quaternion from yaw (using custom euler_to_quaternion)
+ odom_quat = self.euler_to_quaternion(0, 0, self.theta)
+
+ # Publish the odometry message over ROS2
+ odom = Odometry()
+ odom.header.stamp = self.get_clock().now().to_msg()
+ odom.header.frame_id = "odom"
+
+ # Set the position
+ odom.pose.pose.position.x = self.x
+ odom.pose.pose.position.y = self.y
+ odom.pose.pose.position.z = 0.0
+ odom.pose.pose.orientation = Quaternion(
+ x=odom_quat[0],
+ y=odom_quat[1],
+ z=odom_quat[2],
+ w=odom_quat[3]
+ )
+
+ # Set the velocity (optional, can be set to zero for now)
+ odom.child_frame_id = "base_link"
+ odom.twist.twist.linear.x = delta_distance / 0.1 # dt is 0.1 seconds
+ odom.twist.twist.angular.z = delta_theta / 0.1
+
+ # Set pose covariance
+ odom.pose.covariance = [0.001, 0, 0, 0, 0, 0,
+ 0, 0.001, 0, 0, 0, 0,
+ 0, 0, 1000000, 0, 0, 0,
+ 0, 0, 0, 1000000, 0, 0,
+ 0, 0, 0, 0, 1000000, 0,
+ 0, 0, 0, 0, 0, 0.01]
+
+ # Set twist covariance
+ odom.twist.covariance = [0.0001, 0, 0, 0, 0, 0,
+ 0, 0.0001, 0, 0, 0, 0,
+ 0, 0, 1000000, 0, 0, 0,
+ 0, 0, 0, 1000000, 0, 0,
+ 0, 0, 0, 0, 1000000, 0,
+ 0, 0, 0, 0, 0, 0.001]
+
+
+ # Publish the message
+ self.odom_pub.publish(odom)
+
+ # Publish the transform over TF
+ t = TransformStamped()
+ t.header.stamp = self.get_clock().now().to_msg()
+ t.header.frame_id = 'odom'
+ t.child_frame_id = 'base_link'
+
+ t.transform.translation.x = self.x
+ t.transform.translation.y = self.y
+ t.transform.translation.z = 0.0
+ t.transform.rotation = Quaternion(
+ x=odom_quat[0],
+ y=odom_quat[1],
+ z=odom_quat[2],
+ w=odom_quat[3]
+ )
+
+ self.tf_broadcaster.sendTransform(t)
+
+ #Publish joint states
+ joint_state_msg = JointState()
+ joint_state_msg.header.stamp = self.get_clock().now().to_msg()
+ joint_state_msg.name = ['base_to_left_wheel', 'base_to_right_wheel']
+ joint_state_msg.position = [
+ self.left_encoder / self.steps_per_revolution * 2 * pi, # Left wheel position (radians)
+ self.right_encoder / self.steps_per_revolution * 2 * pi # Right wheel position (radians)
+ ]
+ self.joint_state_pub.publish(joint_state_msg)
+
+def main(args=None):
+ rclpy.init(args=args)
+ node = OdometryPublisher()
+
+ try:
+ rclpy.spin(node)
+ except KeyboardInterrupt:
+ pass
+ finally:
+ node.destroy_node()
+ rclpy.shutdown()
+
+if __name__ == '__main__':
+ main()
\ No newline at end of file
diff --git a/robobin_main/src/build/odometry_publisher/build/lib/odometry_publisher/odometry_node.py b/robobin_main/src/build/odometry_publisher/build/lib/odometry_publisher/odometry_node.py
new file mode 100644
index 00000000..c612a477
--- /dev/null
+++ b/robobin_main/src/build/odometry_publisher/build/lib/odometry_publisher/odometry_node.py
@@ -0,0 +1,197 @@
+import rclpy
+from rclpy.node import Node
+from std_msgs.msg import Int64
+from nav_msgs.msg import Odometry
+from geometry_msgs.msg import Quaternion, TransformStamped
+from math import sin, cos, pi
+import tf2_ros
+import math
+from sensor_msgs.msg import JointState
+
+
+class OdometryPublisher(Node):
+ def __init__(self):
+ super().__init__('odometry_publisher')
+
+ # Robot parameters
+ self.wheel_radius = 0.075 # meters (example value)
+ self.wheel_base = 0.4 # meters (distance between wheels)
+ self.steps_per_revolution = 310 # from your encoder observations
+ self.wheel_circumference = 2 * pi * self.wheel_radius
+ self.steps_per_meter = self.steps_per_revolution / self.wheel_circumference
+
+ # Initialize encoder readings
+ self.left_encoder = 0
+ self.right_encoder = 0
+ self.last_left_encoder = 0
+ self.last_right_encoder = 0
+
+ # Robot pose
+ self.x = 0.0
+ self.y = 0.0
+ self.theta = 0.0 # Robot's orientation
+
+ # Create subscribers for encoders
+ self.left_encoder_sub = self.create_subscription(
+ Int64,
+ 'left_wheel_steps',
+ self.left_encoder_callback,
+ 10
+ )
+ self.right_encoder_sub = self.create_subscription(
+ Int64,
+ 'right_wheel_steps',
+ self.right_encoder_callback,
+ 10
+ )
+
+ # Publisher for odometry
+ self.odom_pub = self.create_publisher(Odometry, 'odom', 10)
+
+ self.joint_state_pub = self.create_publisher(JointState, 'joint_states', 10) # New joint state publisher
+
+ # Transform broadcaster
+ self.tf_broadcaster = tf2_ros.TransformBroadcaster(self)
+
+ # Timer for updating odometry
+ self.timer = self.create_timer(0.1, self.update_odometry)
+
+ self.get_logger().info('Odometry publisher node has been started.')
+
+ def left_encoder_callback(self, msg):
+ self.left_encoder = msg.data
+
+ def right_encoder_callback(self, msg):
+ self.right_encoder = msg.data
+
+ def euler_to_quaternion(self, roll, pitch, yaw):
+ # Compute the half angles
+ cy = math.cos(yaw * 0.5)
+ sy = math.sin(yaw * 0.5)
+ cp = math.cos(pitch * 0.5)
+ sp = math.sin(pitch * 0.5)
+ cr = math.cos(roll * 0.5)
+ sr = math.sin(roll * 0.5)
+
+ # Compute the quaternion components
+ w = cr * cp * cy + sr * sp * sy
+ x = sr * cp * cy - cr * sp * sy
+ y = cr * sp * cy + sr * cp * sy
+ z = cr * cp * sy - sr * sp * cy
+
+ return x, y, z, w
+
+ def update_odometry(self):
+ # Calculate change in encoder readings
+ delta_left = self.left_encoder - self.last_left_encoder
+ delta_right = self.right_encoder - self.last_right_encoder
+
+ self.last_left_encoder = self.left_encoder
+ self.last_right_encoder = self.right_encoder
+
+ # Calculate distance traveled by each wheel
+ distance_left = (delta_left / self.steps_per_revolution) * self.wheel_circumference
+ distance_right = (delta_right / self.steps_per_revolution) * self.wheel_circumference
+
+ # Calculate average distance and change in orientation
+ delta_distance = (distance_right + distance_left) / 2.0
+ delta_theta = (distance_right - distance_left) / self.wheel_base
+
+ # Update robot pose
+ self.theta += delta_theta
+ delta_x = delta_distance * cos(self.theta)
+ delta_y = delta_distance * sin(self.theta)
+
+ self.x += delta_x
+ self.y += delta_y
+
+ # Create quaternion from yaw (using custom euler_to_quaternion)
+ odom_quat = self.euler_to_quaternion(0, 0, self.theta)
+
+ # Publish the odometry message over ROS2
+ odom = Odometry()
+ odom.header.stamp = self.get_clock().now().to_msg()
+ odom.header.frame_id = "odom"
+ #odom.header.frame_id = "odom/filtered"
+
+ # Set the position
+ odom.pose.pose.position.x = self.x
+ odom.pose.pose.position.y = self.y
+ odom.pose.pose.position.z = 0.0
+ odom.pose.pose.orientation = Quaternion(
+ x=odom_quat[0],
+ y=odom_quat[1],
+ z=odom_quat[2],
+ w=odom_quat[3]
+ )
+
+ # Set the velocity (optional, can be set to zero for now)
+ odom.child_frame_id = "base_link"
+
+ odom.twist.twist.linear.x = delta_distance / 0.1 # dt is 0.1 seconds
+ odom.twist.twist.angular.z = delta_theta / 0.1
+
+
+ # Set pose covariance
+ odom.pose.covariance = [0.001, 0, 0, 0, 0, 0,
+ 0, 0.001, 0, 0, 0, 0,
+ 0, 0, 1000000, 0, 0, 0,
+ 0, 0, 0, 1000000, 0, 0,
+ 0, 0, 0, 0, 1000000, 0,
+ 0, 0, 0, 0, 0, 0.01]
+
+ # Set twist covariance
+ odom.twist.covariance = [0.0001, 0, 0, 0, 0, 0,
+ 0, 0.0001, 0, 0, 0, 0,
+ 0, 0, 1000000, 0, 0, 0,
+ 0, 0, 0, 1000000, 0, 0,
+ 0, 0, 0, 0, 1000000, 0,
+ 0, 0, 0, 0, 0, 0.001]
+
+
+ # Publish the message
+ self.odom_pub.publish(odom)
+
+ # # Publish the transform over TF
+ # t = TransformStamped()
+ # t.header.stamp = self.get_clock().now().to_msg()
+ # t.header.frame_id = 'odom'
+ # #t.header.frame_id = 'odom'
+ # t.child_frame_id = 'base_link'
+
+ # t.transform.translation.x = self.x
+ # t.transform.translation.y = self.y
+ # t.transform.translation.z = 0.0
+ # t.transform.rotation = Quaternion(
+ # x=odom_quat[0],
+ # y=odom_quat[1],
+ # z=odom_quat[2],
+ # w=odom_quat[3]
+ # )
+
+ # self.tf_broadcaster.sendTransform(t)
+
+ # #Publish joint states
+ # joint_state_msg = JointState()
+ # joint_state_msg.header.stamp = self.get_clock().now().to_msg()
+ # joint_state_msg.name = ['base_to_left_wheel', 'base_to_right_wheel']
+ # joint_state_msg.position = [
+ # self.left_encoder / self.steps_per_revolution * 2 * pi, # Left wheel position (radians)
+ # self.right_encoder / self.steps_per_revolution * 2 * pi # Right wheel position (radians)
+ # ]
+ # self.joint_state_pub.publish(joint_state_msg)
+
+def main(args=None):
+ rclpy.init(args=args)
+ node = OdometryPublisher()
+
+ try:
+ rclpy.spin(node)
+ except KeyboardInterrupt:
+ pass
+ finally:
+ node.destroy_node()
+ rclpy.shutdown()
+
+if __name__ == '__main__':
+ main()
\ No newline at end of file
diff --git a/robobin_main/src/build/odometry_publisher/build/lib/odometry_publisher/tf_broadcaster.py b/robobin_main/src/build/odometry_publisher/build/lib/odometry_publisher/tf_broadcaster.py
new file mode 100644
index 00000000..5a18b3a5
--- /dev/null
+++ b/robobin_main/src/build/odometry_publisher/build/lib/odometry_publisher/tf_broadcaster.py
@@ -0,0 +1,44 @@
+import rclpy
+from rclpy.node import Node
+from nav_msgs.msg import Odometry
+from geometry_msgs.msg import TransformStamped
+import tf2_ros
+
+class TFBroadcaster(Node):
+ def __init__(self):
+ super().__init__('tf_broadcaster')
+
+ # Transform broadcaster
+ self.tf_broadcaster = tf2_ros.TransformBroadcaster(self)
+
+ # Subscriber to odometry (can be 'odom' or 'odom/filtered')
+ self.create_subscription(Odometry, 'odom/filtered', self.odom_callback, 10)
+
+ self.get_logger().info('TF Broadcaster node has been started.')
+
+ def odom_callback(self, msg):
+ t = TransformStamped()
+ t.header.stamp = msg.header.stamp
+ t.header.frame_id = 'odom'
+ t.child_frame_id = 'base_link'
+
+ t.transform.translation.x = msg.pose.pose.position.x
+ t.transform.translation.y = msg.pose.pose.position.y
+ t.transform.translation.z = msg.pose.pose.position.z
+ t.transform.rotation = msg.pose.pose.orientation
+
+ self.tf_broadcaster.sendTransform(t)
+
+def main(args=None):
+ rclpy.init(args=args)
+ node = TFBroadcaster()
+ try:
+ rclpy.spin(node)
+ except KeyboardInterrupt:
+ pass
+ finally:
+ node.destroy_node()
+ rclpy.shutdown()
+
+if __name__ == '__main__':
+ main()
diff --git a/robobin_main/src/build/odometry_publisher/colcon_build.rc b/robobin_main/src/build/odometry_publisher/colcon_build.rc
new file mode 100644
index 00000000..573541ac
--- /dev/null
+++ b/robobin_main/src/build/odometry_publisher/colcon_build.rc
@@ -0,0 +1 @@
+0
diff --git a/robobin_main/src/build/odometry_publisher/colcon_command_prefix_setup_py.sh b/robobin_main/src/build/odometry_publisher/colcon_command_prefix_setup_py.sh
new file mode 100644
index 00000000..f9867d51
--- /dev/null
+++ b/robobin_main/src/build/odometry_publisher/colcon_command_prefix_setup_py.sh
@@ -0,0 +1 @@
+# generated from colcon_core/shell/template/command_prefix.sh.em
diff --git a/robobin_main/src/build/odometry_publisher/colcon_command_prefix_setup_py.sh.env b/robobin_main/src/build/odometry_publisher/colcon_command_prefix_setup_py.sh.env
new file mode 100644
index 00000000..57efea77
--- /dev/null
+++ b/robobin_main/src/build/odometry_publisher/colcon_command_prefix_setup_py.sh.env
@@ -0,0 +1,61 @@
+AMENT_PREFIX_PATH=/home/robobin/Robobin_Project/ros2/robobin_main/install/testing:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_localization_ekf:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_description:/home/robobin/Robobin_Project/ros2/robobin_main/install/odometry_publisher:/opt/ros/jazzy
+CMAKE_PREFIX_PATH=/opt/ros/jazzy/opt/sdformat_vendor:/opt/ros/jazzy/opt/gz_math_vendor:/opt/ros/jazzy/opt/gz_utils_vendor:/opt/ros/jazzy/opt/gz_tools_vendor:/opt/ros/jazzy/opt/gz_cmake_vendor
+COLCON=1
+COLCON_PREFIX_PATH=/home/robobin/Robobin_Project/ros2/robobin_main/install
+COLORTERM=truecolor
+DBUS_SESSION_BUS_ADDRESS=unix:path=/run/user/1002/bus
+DEBUGINFOD_URLS=https://debuginfod.ubuntu.com
+DESKTOP_SESSION=ubuntu
+DISPLAY=:0
+GDMSESSION=ubuntu
+GNOME_DESKTOP_SESSION_ID=this-is-deprecated
+GNOME_SETUP_DISPLAY=:1
+GNOME_SHELL_SESSION_MODE=ubuntu
+GNOME_TERMINAL_SCREEN=/org/gnome/Terminal/screen/7862307c_49e8_4e82_a5e8_e2b0cc08d1e3
+GNOME_TERMINAL_SERVICE=:1.102
+GSM_SKIP_SSH_AGENT_WORKAROUND=true
+GTK_MODULES=gail:atk-bridge
+GZ_CONFIG_PATH=/opt/ros/jazzy/opt/sdformat_vendor/share/gz
+HOME=/home/robobin
+IM_CONFIG_PHASE=1
+LANG=en_US.UTF-8
+LC_ALL=en_US.UTF-8
+LD_LIBRARY_PATH=/opt/ros/jazzy/opt/sdformat_vendor/lib:/opt/ros/jazzy/opt/rviz_ogre_vendor/lib:/opt/ros/jazzy/lib/aarch64-linux-gnu:/opt/ros/jazzy/opt/gz_math_vendor/lib:/opt/ros/jazzy/opt/gz_utils_vendor/lib:/opt/ros/jazzy/opt/gz_tools_vendor/lib:/opt/ros/jazzy/opt/gz_cmake_vendor/lib:/opt/ros/jazzy/lib
+LESSCLOSE=/usr/bin/lesspipe %s %s
+LESSOPEN=| /usr/bin/lesspipe %s
+LOGNAME=robobin
+LS_COLORS=rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=00:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.zst=01;31:*.tzst=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.avif=01;35:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.webp=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:*~=00;90:*#=00;90:*.bak=00;90:*.crdownload=00;90:*.dpkg-dist=00;90:*.dpkg-new=00;90:*.dpkg-old=00;90:*.dpkg-tmp=00;90:*.old=00;90:*.orig=00;90:*.part=00;90:*.rej=00;90:*.rpmnew=00;90:*.rpmorig=00;90:*.rpmsave=00;90:*.swp=00;90:*.tmp=00;90:*.ucf-dist=00;90:*.ucf-new=00;90:*.ucf-old=00;90:
+MEMORY_PRESSURE_WATCH=/sys/fs/cgroup/user.slice/user-1002.slice/user@1002.service/session.slice/org.gnome.Shell@wayland.service/memory.pressure
+MEMORY_PRESSURE_WRITE=c29tZSAyMDAwMDAgMjAwMDAwMAA=
+OLDPWD=/home/robobin/robobin/robobin_main
+PATH=/opt/ros/jazzy/opt/gz_tools_vendor/bin:/opt/ros/jazzy/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/snap/bin
+PWD=/home/robobin/robobin/robobin_main/src/build/odometry_publisher
+PYTHONPATH=/home/robobin/Robobin_Project/ros2/robobin_main/build/testing:/home/robobin/Robobin_Project/ros2/robobin_main/install/testing/lib/python3.12/site-packages:/home/robobin/Robobin_Project/ros2/robobin_main/build/robot_localization_ekf:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_localization_ekf/lib/python3.12/site-packages:/home/robobin/Robobin_Project/ros2/robobin_main/build/robot_description:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_description/lib/python3.12/site-packages:/home/robobin/Robobin_Project/ros2/robobin_main/build/odometry_publisher:/home/robobin/Robobin_Project/ros2/robobin_main/install/odometry_publisher/lib/python3.12/site-packages:/opt/ros/jazzy/lib/python3.12/site-packages
+QT_ACCESSIBILITY=1
+QT_IM_MODULE=ibus
+ROS_AUTOMATIC_DISCOVERY_RANGE=SUBNET
+ROS_DISTRO=jazzy
+ROS_DOMAIN_ID=3
+ROS_PYTHON_VERSION=3
+ROS_VERSION=2
+SESSION_MANAGER=local/robobin-desktop:@/tmp/.ICE-unix/1594,unix/robobin-desktop:/tmp/.ICE-unix/1594
+SHELL=/bin/bash
+SHLVL=1
+SSH_AUTH_SOCK=/run/user/1002/keyring/ssh
+SYSTEMD_EXEC_PID=1633
+TERM=xterm-256color
+USER=robobin
+USERNAME=robobin
+VTE_VERSION=7600
+WAYLAND_DISPLAY=wayland-0
+XAUTHORITY=/run/user/1002/.mutter-Xwaylandauth.XGQ7Y2
+XDG_CONFIG_DIRS=/etc/xdg/xdg-ubuntu:/etc/xdg
+XDG_CURRENT_DESKTOP=ubuntu:GNOME
+XDG_DATA_DIRS=/usr/share/ubuntu:/usr/share/gnome:/usr/local/share/:/usr/share/:/var/lib/snapd/desktop
+XDG_MENU_PREFIX=gnome-
+XDG_RUNTIME_DIR=/run/user/1002
+XDG_SESSION_CLASS=user
+XDG_SESSION_DESKTOP=ubuntu
+XDG_SESSION_TYPE=wayland
+XMODIFIERS=@im=ibus
+_=/usr/bin/colcon
diff --git a/robobin_main/src/build/odometry_publisher/install.log b/robobin_main/src/build/odometry_publisher/install.log
new file mode 100644
index 00000000..faea6b76
--- /dev/null
+++ b/robobin_main/src/build/odometry_publisher/install.log
@@ -0,0 +1,18 @@
+/home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages/odometry_publisher/__init__.py
+/home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages/odometry_publisher/tf_broadcaster.py
+/home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages/odometry_publisher/odometry_node.py
+/home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages/odometry_publisher/backup.py
+/home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages/odometry_publisher/__pycache__/__init__.cpython-312.pyc
+/home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages/odometry_publisher/__pycache__/tf_broadcaster.cpython-312.pyc
+/home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages/odometry_publisher/__pycache__/odometry_node.cpython-312.pyc
+/home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages/odometry_publisher/__pycache__/backup.cpython-312.pyc
+/home/robobin/robobin/robobin_main/src/install/odometry_publisher/share/ament_index/resource_index/packages/odometry_publisher
+/home/robobin/robobin/robobin_main/src/install/odometry_publisher/share/odometry_publisher/package.xml
+/home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages/odometry_publisher-0.0.0-py3.12.egg-info/SOURCES.txt
+/home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages/odometry_publisher-0.0.0-py3.12.egg-info/top_level.txt
+/home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages/odometry_publisher-0.0.0-py3.12.egg-info/PKG-INFO
+/home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages/odometry_publisher-0.0.0-py3.12.egg-info/zip-safe
+/home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages/odometry_publisher-0.0.0-py3.12.egg-info/requires.txt
+/home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages/odometry_publisher-0.0.0-py3.12.egg-info/dependency_links.txt
+/home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages/odometry_publisher-0.0.0-py3.12.egg-info/entry_points.txt
+/home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/odometry_publisher/odometry_node
diff --git a/robobin_main/src/build/odometry_publisher/odometry_publisher.egg-info/PKG-INFO b/robobin_main/src/build/odometry_publisher/odometry_publisher.egg-info/PKG-INFO
new file mode 100644
index 00000000..920bd7e0
--- /dev/null
+++ b/robobin_main/src/build/odometry_publisher/odometry_publisher.egg-info/PKG-INFO
@@ -0,0 +1,7 @@
+Metadata-Version: 2.1
+Name: odometry-publisher
+Version: 0.0.0
+Summary: TODO: Package description
+Maintainer: robobin
+Maintainer-email: jzc1e20@soton.ac.uk
+License: TODO: License declaration
diff --git a/robobin_main/src/build/odometry_publisher/odometry_publisher.egg-info/SOURCES.txt b/robobin_main/src/build/odometry_publisher/odometry_publisher.egg-info/SOURCES.txt
new file mode 100644
index 00000000..ba7edf56
--- /dev/null
+++ b/robobin_main/src/build/odometry_publisher/odometry_publisher.egg-info/SOURCES.txt
@@ -0,0 +1,18 @@
+package.xml
+setup.cfg
+setup.py
+../build/odometry_publisher/odometry_publisher.egg-info/PKG-INFO
+../build/odometry_publisher/odometry_publisher.egg-info/SOURCES.txt
+../build/odometry_publisher/odometry_publisher.egg-info/dependency_links.txt
+../build/odometry_publisher/odometry_publisher.egg-info/entry_points.txt
+../build/odometry_publisher/odometry_publisher.egg-info/requires.txt
+../build/odometry_publisher/odometry_publisher.egg-info/top_level.txt
+../build/odometry_publisher/odometry_publisher.egg-info/zip-safe
+odometry_publisher/__init__.py
+odometry_publisher/backup.py
+odometry_publisher/odometry_node.py
+odometry_publisher/tf_broadcaster.py
+resource/odometry_publisher
+test/test_copyright.py
+test/test_flake8.py
+test/test_pep257.py
\ No newline at end of file
diff --git a/robobin_main/src/build/odometry_publisher/odometry_publisher.egg-info/dependency_links.txt b/robobin_main/src/build/odometry_publisher/odometry_publisher.egg-info/dependency_links.txt
new file mode 100644
index 00000000..8b137891
--- /dev/null
+++ b/robobin_main/src/build/odometry_publisher/odometry_publisher.egg-info/dependency_links.txt
@@ -0,0 +1 @@
+
diff --git a/robobin_main/src/build/odometry_publisher/odometry_publisher.egg-info/entry_points.txt b/robobin_main/src/build/odometry_publisher/odometry_publisher.egg-info/entry_points.txt
new file mode 100644
index 00000000..bb16a083
--- /dev/null
+++ b/robobin_main/src/build/odometry_publisher/odometry_publisher.egg-info/entry_points.txt
@@ -0,0 +1,2 @@
+[console_scripts]
+odometry_node = odometry_publisher.odometry_node:main
diff --git a/robobin_main/src/build/odometry_publisher/odometry_publisher.egg-info/requires.txt b/robobin_main/src/build/odometry_publisher/odometry_publisher.egg-info/requires.txt
new file mode 100644
index 00000000..49fe098d
--- /dev/null
+++ b/robobin_main/src/build/odometry_publisher/odometry_publisher.egg-info/requires.txt
@@ -0,0 +1 @@
+setuptools
diff --git a/robobin_main/src/build/odometry_publisher/odometry_publisher.egg-info/top_level.txt b/robobin_main/src/build/odometry_publisher/odometry_publisher.egg-info/top_level.txt
new file mode 100644
index 00000000..72ace898
--- /dev/null
+++ b/robobin_main/src/build/odometry_publisher/odometry_publisher.egg-info/top_level.txt
@@ -0,0 +1 @@
+odometry_publisher
diff --git a/robobin_main/src/build/odometry_publisher/odometry_publisher.egg-info/zip-safe b/robobin_main/src/build/odometry_publisher/odometry_publisher.egg-info/zip-safe
new file mode 100644
index 00000000..8b137891
--- /dev/null
+++ b/robobin_main/src/build/odometry_publisher/odometry_publisher.egg-info/zip-safe
@@ -0,0 +1 @@
+
diff --git a/robobin_main/src/build/odometry_publisher/prefix_override/__pycache__/sitecustomize.cpython-312.pyc b/robobin_main/src/build/odometry_publisher/prefix_override/__pycache__/sitecustomize.cpython-312.pyc
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diff --git a/robobin_main/src/build/odometry_publisher/prefix_override/sitecustomize.py b/robobin_main/src/build/odometry_publisher/prefix_override/sitecustomize.py
new file mode 100644
index 00000000..fee33790
--- /dev/null
+++ b/robobin_main/src/build/odometry_publisher/prefix_override/sitecustomize.py
@@ -0,0 +1,4 @@
+import sys
+if sys.prefix == '/usr':
+ sys.real_prefix = sys.prefix
+ sys.prefix = sys.exec_prefix = '/home/robobin/robobin/robobin_main/src/install/odometry_publisher'
diff --git a/robobin_main/src/build/robot_description/build/lib/robot_description/__init__.py b/robobin_main/src/build/robot_description/build/lib/robot_description/__init__.py
new file mode 100644
index 00000000..e69de29b
diff --git a/robobin_main/src/build/robot_description/colcon_build.rc b/robobin_main/src/build/robot_description/colcon_build.rc
new file mode 100644
index 00000000..573541ac
--- /dev/null
+++ b/robobin_main/src/build/robot_description/colcon_build.rc
@@ -0,0 +1 @@
+0
diff --git a/robobin_main/src/build/robot_description/colcon_command_prefix_setup_py.sh b/robobin_main/src/build/robot_description/colcon_command_prefix_setup_py.sh
new file mode 100644
index 00000000..f9867d51
--- /dev/null
+++ b/robobin_main/src/build/robot_description/colcon_command_prefix_setup_py.sh
@@ -0,0 +1 @@
+# generated from colcon_core/shell/template/command_prefix.sh.em
diff --git a/robobin_main/src/build/robot_description/colcon_command_prefix_setup_py.sh.env b/robobin_main/src/build/robot_description/colcon_command_prefix_setup_py.sh.env
new file mode 100644
index 00000000..6a9f86ec
--- /dev/null
+++ b/robobin_main/src/build/robot_description/colcon_command_prefix_setup_py.sh.env
@@ -0,0 +1,61 @@
+AMENT_PREFIX_PATH=/home/robobin/Robobin_Project/ros2/robobin_main/install/testing:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_localization_ekf:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_description:/home/robobin/Robobin_Project/ros2/robobin_main/install/odometry_publisher:/opt/ros/jazzy
+CMAKE_PREFIX_PATH=/opt/ros/jazzy/opt/sdformat_vendor:/opt/ros/jazzy/opt/gz_math_vendor:/opt/ros/jazzy/opt/gz_utils_vendor:/opt/ros/jazzy/opt/gz_tools_vendor:/opt/ros/jazzy/opt/gz_cmake_vendor
+COLCON=1
+COLCON_PREFIX_PATH=/home/robobin/Robobin_Project/ros2/robobin_main/install
+COLORTERM=truecolor
+DBUS_SESSION_BUS_ADDRESS=unix:path=/run/user/1002/bus
+DEBUGINFOD_URLS=https://debuginfod.ubuntu.com
+DESKTOP_SESSION=ubuntu
+DISPLAY=:0
+GDMSESSION=ubuntu
+GNOME_DESKTOP_SESSION_ID=this-is-deprecated
+GNOME_SETUP_DISPLAY=:1
+GNOME_SHELL_SESSION_MODE=ubuntu
+GNOME_TERMINAL_SCREEN=/org/gnome/Terminal/screen/7862307c_49e8_4e82_a5e8_e2b0cc08d1e3
+GNOME_TERMINAL_SERVICE=:1.102
+GSM_SKIP_SSH_AGENT_WORKAROUND=true
+GTK_MODULES=gail:atk-bridge
+GZ_CONFIG_PATH=/opt/ros/jazzy/opt/sdformat_vendor/share/gz
+HOME=/home/robobin
+IM_CONFIG_PHASE=1
+LANG=en_US.UTF-8
+LC_ALL=en_US.UTF-8
+LD_LIBRARY_PATH=/opt/ros/jazzy/opt/sdformat_vendor/lib:/opt/ros/jazzy/opt/rviz_ogre_vendor/lib:/opt/ros/jazzy/lib/aarch64-linux-gnu:/opt/ros/jazzy/opt/gz_math_vendor/lib:/opt/ros/jazzy/opt/gz_utils_vendor/lib:/opt/ros/jazzy/opt/gz_tools_vendor/lib:/opt/ros/jazzy/opt/gz_cmake_vendor/lib:/opt/ros/jazzy/lib
+LESSCLOSE=/usr/bin/lesspipe %s %s
+LESSOPEN=| /usr/bin/lesspipe %s
+LOGNAME=robobin
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+MEMORY_PRESSURE_WATCH=/sys/fs/cgroup/user.slice/user-1002.slice/user@1002.service/session.slice/org.gnome.Shell@wayland.service/memory.pressure
+MEMORY_PRESSURE_WRITE=c29tZSAyMDAwMDAgMjAwMDAwMAA=
+OLDPWD=/home/robobin/robobin/robobin_main
+PATH=/opt/ros/jazzy/opt/gz_tools_vendor/bin:/opt/ros/jazzy/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/snap/bin
+PWD=/home/robobin/robobin/robobin_main/src/build/robot_description
+PYTHONPATH=/home/robobin/Robobin_Project/ros2/robobin_main/build/testing:/home/robobin/Robobin_Project/ros2/robobin_main/install/testing/lib/python3.12/site-packages:/home/robobin/Robobin_Project/ros2/robobin_main/build/robot_localization_ekf:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_localization_ekf/lib/python3.12/site-packages:/home/robobin/Robobin_Project/ros2/robobin_main/build/robot_description:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_description/lib/python3.12/site-packages:/home/robobin/Robobin_Project/ros2/robobin_main/build/odometry_publisher:/home/robobin/Robobin_Project/ros2/robobin_main/install/odometry_publisher/lib/python3.12/site-packages:/opt/ros/jazzy/lib/python3.12/site-packages
+QT_ACCESSIBILITY=1
+QT_IM_MODULE=ibus
+ROS_AUTOMATIC_DISCOVERY_RANGE=SUBNET
+ROS_DISTRO=jazzy
+ROS_DOMAIN_ID=3
+ROS_PYTHON_VERSION=3
+ROS_VERSION=2
+SESSION_MANAGER=local/robobin-desktop:@/tmp/.ICE-unix/1594,unix/robobin-desktop:/tmp/.ICE-unix/1594
+SHELL=/bin/bash
+SHLVL=1
+SSH_AUTH_SOCK=/run/user/1002/keyring/ssh
+SYSTEMD_EXEC_PID=1633
+TERM=xterm-256color
+USER=robobin
+USERNAME=robobin
+VTE_VERSION=7600
+WAYLAND_DISPLAY=wayland-0
+XAUTHORITY=/run/user/1002/.mutter-Xwaylandauth.XGQ7Y2
+XDG_CONFIG_DIRS=/etc/xdg/xdg-ubuntu:/etc/xdg
+XDG_CURRENT_DESKTOP=ubuntu:GNOME
+XDG_DATA_DIRS=/usr/share/ubuntu:/usr/share/gnome:/usr/local/share/:/usr/share/:/var/lib/snapd/desktop
+XDG_MENU_PREFIX=gnome-
+XDG_RUNTIME_DIR=/run/user/1002
+XDG_SESSION_CLASS=user
+XDG_SESSION_DESKTOP=ubuntu
+XDG_SESSION_TYPE=wayland
+XMODIFIERS=@im=ibus
+_=/usr/bin/colcon
diff --git a/robobin_main/src/build/robot_description/install.log b/robobin_main/src/build/robot_description/install.log
new file mode 100644
index 00000000..f9ce9491
--- /dev/null
+++ b/robobin_main/src/build/robot_description/install.log
@@ -0,0 +1,14 @@
+/home/robobin/robobin/robobin_main/src/install/robot_description/lib/python3.12/site-packages/robot_description/__init__.py
+/home/robobin/robobin/robobin_main/src/install/robot_description/lib/python3.12/site-packages/robot_description/__pycache__/__init__.cpython-312.pyc
+/home/robobin/robobin/robobin_main/src/install/robot_description/share/ament_index/resource_index/packages/robot_description
+/home/robobin/robobin/robobin_main/src/install/robot_description/share/robot_description/package.xml
+/home/robobin/robobin/robobin_main/src/install/robot_description/share/robot_description/urdf/robot.urdf
+/home/robobin/robobin/robobin_main/src/install/robot_description/share/robot_description/launch/view_robot.py
+/home/robobin/robobin/robobin_main/src/install/robot_description/share/robot_description/rviz/urdf_config.rviz
+/home/robobin/robobin/robobin_main/src/install/robot_description/share/robot_description/config/ekf.yaml
+/home/robobin/robobin/robobin_main/src/install/robot_description/lib/python3.12/site-packages/robot_description-0.0.0-py3.12.egg-info/SOURCES.txt
+/home/robobin/robobin/robobin_main/src/install/robot_description/lib/python3.12/site-packages/robot_description-0.0.0-py3.12.egg-info/top_level.txt
+/home/robobin/robobin/robobin_main/src/install/robot_description/lib/python3.12/site-packages/robot_description-0.0.0-py3.12.egg-info/PKG-INFO
+/home/robobin/robobin/robobin_main/src/install/robot_description/lib/python3.12/site-packages/robot_description-0.0.0-py3.12.egg-info/zip-safe
+/home/robobin/robobin/robobin_main/src/install/robot_description/lib/python3.12/site-packages/robot_description-0.0.0-py3.12.egg-info/requires.txt
+/home/robobin/robobin/robobin_main/src/install/robot_description/lib/python3.12/site-packages/robot_description-0.0.0-py3.12.egg-info/dependency_links.txt
diff --git a/robobin_main/src/build/robot_description/prefix_override/__pycache__/sitecustomize.cpython-312.pyc b/robobin_main/src/build/robot_description/prefix_override/__pycache__/sitecustomize.cpython-312.pyc
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diff --git a/robobin_main/src/build/robot_description/prefix_override/sitecustomize.py b/robobin_main/src/build/robot_description/prefix_override/sitecustomize.py
new file mode 100644
index 00000000..302e2d38
--- /dev/null
+++ b/robobin_main/src/build/robot_description/prefix_override/sitecustomize.py
@@ -0,0 +1,4 @@
+import sys
+if sys.prefix == '/usr':
+ sys.real_prefix = sys.prefix
+ sys.prefix = sys.exec_prefix = '/home/robobin/robobin/robobin_main/src/install/robot_description'
diff --git a/robobin_main/src/build/robot_description/robot_description.egg-info/PKG-INFO b/robobin_main/src/build/robot_description/robot_description.egg-info/PKG-INFO
new file mode 100644
index 00000000..adcf94be
--- /dev/null
+++ b/robobin_main/src/build/robot_description/robot_description.egg-info/PKG-INFO
@@ -0,0 +1,7 @@
+Metadata-Version: 2.1
+Name: robot-description
+Version: 0.0.0
+Summary: TODO: Package description
+Maintainer: robobin
+Maintainer-email: robobin@todo.todo
+License: TODO: License declaration
diff --git a/robobin_main/src/build/robot_description/robot_description.egg-info/SOURCES.txt b/robobin_main/src/build/robot_description/robot_description.egg-info/SOURCES.txt
new file mode 100644
index 00000000..a4690e53
--- /dev/null
+++ b/robobin_main/src/build/robot_description/robot_description.egg-info/SOURCES.txt
@@ -0,0 +1,18 @@
+package.xml
+setup.cfg
+setup.py
+../build/robot_description/robot_description.egg-info/PKG-INFO
+../build/robot_description/robot_description.egg-info/SOURCES.txt
+../build/robot_description/robot_description.egg-info/dependency_links.txt
+../build/robot_description/robot_description.egg-info/requires.txt
+../build/robot_description/robot_description.egg-info/top_level.txt
+../build/robot_description/robot_description.egg-info/zip-safe
+config/ekf.yaml
+launch/view_robot.py
+resource/robot_description
+robot_description/__init__.py
+rviz/urdf_config.rviz
+test/test_copyright.py
+test/test_flake8.py
+test/test_pep257.py
+urdf/robot.urdf
\ No newline at end of file
diff --git a/robobin_main/src/build/robot_description/robot_description.egg-info/dependency_links.txt b/robobin_main/src/build/robot_description/robot_description.egg-info/dependency_links.txt
new file mode 100644
index 00000000..8b137891
--- /dev/null
+++ b/robobin_main/src/build/robot_description/robot_description.egg-info/dependency_links.txt
@@ -0,0 +1 @@
+
diff --git a/robobin_main/src/build/robot_description/robot_description.egg-info/requires.txt b/robobin_main/src/build/robot_description/robot_description.egg-info/requires.txt
new file mode 100644
index 00000000..49fe098d
--- /dev/null
+++ b/robobin_main/src/build/robot_description/robot_description.egg-info/requires.txt
@@ -0,0 +1 @@
+setuptools
diff --git a/robobin_main/src/build/robot_description/robot_description.egg-info/top_level.txt b/robobin_main/src/build/robot_description/robot_description.egg-info/top_level.txt
new file mode 100644
index 00000000..042c2857
--- /dev/null
+++ b/robobin_main/src/build/robot_description/robot_description.egg-info/top_level.txt
@@ -0,0 +1 @@
+robot_description
diff --git a/robobin_main/src/build/robot_description/robot_description.egg-info/zip-safe b/robobin_main/src/build/robot_description/robot_description.egg-info/zip-safe
new file mode 100644
index 00000000..8b137891
--- /dev/null
+++ b/robobin_main/src/build/robot_description/robot_description.egg-info/zip-safe
@@ -0,0 +1 @@
+
diff --git a/robobin_main/src/build/robot_localization_ekf/build/lib/robot_localization_ekf/__init__.py b/robobin_main/src/build/robot_localization_ekf/build/lib/robot_localization_ekf/__init__.py
new file mode 100644
index 00000000..e69de29b
diff --git a/robobin_main/src/build/robot_localization_ekf/colcon_build.rc b/robobin_main/src/build/robot_localization_ekf/colcon_build.rc
new file mode 100644
index 00000000..573541ac
--- /dev/null
+++ b/robobin_main/src/build/robot_localization_ekf/colcon_build.rc
@@ -0,0 +1 @@
+0
diff --git a/robobin_main/src/build/robot_localization_ekf/colcon_command_prefix_setup_py.sh b/robobin_main/src/build/robot_localization_ekf/colcon_command_prefix_setup_py.sh
new file mode 100644
index 00000000..f9867d51
--- /dev/null
+++ b/robobin_main/src/build/robot_localization_ekf/colcon_command_prefix_setup_py.sh
@@ -0,0 +1 @@
+# generated from colcon_core/shell/template/command_prefix.sh.em
diff --git a/robobin_main/src/build/robot_localization_ekf/colcon_command_prefix_setup_py.sh.env b/robobin_main/src/build/robot_localization_ekf/colcon_command_prefix_setup_py.sh.env
new file mode 100644
index 00000000..10531199
--- /dev/null
+++ b/robobin_main/src/build/robot_localization_ekf/colcon_command_prefix_setup_py.sh.env
@@ -0,0 +1,61 @@
+AMENT_PREFIX_PATH=/home/robobin/Robobin_Project/ros2/robobin_main/install/testing:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_localization_ekf:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_description:/home/robobin/Robobin_Project/ros2/robobin_main/install/odometry_publisher:/opt/ros/jazzy
+CMAKE_PREFIX_PATH=/opt/ros/jazzy/opt/sdformat_vendor:/opt/ros/jazzy/opt/gz_math_vendor:/opt/ros/jazzy/opt/gz_utils_vendor:/opt/ros/jazzy/opt/gz_tools_vendor:/opt/ros/jazzy/opt/gz_cmake_vendor
+COLCON=1
+COLCON_PREFIX_PATH=/home/robobin/Robobin_Project/ros2/robobin_main/install
+COLORTERM=truecolor
+DBUS_SESSION_BUS_ADDRESS=unix:path=/run/user/1002/bus
+DEBUGINFOD_URLS=https://debuginfod.ubuntu.com
+DESKTOP_SESSION=ubuntu
+DISPLAY=:0
+GDMSESSION=ubuntu
+GNOME_DESKTOP_SESSION_ID=this-is-deprecated
+GNOME_SETUP_DISPLAY=:1
+GNOME_SHELL_SESSION_MODE=ubuntu
+GNOME_TERMINAL_SCREEN=/org/gnome/Terminal/screen/7862307c_49e8_4e82_a5e8_e2b0cc08d1e3
+GNOME_TERMINAL_SERVICE=:1.102
+GSM_SKIP_SSH_AGENT_WORKAROUND=true
+GTK_MODULES=gail:atk-bridge
+GZ_CONFIG_PATH=/opt/ros/jazzy/opt/sdformat_vendor/share/gz
+HOME=/home/robobin
+IM_CONFIG_PHASE=1
+LANG=en_US.UTF-8
+LC_ALL=en_US.UTF-8
+LD_LIBRARY_PATH=/opt/ros/jazzy/opt/sdformat_vendor/lib:/opt/ros/jazzy/opt/rviz_ogre_vendor/lib:/opt/ros/jazzy/lib/aarch64-linux-gnu:/opt/ros/jazzy/opt/gz_math_vendor/lib:/opt/ros/jazzy/opt/gz_utils_vendor/lib:/opt/ros/jazzy/opt/gz_tools_vendor/lib:/opt/ros/jazzy/opt/gz_cmake_vendor/lib:/opt/ros/jazzy/lib
+LESSCLOSE=/usr/bin/lesspipe %s %s
+LESSOPEN=| /usr/bin/lesspipe %s
+LOGNAME=robobin
+LS_COLORS=rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=00:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.zst=01;31:*.tzst=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.avif=01;35:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.webp=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:*~=00;90:*#=00;90:*.bak=00;90:*.crdownload=00;90:*.dpkg-dist=00;90:*.dpkg-new=00;90:*.dpkg-old=00;90:*.dpkg-tmp=00;90:*.old=00;90:*.orig=00;90:*.part=00;90:*.rej=00;90:*.rpmnew=00;90:*.rpmorig=00;90:*.rpmsave=00;90:*.swp=00;90:*.tmp=00;90:*.ucf-dist=00;90:*.ucf-new=00;90:*.ucf-old=00;90:
+MEMORY_PRESSURE_WATCH=/sys/fs/cgroup/user.slice/user-1002.slice/user@1002.service/session.slice/org.gnome.Shell@wayland.service/memory.pressure
+MEMORY_PRESSURE_WRITE=c29tZSAyMDAwMDAgMjAwMDAwMAA=
+OLDPWD=/home/robobin/robobin/robobin_main
+PATH=/opt/ros/jazzy/opt/gz_tools_vendor/bin:/opt/ros/jazzy/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/snap/bin
+PWD=/home/robobin/robobin/robobin_main/src/build/robot_localization_ekf
+PYTHONPATH=/home/robobin/Robobin_Project/ros2/robobin_main/build/testing:/home/robobin/Robobin_Project/ros2/robobin_main/install/testing/lib/python3.12/site-packages:/home/robobin/Robobin_Project/ros2/robobin_main/build/robot_localization_ekf:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_localization_ekf/lib/python3.12/site-packages:/home/robobin/Robobin_Project/ros2/robobin_main/build/robot_description:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_description/lib/python3.12/site-packages:/home/robobin/Robobin_Project/ros2/robobin_main/build/odometry_publisher:/home/robobin/Robobin_Project/ros2/robobin_main/install/odometry_publisher/lib/python3.12/site-packages:/opt/ros/jazzy/lib/python3.12/site-packages
+QT_ACCESSIBILITY=1
+QT_IM_MODULE=ibus
+ROS_AUTOMATIC_DISCOVERY_RANGE=SUBNET
+ROS_DISTRO=jazzy
+ROS_DOMAIN_ID=3
+ROS_PYTHON_VERSION=3
+ROS_VERSION=2
+SESSION_MANAGER=local/robobin-desktop:@/tmp/.ICE-unix/1594,unix/robobin-desktop:/tmp/.ICE-unix/1594
+SHELL=/bin/bash
+SHLVL=1
+SSH_AUTH_SOCK=/run/user/1002/keyring/ssh
+SYSTEMD_EXEC_PID=1633
+TERM=xterm-256color
+USER=robobin
+USERNAME=robobin
+VTE_VERSION=7600
+WAYLAND_DISPLAY=wayland-0
+XAUTHORITY=/run/user/1002/.mutter-Xwaylandauth.XGQ7Y2
+XDG_CONFIG_DIRS=/etc/xdg/xdg-ubuntu:/etc/xdg
+XDG_CURRENT_DESKTOP=ubuntu:GNOME
+XDG_DATA_DIRS=/usr/share/ubuntu:/usr/share/gnome:/usr/local/share/:/usr/share/:/var/lib/snapd/desktop
+XDG_MENU_PREFIX=gnome-
+XDG_RUNTIME_DIR=/run/user/1002
+XDG_SESSION_CLASS=user
+XDG_SESSION_DESKTOP=ubuntu
+XDG_SESSION_TYPE=wayland
+XMODIFIERS=@im=ibus
+_=/usr/bin/colcon
diff --git a/robobin_main/src/build/robot_localization_ekf/install.log b/robobin_main/src/build/robot_localization_ekf/install.log
new file mode 100644
index 00000000..faa6147c
--- /dev/null
+++ b/robobin_main/src/build/robot_localization_ekf/install.log
@@ -0,0 +1,12 @@
+/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/lib/python3.12/site-packages/robot_localization_ekf/__init__.py
+/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/lib/python3.12/site-packages/robot_localization_ekf/__pycache__/__init__.cpython-312.pyc
+/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/share/ament_index/resource_index/packages/robot_localization_ekf
+/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/share/robot_localization_ekf/package.xml
+/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/share/robot_localization_ekf/config/ekf.yaml
+/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/share/robot_localization_ekf/launch/ekf_launch.py
+/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/lib/python3.12/site-packages/robot_localization_ekf-0.0.0-py3.12.egg-info/SOURCES.txt
+/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/lib/python3.12/site-packages/robot_localization_ekf-0.0.0-py3.12.egg-info/top_level.txt
+/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/lib/python3.12/site-packages/robot_localization_ekf-0.0.0-py3.12.egg-info/PKG-INFO
+/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/lib/python3.12/site-packages/robot_localization_ekf-0.0.0-py3.12.egg-info/zip-safe
+/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/lib/python3.12/site-packages/robot_localization_ekf-0.0.0-py3.12.egg-info/requires.txt
+/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/lib/python3.12/site-packages/robot_localization_ekf-0.0.0-py3.12.egg-info/dependency_links.txt
diff --git a/robobin_main/src/build/robot_localization_ekf/prefix_override/__pycache__/sitecustomize.cpython-312.pyc b/robobin_main/src/build/robot_localization_ekf/prefix_override/__pycache__/sitecustomize.cpython-312.pyc
new file mode 100644
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diff --git a/robobin_main/src/build/robot_localization_ekf/prefix_override/sitecustomize.py b/robobin_main/src/build/robot_localization_ekf/prefix_override/sitecustomize.py
new file mode 100644
index 00000000..8030a22b
--- /dev/null
+++ b/robobin_main/src/build/robot_localization_ekf/prefix_override/sitecustomize.py
@@ -0,0 +1,4 @@
+import sys
+if sys.prefix == '/usr':
+ sys.real_prefix = sys.prefix
+ sys.prefix = sys.exec_prefix = '/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf'
diff --git a/robobin_main/src/build/robot_localization_ekf/robot_localization_ekf.egg-info/PKG-INFO b/robobin_main/src/build/robot_localization_ekf/robot_localization_ekf.egg-info/PKG-INFO
new file mode 100644
index 00000000..18fb599d
--- /dev/null
+++ b/robobin_main/src/build/robot_localization_ekf/robot_localization_ekf.egg-info/PKG-INFO
@@ -0,0 +1,7 @@
+Metadata-Version: 2.1
+Name: robot-localization-ekf
+Version: 0.0.0
+Summary: TODO: Package description
+Maintainer: robobin
+Maintainer-email: robobin@todo.todo
+License: TODO: License declaration
diff --git a/robobin_main/src/build/robot_localization_ekf/robot_localization_ekf.egg-info/SOURCES.txt b/robobin_main/src/build/robot_localization_ekf/robot_localization_ekf.egg-info/SOURCES.txt
new file mode 100644
index 00000000..3e5acfe0
--- /dev/null
+++ b/robobin_main/src/build/robot_localization_ekf/robot_localization_ekf.egg-info/SOURCES.txt
@@ -0,0 +1,16 @@
+package.xml
+setup.cfg
+setup.py
+../build/robot_localization_ekf/robot_localization_ekf.egg-info/PKG-INFO
+../build/robot_localization_ekf/robot_localization_ekf.egg-info/SOURCES.txt
+../build/robot_localization_ekf/robot_localization_ekf.egg-info/dependency_links.txt
+../build/robot_localization_ekf/robot_localization_ekf.egg-info/requires.txt
+../build/robot_localization_ekf/robot_localization_ekf.egg-info/top_level.txt
+../build/robot_localization_ekf/robot_localization_ekf.egg-info/zip-safe
+config/ekf.yaml
+launch/ekf_launch.py
+resource/robot_localization_ekf
+robot_localization_ekf/__init__.py
+test/test_copyright.py
+test/test_flake8.py
+test/test_pep257.py
\ No newline at end of file
diff --git a/robobin_main/src/build/robot_localization_ekf/robot_localization_ekf.egg-info/dependency_links.txt b/robobin_main/src/build/robot_localization_ekf/robot_localization_ekf.egg-info/dependency_links.txt
new file mode 100644
index 00000000..8b137891
--- /dev/null
+++ b/robobin_main/src/build/robot_localization_ekf/robot_localization_ekf.egg-info/dependency_links.txt
@@ -0,0 +1 @@
+
diff --git a/robobin_main/src/build/robot_localization_ekf/robot_localization_ekf.egg-info/requires.txt b/robobin_main/src/build/robot_localization_ekf/robot_localization_ekf.egg-info/requires.txt
new file mode 100644
index 00000000..49fe098d
--- /dev/null
+++ b/robobin_main/src/build/robot_localization_ekf/robot_localization_ekf.egg-info/requires.txt
@@ -0,0 +1 @@
+setuptools
diff --git a/robobin_main/src/build/robot_localization_ekf/robot_localization_ekf.egg-info/top_level.txt b/robobin_main/src/build/robot_localization_ekf/robot_localization_ekf.egg-info/top_level.txt
new file mode 100644
index 00000000..bb70b42a
--- /dev/null
+++ b/robobin_main/src/build/robot_localization_ekf/robot_localization_ekf.egg-info/top_level.txt
@@ -0,0 +1 @@
+robot_localization_ekf
diff --git a/robobin_main/src/build/robot_localization_ekf/robot_localization_ekf.egg-info/zip-safe b/robobin_main/src/build/robot_localization_ekf/robot_localization_ekf.egg-info/zip-safe
new file mode 100644
index 00000000..8b137891
--- /dev/null
+++ b/robobin_main/src/build/robot_localization_ekf/robot_localization_ekf.egg-info/zip-safe
@@ -0,0 +1 @@
+
diff --git a/robobin_main/src/build/testing/build/lib/testing/__init__.py b/robobin_main/src/build/testing/build/lib/testing/__init__.py
new file mode 100644
index 00000000..e69de29b
diff --git a/robobin_main/src/build/testing/build/lib/testing/control_feedback.py b/robobin_main/src/build/testing/build/lib/testing/control_feedback.py
new file mode 100644
index 00000000..9762167a
--- /dev/null
+++ b/robobin_main/src/build/testing/build/lib/testing/control_feedback.py
@@ -0,0 +1,320 @@
+import rclpy
+from rclpy.node import Node
+from geometry_msgs.msg import Twist
+from std_msgs.msg import Int64, Float64
+from gpiozero import PWMOutputDevice, DigitalOutputDevice
+import time
+from rclpy.clock import Clock
+from rclpy.time import Time
+import bisect
+
+
+
+# Example of how you could implement a simple PID controller
+class PIDController:
+ def __init__(self, kp, ki, kd):
+ self.kp = kp
+ self.ki = ki
+ self.kd = kd
+ self.prev_error = 0
+ self.integral = 0
+
+ def reset(self):
+ self.prev_error = 0
+ self.integral = 0
+
+ def calculate(self, error, dt):
+ self.integral += error * dt
+ derivative = (error - self.prev_error) / dt
+ output = self.kp * error + self.ki * self.integral + self.kd * derivative
+ self.prev_error = error
+ return output
+
+
+
+
+class MotorControlNode(Node):
+ def __init__(self):
+ super().__init__('control_feedback_node')
+
+ # Initialize encoder values
+ self.encoder_left_steps = 0
+ self.encoder_right_steps = 0
+
+ # Desired speeds from cmd_vel
+ self.desired_linear_speed = 0.0
+ self.desired_angular_speed = 0.0
+
+ self.prev_left_steps = 0
+ self.prev_right_steps = 0
+
+ self.left_pwm = 0
+ self.right_pwm = 0
+
+ self.prev_desired_speed = 0.0
+
+
+ #Time
+ self.prev_time = time.time()
+ #self.prev_time = self.get_clock().now
+
+
+ # Robot parameters
+ self.wheel_base = 0.40
+ self.encoder_steps_per_rotation = 310
+ self.wheel_radius = 0.075
+
+ # Initialize the motors
+ self.motor = Motor(self,14,15,18, 17, 22, 27)
+
+ # PID controllers
+ self.pid_left_forward = PIDController(kp=0.5, ki=0.0, kd=0.001)
+ self.pid_right_forward = PIDController(kp=0.525, ki=0.0, kd=0.001)
+
+ self.pid_left_backward = PIDController(kp=0.525, ki=0.0, kd=0.001)
+ self.pid_right_backward = PIDController(kp=0.5, ki=0.0, kd=0.001)
+
+
+
+
+ # Subscribe to cmd_vel topic
+ self.subscription = self.create_subscription(
+ Twist,
+ '/cmd_vel',
+ self.cmd_vel_callback,
+ 10
+ )
+
+ # Subscribe to encoder data
+ self.left_encoder_sub = self.create_subscription(
+ Int64,
+ 'left_wheel_steps',
+ self.left_encoder_callback,
+ 10
+ )
+ self.right_encoder_sub = self.create_subscription(
+ Int64,
+ 'right_wheel_steps',
+ self.right_encoder_callback,
+ 10
+ )
+
+ self.left_actual_speed_pub = self.create_publisher(Float64, 'left_actual_wheel_speed', 10)
+ self.right_actual_speed_pub = self.create_publisher(Float64, 'right_actual_wheel_speed', 10)
+ self.desired_speed_pub = self.create_publisher(Float64, 'desired_wheel_speed', 10)
+
+ # Timer to update motor speeds
+ self.control_timer = self.create_timer(0.1, self.control_loop)
+
+ self.get_logger().info('Motor control node with encoder feedback has been started.')
+
+ def cmd_vel_callback(self, msg):
+ # Store desired speeds
+ self.desired_linear_speed = msg.linear.x # Forward/backward speed
+ self.desired_angular_speed = msg.angular.z # Turning rate
+
+ # if (self.desired_linear_speed >= 0 and self.prev_desired_speed < 0) or (self.desired_linear_speed < 0 and self.prev_desired_speed >= 0):
+
+ # self.pid_left_forward.reset()
+ # self.pid_right_forward.reset()
+ # self.pid_left_backward.reset()
+ # self.pid_right_backward.reset()
+
+
+
+
+
+ self.prev_desired_speed = self.desired_linear_speed
+
+ def left_encoder_callback(self, msg):
+ self.encoder_left_steps = msg.data
+
+ def right_encoder_callback(self, msg):
+ self.encoder_right_steps = msg.data
+
+
+ def control_loop(self):
+
+ if self.desired_linear_speed >= 0:
+ # Forward motion
+ left_pid = self.pid_left_forward
+ right_pid = self.pid_right_forward
+ else:
+ # Backward motion
+ left_pid = self.pid_left_backward
+ right_pid = self.pid_right_backward
+
+ if (self.desired_linear_speed == 0) and (self.desired_angular_speed == 0):
+ self.stop_motors()
+ self.pid_left_forward.reset()
+ self.pid_right_forward.reset()
+ self.pid_left_backward.reset()
+ self.pid_right_backward.reset()
+ self.left_pwm =0
+ self.right_pwm =0
+ return
+
+
+
+
+ #Calculate the actual speed
+ #-------------------------------
+ # Calculate elapsed time
+ current_time = time.time()
+ #dt = current_time - self.prev_time
+ dt = max(current_time - self.prev_time, 0.01) # Prevent dt from being too small
+ #dt = max(current_time - self.prev_time, 1e-6) # Avoid zero or too small dt
+ if dt == 0:
+ return
+ self.prev_time = current_time
+
+ # self.prev_time = self.get_clock().now()
+ # current_time = self.get_clock().now()
+ # dt = (current_time - self.prev_time).to_sec()
+ # if dt <= 0.0:
+ # return
+ # self.prev_time = current_time
+
+ #Actual Speed calculation
+ #------------------------------------
+ # Calculate change in encoder steps
+ delta_left_steps = self.encoder_left_steps - self.prev_left_steps
+ delta_right_steps = self.encoder_right_steps - self.prev_right_steps
+
+ self.prev_left_steps = self.encoder_left_steps
+ self.prev_right_steps = self.encoder_right_steps
+
+ # Calculate rotational speeds (RPS)
+ left_rps = delta_left_steps / (self.encoder_steps_per_rotation * dt)
+ right_rps = delta_right_steps / (self.encoder_steps_per_rotation * dt)
+
+ # Convert to linear speed (m/s)
+ left_speed_actual = left_rps * 2 * 3.14159 * self.wheel_radius
+ right_speed_actual = right_rps * 2 * 3.14159 * self.wheel_radius
+
+
+
+ #Desired Speed calculation
+ #------------------------------------
+ # Desired speeds for left and right wheels
+ left_speed_desired = self.desired_linear_speed - (self.desired_angular_speed * self.wheel_base / 2.0)
+ right_speed_desired = self.desired_linear_speed + (self.desired_angular_speed * self.wheel_base / 2.0)
+
+
+
+ # Speed Errors calculation
+ #------------------------------------
+ left_error = left_speed_desired - left_speed_actual
+ right_error = right_speed_desired - right_speed_actual
+
+
+
+ # Use PID controllers for left and right wheels
+ left_pwm_error = left_pid.calculate(left_error, dt)
+ right_pwm_error = right_pid.calculate(right_error, dt)
+
+ self.left_pwm += left_pwm_error
+ self.right_pwm += right_pwm_error
+
+
+
+ # Ensure PWM values are within [-1, 1]
+ left_pwm = max(-1, min(1, self.left_pwm))
+ right_pwm = max(-1, min(1, self.right_pwm))
+
+ # Apply PWM values to motors
+ self.motor.set_pwm(left_pwm, right_pwm)
+
+
+
+
+ # Publish actual speeds
+ left_actual_speed_msg = Float64()
+ left_actual_speed_msg.data = left_speed_actual
+ self.left_actual_speed_pub.publish(left_actual_speed_msg)
+
+ right_actual_speed_msg = Float64()
+ right_actual_speed_msg.data = right_speed_actual
+ self.right_actual_speed_pub.publish(right_actual_speed_msg)
+
+ desired_speed_msg = Float64()
+ desired_speed_msg.data = right_speed_desired
+ self.desired_speed_pub.publish(desired_speed_msg)
+
+
+ # Debugging info
+ self.get_logger().info(f'Left PWM IN: {self.left_pwm:.2f}, Right PWM IN: {right_pwm:.2f}')
+ self.get_logger().info(f'Left Speed Actual: {left_speed_actual:.2f}, Right Speed Actual: {right_speed_actual:.2f}')
+ self.get_logger().info(f'Left Error: {left_error:.2f}, Right Error: {left_pwm_error:.2f}')
+ self.get_logger().info(f'Left_speed_desired: {left_speed_desired:.2f}, Right_speed_desired: {right_speed_desired:.2f}')
+ self.get_logger().info('-----------------------------------------------------------------')
+
+
+ def stop_motors(self):
+ self.motor.stop()
+ self.get_logger().info('Motors have been stopped.')
+
+class Motor:
+ def __init__(self,node, EnaA, In1A, In2A, EnaB, In1B, In2B):
+
+ self.node = node
+ # Left motor control pins
+ self.pwmA = PWMOutputDevice(EnaA)
+ self.in1A = DigitalOutputDevice(In1A)
+ self.in2A = DigitalOutputDevice(In2A)
+
+ # Right motor control pins
+ self.pwmB = PWMOutputDevice(EnaB)
+ self.in1B = DigitalOutputDevice(In1B)
+ self.in2B = DigitalOutputDevice(In2B)
+
+ def set_pwm(self, left_pwm, right_pwm):
+
+ #Deadband to prevent the motors from responding to very small PWM values that could cause jitter.
+ DEADZONE = 0.002
+
+ if abs(left_pwm) < DEADZONE:
+ self.pwmA.value = 0
+ self.in1A.off()
+ self.in2A.off()
+ else:
+ self.pwmA.value = abs(left_pwm)
+ self.in1A.value = left_pwm > 0
+ self.in2A.value = left_pwm < 0
+
+ if abs(right_pwm) < DEADZONE:
+ self.pwmB.value = 0
+ self.in1B.off()
+ self.in2B.off()
+ else:
+ self.pwmB.value = abs(right_pwm)
+ self.in1B.value = right_pwm > 0
+ self.in2B.value = right_pwm < 0
+
+ #self.node.get_logger().info(f"Left Motor PWM: Speed={left_pwm}, Right Motor PWM: Speed={right_pwm}")
+
+ def stop(self):
+ # Stop both motors
+ self.pwmA.value = 0
+ self.pwmB.value = 0
+ self.in1A.off()
+ self.in2A.off()
+ self.in1B.off()
+ self.in2B.off()
+
+
+def main(args=None):
+ rclpy.init(args=args)
+ node = MotorControlNode()
+
+ try:
+ rclpy.spin(node)
+ except KeyboardInterrupt:
+ pass
+ finally:
+ node.stop_motors()
+ node.destroy_node()
+ rclpy.shutdown()
+
+if __name__ == '__main__':
+ main()
diff --git a/robobin_main/src/build/testing/build/lib/testing/encoder.py b/robobin_main/src/build/testing/build/lib/testing/encoder.py
new file mode 100644
index 00000000..4e687cd9
--- /dev/null
+++ b/robobin_main/src/build/testing/build/lib/testing/encoder.py
@@ -0,0 +1,63 @@
+import rclpy
+from rclpy.node import Node
+from std_msgs.msg import Int64
+from gpiozero import RotaryEncoder, InputDevice
+
+
+
+class EncoderReaderNode(Node):
+ def __init__(self):
+ super().__init__('encoder_reader_node')
+
+ motor1A = 5
+ motor1B = 6
+ motor2A = 20
+ motor2B = 21
+
+ self.encoder_left = RotaryEncoder(a = motor1A,b = motor1B, max_steps=0)
+ self.encoder_right = RotaryEncoder(a = motor2A,b = motor2B, max_steps=0)
+
+ # Publishers for encoder steps
+ self.left_encoder_pub = self.create_publisher(Int64, 'left_wheel_steps', 10)
+ self.right_encoder_pub = self.create_publisher(Int64, 'right_wheel_steps', 10)
+
+ # Timer to read encoders
+ self.timer = self.create_timer(0.1, self.publish_encoder_steps)
+
+ self.get_logger().info('Encoder reader node has been started.')
+
+ def publish_encoder_steps(self):
+ # Read encoder steps
+ left_steps = self.encoder_left.steps
+ right_steps = -(self.encoder_right.steps)
+
+ # Create messages
+ left_msg = Int64()
+ left_msg.data = left_steps
+
+ right_msg = Int64()
+ right_msg.data = right_steps
+
+ # Publish messages
+ self.left_encoder_pub.publish(left_msg)
+ self.right_encoder_pub.publish(right_msg)
+
+ # Log the steps
+ self.get_logger().info(f'Left Steps: {left_steps}, Right Steps: {right_steps}')
+
+
+
+def main(args=None):
+ rclpy.init(args=args)
+ node = EncoderReaderNode()
+
+ try:
+ rclpy.spin(node)
+ except KeyboardInterrupt:
+ pass
+ finally:
+ node.destroy_node()
+ rclpy.shutdown()
+
+if __name__ == '__main__':
+ main()
diff --git a/robobin_main/src/build/testing/build/lib/testing/imu_node.py b/robobin_main/src/build/testing/build/lib/testing/imu_node.py
new file mode 100644
index 00000000..d2f2a417
--- /dev/null
+++ b/robobin_main/src/build/testing/build/lib/testing/imu_node.py
@@ -0,0 +1,95 @@
+#!/usr/bin/env python3
+
+import rclpy
+from rclpy.node import Node
+from sensor_msgs.msg import Imu
+from smbus2 import SMBus
+import time
+import math
+
+class BNO055Publisher(Node):
+ def __init__(self):
+ super().__init__('imu_node')
+ self.publisher_ = self.create_publisher(Imu, 'imu', 10)
+ self.timer = self.create_timer(0.1, self.timer_callback)
+ self.bus = SMBus(1)
+ self.address = 0x28
+ self.init_bno055()
+ time.sleep(1)
+
+ def write_register(self, register, value):
+ self.bus.write_byte_data(self.address, register, value)
+
+ def read_register(self, register, length=1):
+ if length == 1:
+ return self.bus.read_byte_data(self.address, register)
+ else:
+ return self.bus.read_i2c_block_data(self.address, register, length)
+
+ def init_bno055(self):
+ # Switch to CONFIG mode
+ self.write_register(0x3D, 0x00)
+ time.sleep(0.05)
+ # Set power mode to Normal
+ self.write_register(0x3E, 0x00)
+ # Set to NDOF mode
+ self.write_register(0x3D, 0x0C)
+ time.sleep(0.5)
+
+ def read_euler_angles(self):
+ data = self.read_register(0x1A, 6)
+ yaw = (data[1] << 8) | data[0]
+ roll = (data[3] << 8) | data[2]
+ pitch = (data[5] << 8) | data[4]
+ yaw = yaw if yaw < 32768 else yaw - 65536
+ roll = roll if roll < 32768 else roll - 65536
+ pitch = pitch if pitch < 32768 else pitch - 65536
+ yaw = yaw / 16.0
+ roll = roll / 16.0
+ pitch = pitch / 16.0
+ return yaw, pitch, roll
+
+ def timer_callback(self):
+ yaw, pitch, roll = self.read_euler_angles()
+ imu_msg = Imu()
+ imu_msg.header.stamp = self.get_clock().now().to_msg()
+ imu_msg.header.frame_id = 'imu_link'
+ # Convert degrees to radians
+ yaw_rad = -(math.radians(yaw))
+ roll_rad = -(math.radians(pitch))
+ pitch_rad = -(math.radians(roll))
+ # Compute quaternion
+ cy = math.cos(yaw_rad * 0.5)
+ sy = math.sin(yaw_rad * 0.5)
+ cp = math.cos(pitch_rad * 0.5)
+ sp = math.sin(pitch_rad * 0.5)
+ cr = math.cos(roll_rad * 0.5)
+ sr = math.sin(roll_rad * 0.5)
+ imu_msg.orientation.w = cr * cp * cy + sr * sp * sy
+ imu_msg.orientation.x = sr * cp * cy - cr * sp * sy
+ imu_msg.orientation.y = cr * sp * cy + sr * cp * sy
+ imu_msg.orientation.z = cr * cp * sy - sr * sp * cy
+
+ imu_msg.orientation_covariance = [0.0025, 0, 0,
+ 0, 0.0025, 0,
+ 0, 0, 0.0025]
+ imu_msg.angular_velocity_covariance = [0.02, 0, 0,
+ 0, 0.02, 0,
+ 0, 0, 0.02]
+ imu_msg.linear_acceleration_covariance = [0.04, 0, 0,
+ 0, 0.04, 0,
+ 0, 0, 0.04]
+
+
+ self.publisher_.publish(imu_msg)
+ self.get_logger().info(f'Publishing: Yaw={yaw:.2f}, Pitch={pitch:.2f}, Roll={roll:.2f}')
+
+def main(args=None):
+ rclpy.init(args=args)
+ bno055_publisher = BNO055Publisher()
+ rclpy.spin(bno055_publisher)
+ bno055_publisher.destroy_node()
+ rclpy.shutdown()
+
+if __name__ == '__main__':
+ main()
\ No newline at end of file
diff --git a/robobin_main/src/build/testing/build/lib/testing/motor_control_node.py b/robobin_main/src/build/testing/build/lib/testing/motor_control_node.py
new file mode 100644
index 00000000..d882ed7d
--- /dev/null
+++ b/robobin_main/src/build/testing/build/lib/testing/motor_control_node.py
@@ -0,0 +1,78 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from geometry_msgs.msg import Twist
+from gpiozero import PWMOutputDevice
+from time import sleep
+
+class Motor:
+ def __init__(self, node, EnaA, In1A, In2A, EnaB, In1B, In2B):
+ self.node = node
+ self.pwmA = PWMOutputDevice(EnaA)
+ self.in1A = PWMOutputDevice(In1A)
+ self.in2A = PWMOutputDevice(In2A)
+ self.pwmB = PWMOutputDevice(EnaB)
+ self.in1B = PWMOutputDevice(In1B)
+ self.in2B = PWMOutputDevice(In2B)
+
+ def move(self, speed=0.0, turn=0.0):
+ speed = max(-1, min(1, speed))
+ turn = max(-1, min(1, turn))
+
+ leftSpeed = speed - turn
+ rightSpeed = speed + turn
+ '''
+ left_speed = self.desired_speed - (turn_rate * self.motor.wheel_base / 2)
+ right_speed = self.desired_speed + (turn_rate * self.motor.wheel_base / 2)
+ '''
+
+ leftSpeed = max(-1, min(1, leftSpeed))
+ rightSpeed = max(-1, min(1, rightSpeed))
+
+ self.pwmA.value = abs(leftSpeed)
+ self.in1A.value = leftSpeed > 0
+ self.in2A.value = leftSpeed <= 0
+
+ self.pwmB.value = abs(rightSpeed)
+ self.in1B.value = rightSpeed > 0
+ self.in2B.value = rightSpeed <= 0
+
+ self.node.get_logger().info(f"Lefts Motor: Speed={leftSpeed}, Right Motor: Speed={rightSpeed}")
+ #print("hi")
+
+
+ def stop(self):
+ self.pwmA.value = 0
+ self.pwmB.value = 0
+ self.node.get_logger().info("Motors have been stopped.")
+
+class MotorControlNode(Node):
+ def __init__(self):
+ super().__init__('motor_control_node')
+ #left 14,15,18 right 17,27,22
+ self.motor = Motor(self,14,15,18, 17, 22, 27)
+ self.subscription = self.create_subscription(
+ Twist,
+ 'cmd_vel',
+ self.cmd_vel_callback,
+ 10
+ )
+ self.subscription # prevent unused variable warning
+ self.get_logger().info('Motor control node has been started.')
+
+ def cmd_vel_callback(self, msg):
+ linear_x = msg.linear.x
+ angular_z = msg.angular.z
+ self.get_logger().info(f'Speed: {linear_x}, Turn Rate: {angular_z}')
+ self.motor.move(speed=linear_x, turn=angular_z)
+
+def main(args=None):
+ rclpy.init(args=args)
+ node = MotorControlNode()
+ rclpy.spin(node)
+ rclpy.shutdown()
+
+if __name__ == '__main__':
+ main()
+
+#colcon build --symlink-install
\ No newline at end of file
diff --git a/robobin_main/src/build/testing/build/lib/testing/route.py b/robobin_main/src/build/testing/build/lib/testing/route.py
new file mode 100644
index 00000000..b3d2bff6
--- /dev/null
+++ b/robobin_main/src/build/testing/build/lib/testing/route.py
@@ -0,0 +1,158 @@
+import rclpy
+from rclpy.node import Node
+from geometry_msgs.msg import Twist
+from nav_msgs.msg import Odometry
+from math import sqrt, pow, atan2, radians, sin, cos
+import time
+
+class MoveTurnNode(Node):
+ def __init__(self):
+ super().__init__('move_turn_node')
+
+ # Publisher for cmd_vel
+ self.cmd_vel_pub = self.create_publisher(Twist, '/cmd_vel', 10)
+
+ # Subscriber for odometry
+ self.create_subscription(Odometry, '/odom', self.odom_callback, 10)
+
+ # Robot position and orientation
+ self.x = 0.0
+ self.y = 0.0
+ self.yaw = 0.0
+
+ # Movement parameters[=]
+ self.distance_threshold = 0.01 # meters
+ self.angle_threshold = radians(0.1) # 3 degrees in radians
+ #self.linear_speed = 0.2 # m/s
+ #self.angular_speed = 0rr.25 # rad/s
+
+ self.get_logger().info('Move and Turn node started.')
+ self.execute_movement()
+
+ def odom_callback(self, msg):
+ self.x = msg.pose.pose.position.x
+ self.y = msg.pose.pose.position.y
+ self.get_logger().info(f'start_x :{self.x} , start_y :{self.y}')
+
+ # Extract yaw (orientation around Z axis)
+ _, _, self.yaw = self.quaternion_to_euler(
+ msg.pose.pose.orientation.x,
+ msg.pose.pose.orientation.y,
+ msg.pose.pose.orientation.z,
+ msg.pose.pose.orientation.w
+ )
+
+ def quaternion_to_euler(self, x, y, z, w):
+ t3 = 2.0 * (w * z + x * y)
+ t4 = 1.0 - 2.0 * (y * y + z * z)
+ yaw = atan2(t3, t4)
+
+ return 0.0, 0.0, yaw
+
+ def execute_movement(self):
+
+ # #self.move_forward(1)
+ # self.turn_angle(90)
+
+
+
+ # for i in range(10):
+ # self.get_logger().info(f'Starting loop {i + 1} of 5')
+ # # # Move forward 1 meter
+ # self.move_forward(1)
+ # self.turn_angle(180)
+
+ # # Turn 90 degrees
+ # self.stop_robot()
+
+ for i in range(4):
+ self.get_logger().info(f'Starting loop {i + 1} of 5')
+ # Move forward 1 meter
+ self.move_forward(1)
+ # Turn 90 degree
+ self.turn_angle(90)
+ self.stop_robot()
+
+
+ self.get_logger().info('Completed all loops.')
+ self.stop_robot()
+
+ def move_forward(self, distance):
+ start_x, start_y = self.x, self.y
+
+ kp = 1.0
+ max_speed = 0.2
+ min_speed = 0.05
+
+
+
+ while True:
+
+ current_distance = sqrt(pow(self.x - start_x, 2) + pow(self.y - start_y, 2))
+ distance_error = distance - current_distance
+
+ if distance_error <= self.distance_threshold:
+ self.stop_robot()
+ break
+
+ linear_speed = kp * distance_error
+ linear_speed = max(min_speed, min (max_speed, linear_speed))
+
+
+ twist = Twist()
+ twist.linear.x = linear_speed
+ self.cmd_vel_pub.publish(twist)
+
+ rclpy.spin_once(self)
+
+ def turn_angle(self, angle_degrees):
+ # Capture the starting yaw before turning
+ start_yaw = self.yaw
+
+ # Calculate the target yaw relative to the current orientation
+ target_yaw = start_yaw + radians(angle_degrees)
+ target_yaw = atan2(sin(target_yaw), cos(target_yaw))
+ kp = 1.0
+ max_speed = 0.8
+ min_speed = 0.05
+
+ while True:
+ yaw_error = target_yaw - self.yaw
+ yaw_error = atan2(sin(yaw_error), cos(yaw_error)) # Normalize angle
+
+ if abs(yaw_error) < self.angle_threshold:
+ self.stop_robot()
+ break
+
+ angular_speed = kp * abs(yaw_error)
+
+ angular_speed = max(min_speed, min (max_speed, angular_speed))
+
+ twist = Twist()
+ twist.angular.z = angular_speed if yaw_error > 0 else -angular_speed
+ self.cmd_vel_pub.publish(twist)
+
+ rclpy.spin_once(self)
+
+ def stop_robot(self):
+ twist = Twist()
+ twist.linear.x = 0.0
+ twist.angular.z = 0.0
+ self.cmd_vel_pub.publish(twist)
+ self.get_logger().info('Robot stopped.')
+ time.sleep(0.5)
+
+def main(args=None):
+ rclpy.init(args=args)
+ node = MoveTurnNode()
+
+ try:
+ rclpy.spin(node)
+ except KeyboardInterrupt:
+ pass
+ finally:
+ node.destroy_node()
+ rclpy.shutdown()
+
+if __name__ == '__main__':
+ main()
diff --git a/robobin_main/src/build/testing/build/lib/testing/route_filtered.py b/robobin_main/src/build/testing/build/lib/testing/route_filtered.py
new file mode 100644
index 00000000..e79cf08e
--- /dev/null
+++ b/robobin_main/src/build/testing/build/lib/testing/route_filtered.py
@@ -0,0 +1,191 @@
+import rclpy
+from rclpy.node import Node
+from geometry_msgs.msg import Twist
+from nav_msgs.msg import Odometry
+from math import sqrt, pow, atan2, radians, sin, cos, degrees
+import time
+
+class MoveTurnFilteredNode(Node):
+ def __init__(self):
+ super().__init__('move_turn_filtered_node')
+
+ # Publisher for cmd_vel
+ self.cmd_vel_pub = self.create_publisher(Twist, '/cmd_vel', 10)
+
+ # Subscriber for filtered odometry
+ self.create_subscription(Odometry, '/odometry/filtered', self.odom_callback, 10)
+
+ # Robot position and orientation
+ self.x = 0.0
+ self.y = 0.0
+ self.yaw = 0.0
+
+ # Movement parameters
+ self.distance_threshold = 0.01 # meters
+ self.angle_threshold = radians(0.1) # 0.1 degree in radians
+ self.linear_speed = 0.2 # m/s
+
+ self.get_logger().info('Move and Turn (Filtered) node started.')
+ self.execute_movement()
+
+ def odom_callback(self, msg):
+ self.x = msg.pose.pose.position.x
+ self.y = msg.pose.pose.position.y
+ self.get_logger().info(f'start_x :{self.x} , start_y :{self.y}')
+
+ # Extract yaw (orientation around Z axis)
+ _, _, self.yaw = self.quaternion_to_euler(
+ msg.pose.pose.orientation.x,
+ msg.pose.pose.orientation.y,
+ msg.pose.pose.orientation.z,
+ msg.pose.pose.orientation.w
+ )
+
+ self.get_logger().info(f'yaw :{degrees(self.yaw)} ')
+
+ def quaternion_to_euler(self, x, y, z, w):
+ t3 = 2.0 * (w * z + x * y)
+ t4 = 1.0 - 2.0 * (y * y + z * z)
+ yaw = atan2(t3, t4)
+
+ return 0.0, 0.0, yaw
+
+ def execute_movement(self):
+ # for i in range(1):
+ # self.get_logger().info(f'Starting loop {i + 1} of 5')
+ # self.move_forward(1)
+ # self.turn_angle(90)
+
+ for i in range(5):
+ self.get_logger().info(f'Starting loop {i + 1} of 5')
+ # # Move forward 1 meter
+ self.move_forward(1)
+ self.turn_to_angle(0)
+ # # Turn 90 degrees
+ self.stop_robot()
+ self.move_forward(1)
+ self.turn_to_angle(180)
+ # # Turn 90 degree
+ self.stop_robot()
+
+
+ # for i in range(4):
+ # self.get_logger().info(f'Starting loop {i + 1} of 5')
+ # # Move forward 1 meter
+ # self.move_forward(1)
+ # # Turn 90 degree
+ # self.turn_angle(90)
+ # self.stop_robot()
+
+ # self.move_forward(1)
+ # self.turn_to_angle(-90)
+ # self.stop_robot()
+
+ # self.move_forward(1)
+ # self.turn_to_angle(0)
+ # self.stop_robot()
+
+ # self.move_forward(1)
+ # self.turn_to_angle(90)
+ # self.stop_robot()
+
+ # self.move_forward(1)
+ # self.turn_to_angle(180)
+ # self.stop_robot()
+
+
+ self.get_logger().info('Completed all loops.')
+ self.stop_robot()
+
+ def move_forward(self, distance):
+ start_x, start_y = self.x, self.y
+ kp = 1.0
+ max_speed = 0.2
+ min_speed = 0.05
+ while True:
+
+ current_distance = sqrt(pow(self.x - start_x, 2) + pow(self.y - start_y, 2))
+ distance_error = distance - current_distance
+
+ if distance_error <= self.distance_threshold:
+ self.stop_robot()
+ break
+
+ linear_speed = kp * distance_error
+ linear_speed = max(min_speed, min (max_speed, linear_speed))
+
+
+ twist = Twist()
+ twist.linear.x = linear_speed
+ self.cmd_vel_pub.publish(twist)
+
+ rclpy.spin_once(self)
+
+ def turn_angle(self, angle_degrees):
+ target_yaw = self.yaw + radians(angle_degrees)
+ kp = 1.0
+ max_speed = 0.8
+ min_speed = 0.05
+
+ while True:
+ yaw_error = target_yaw - self.yaw
+ yaw_error = atan2(sin(yaw_error), cos(yaw_error)) # Normalize angle
+
+ if abs(yaw_error) < self.angle_threshold:
+ self.stop_robot()
+ break
+
+ angular_speed = kp * abs(yaw_error)
+ angular_speed = max(min_speed, min(max_speed, angular_speed))
+
+ twist = Twist()
+ twist.angular.z = angular_speed if yaw_error > 0 else -angular_speed
+ self.cmd_vel_pub.publish(twist)
+
+ rclpy.spin_once(self)
+
+ def turn_to_angle(self, target_angle_degrees):
+ target_angle_radian = radians(target_angle_degrees)
+ kp = 1.0
+ max_speed = 0.8
+ min_speed = 0.05
+
+ while True:
+ yaw_error = target_angle_radian - self.yaw
+ yaw_error = atan2(sin(yaw_error), cos(yaw_error)) # Normalize angle
+
+ if abs(yaw_error) < self.angle_threshold:
+ self.stop_robot()
+ break
+
+ angular_speed = kp * abs(yaw_error)
+ angular_speed = max(min_speed, min(max_speed, angular_speed))
+
+ twist = Twist()
+ twist.angular.z = angular_speed if yaw_error > 0 else -angular_speed
+ self.cmd_vel_pub.publish(twist)
+
+ rclpy.spin_once(self)
+
+ def stop_robot(self):
+ twist = Twist()
+ twist.linear.x = 0.0
+ twist.angular.z = 0.0
+ self.cmd_vel_pub.publish(twist)
+ self.get_logger().info('Robot stopped.')
+ time.sleep(0.2)
+
+def main(args=None):
+ rclpy.init(args=args)
+ node = MoveTurnFilteredNode()
+
+ try:
+ rclpy.spin(node)
+ except KeyboardInterrupt:
+ pass
+ finally:
+ node.destroy_node()
+ rclpy.shutdown()
+
+if __name__ == '__main__':
+ main()
diff --git a/robobin_main/src/build/testing/colcon_build.rc b/robobin_main/src/build/testing/colcon_build.rc
new file mode 100644
index 00000000..573541ac
--- /dev/null
+++ b/robobin_main/src/build/testing/colcon_build.rc
@@ -0,0 +1 @@
+0
diff --git a/robobin_main/src/build/testing/colcon_command_prefix_setup_py.sh b/robobin_main/src/build/testing/colcon_command_prefix_setup_py.sh
new file mode 100644
index 00000000..f9867d51
--- /dev/null
+++ b/robobin_main/src/build/testing/colcon_command_prefix_setup_py.sh
@@ -0,0 +1 @@
+# generated from colcon_core/shell/template/command_prefix.sh.em
diff --git a/robobin_main/src/build/testing/colcon_command_prefix_setup_py.sh.env b/robobin_main/src/build/testing/colcon_command_prefix_setup_py.sh.env
new file mode 100644
index 00000000..5ccc6748
--- /dev/null
+++ b/robobin_main/src/build/testing/colcon_command_prefix_setup_py.sh.env
@@ -0,0 +1,61 @@
+AMENT_PREFIX_PATH=/home/robobin/Robobin_Project/ros2/robobin_main/install/testing:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_localization_ekf:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_description:/home/robobin/Robobin_Project/ros2/robobin_main/install/odometry_publisher:/opt/ros/jazzy
+CMAKE_PREFIX_PATH=/opt/ros/jazzy/opt/sdformat_vendor:/opt/ros/jazzy/opt/gz_math_vendor:/opt/ros/jazzy/opt/gz_utils_vendor:/opt/ros/jazzy/opt/gz_tools_vendor:/opt/ros/jazzy/opt/gz_cmake_vendor
+COLCON=1
+COLCON_PREFIX_PATH=/home/robobin/Robobin_Project/ros2/robobin_main/install
+COLORTERM=truecolor
+DBUS_SESSION_BUS_ADDRESS=unix:path=/run/user/1002/bus
+DEBUGINFOD_URLS=https://debuginfod.ubuntu.com
+DESKTOP_SESSION=ubuntu
+DISPLAY=:0
+GDMSESSION=ubuntu
+GNOME_DESKTOP_SESSION_ID=this-is-deprecated
+GNOME_SETUP_DISPLAY=:1
+GNOME_SHELL_SESSION_MODE=ubuntu
+GNOME_TERMINAL_SCREEN=/org/gnome/Terminal/screen/7862307c_49e8_4e82_a5e8_e2b0cc08d1e3
+GNOME_TERMINAL_SERVICE=:1.102
+GSM_SKIP_SSH_AGENT_WORKAROUND=true
+GTK_MODULES=gail:atk-bridge
+GZ_CONFIG_PATH=/opt/ros/jazzy/opt/sdformat_vendor/share/gz
+HOME=/home/robobin
+IM_CONFIG_PHASE=1
+LANG=en_US.UTF-8
+LC_ALL=en_US.UTF-8
+LD_LIBRARY_PATH=/opt/ros/jazzy/opt/sdformat_vendor/lib:/opt/ros/jazzy/opt/rviz_ogre_vendor/lib:/opt/ros/jazzy/lib/aarch64-linux-gnu:/opt/ros/jazzy/opt/gz_math_vendor/lib:/opt/ros/jazzy/opt/gz_utils_vendor/lib:/opt/ros/jazzy/opt/gz_tools_vendor/lib:/opt/ros/jazzy/opt/gz_cmake_vendor/lib:/opt/ros/jazzy/lib
+LESSCLOSE=/usr/bin/lesspipe %s %s
+LESSOPEN=| /usr/bin/lesspipe %s
+LOGNAME=robobin
+LS_COLORS=rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=00:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.zst=01;31:*.tzst=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.avif=01;35:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.webp=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:*~=00;90:*#=00;90:*.bak=00;90:*.crdownload=00;90:*.dpkg-dist=00;90:*.dpkg-new=00;90:*.dpkg-old=00;90:*.dpkg-tmp=00;90:*.old=00;90:*.orig=00;90:*.part=00;90:*.rej=00;90:*.rpmnew=00;90:*.rpmorig=00;90:*.rpmsave=00;90:*.swp=00;90:*.tmp=00;90:*.ucf-dist=00;90:*.ucf-new=00;90:*.ucf-old=00;90:
+MEMORY_PRESSURE_WATCH=/sys/fs/cgroup/user.slice/user-1002.slice/user@1002.service/session.slice/org.gnome.Shell@wayland.service/memory.pressure
+MEMORY_PRESSURE_WRITE=c29tZSAyMDAwMDAgMjAwMDAwMAA=
+OLDPWD=/home/robobin/robobin/robobin_main
+PATH=/opt/ros/jazzy/opt/gz_tools_vendor/bin:/opt/ros/jazzy/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/snap/bin
+PWD=/home/robobin/robobin/robobin_main/src/build/testing
+PYTHONPATH=/home/robobin/Robobin_Project/ros2/robobin_main/build/testing:/home/robobin/Robobin_Project/ros2/robobin_main/install/testing/lib/python3.12/site-packages:/home/robobin/Robobin_Project/ros2/robobin_main/build/robot_localization_ekf:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_localization_ekf/lib/python3.12/site-packages:/home/robobin/Robobin_Project/ros2/robobin_main/build/robot_description:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_description/lib/python3.12/site-packages:/home/robobin/Robobin_Project/ros2/robobin_main/build/odometry_publisher:/home/robobin/Robobin_Project/ros2/robobin_main/install/odometry_publisher/lib/python3.12/site-packages:/opt/ros/jazzy/lib/python3.12/site-packages
+QT_ACCESSIBILITY=1
+QT_IM_MODULE=ibus
+ROS_AUTOMATIC_DISCOVERY_RANGE=SUBNET
+ROS_DISTRO=jazzy
+ROS_DOMAIN_ID=3
+ROS_PYTHON_VERSION=3
+ROS_VERSION=2
+SESSION_MANAGER=local/robobin-desktop:@/tmp/.ICE-unix/1594,unix/robobin-desktop:/tmp/.ICE-unix/1594
+SHELL=/bin/bash
+SHLVL=1
+SSH_AUTH_SOCK=/run/user/1002/keyring/ssh
+SYSTEMD_EXEC_PID=1633
+TERM=xterm-256color
+USER=robobin
+USERNAME=robobin
+VTE_VERSION=7600
+WAYLAND_DISPLAY=wayland-0
+XAUTHORITY=/run/user/1002/.mutter-Xwaylandauth.XGQ7Y2
+XDG_CONFIG_DIRS=/etc/xdg/xdg-ubuntu:/etc/xdg
+XDG_CURRENT_DESKTOP=ubuntu:GNOME
+XDG_DATA_DIRS=/usr/share/ubuntu:/usr/share/gnome:/usr/local/share/:/usr/share/:/var/lib/snapd/desktop
+XDG_MENU_PREFIX=gnome-
+XDG_RUNTIME_DIR=/run/user/1002
+XDG_SESSION_CLASS=user
+XDG_SESSION_DESKTOP=ubuntu
+XDG_SESSION_TYPE=wayland
+XMODIFIERS=@im=ibus
+_=/usr/bin/colcon
diff --git a/robobin_main/src/build/testing/install.log b/robobin_main/src/build/testing/install.log
new file mode 100644
index 00000000..b86ff28b
--- /dev/null
+++ b/robobin_main/src/build/testing/install.log
@@ -0,0 +1,29 @@
+/home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages/testing/encoder.py
+/home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages/testing/motor_control_node.py
+/home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages/testing/__init__.py
+/home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages/testing/imu_node.py
+/home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages/testing/route_filtered.py
+/home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages/testing/control_feedback.py
+/home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages/testing/route.py
+/home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages/testing/__pycache__/encoder.cpython-312.pyc
+/home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages/testing/__pycache__/motor_control_node.cpython-312.pyc
+/home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages/testing/__pycache__/__init__.cpython-312.pyc
+/home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages/testing/__pycache__/imu_node.cpython-312.pyc
+/home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages/testing/__pycache__/route_filtered.cpython-312.pyc
+/home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages/testing/__pycache__/control_feedback.cpython-312.pyc
+/home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages/testing/__pycache__/route.cpython-312.pyc
+/home/robobin/robobin/robobin_main/src/install/testing/share/ament_index/resource_index/packages/testing
+/home/robobin/robobin/robobin_main/src/install/testing/share/testing/package.xml
+/home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages/testing-0.0.0-py3.12.egg-info/SOURCES.txt
+/home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages/testing-0.0.0-py3.12.egg-info/top_level.txt
+/home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages/testing-0.0.0-py3.12.egg-info/PKG-INFO
+/home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages/testing-0.0.0-py3.12.egg-info/zip-safe
+/home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages/testing-0.0.0-py3.12.egg-info/requires.txt
+/home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages/testing-0.0.0-py3.12.egg-info/dependency_links.txt
+/home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages/testing-0.0.0-py3.12.egg-info/entry_points.txt
+/home/robobin/robobin/robobin_main/src/install/testing/lib/testing/test_control_feedback
+/home/robobin/robobin/robobin_main/src/install/testing/lib/testing/test_encoder_node
+/home/robobin/robobin/robobin_main/src/install/testing/lib/testing/test_imu_node
+/home/robobin/robobin/robobin_main/src/install/testing/lib/testing/test_motor_node
+/home/robobin/robobin/robobin_main/src/install/testing/lib/testing/test_route
+/home/robobin/robobin/robobin_main/src/install/testing/lib/testing/test_route_filter
diff --git a/robobin_main/src/build/testing/prefix_override/__pycache__/sitecustomize.cpython-312.pyc b/robobin_main/src/build/testing/prefix_override/__pycache__/sitecustomize.cpython-312.pyc
new file mode 100644
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diff --git a/robobin_main/src/build/testing/prefix_override/sitecustomize.py b/robobin_main/src/build/testing/prefix_override/sitecustomize.py
new file mode 100644
index 00000000..df36590a
--- /dev/null
+++ b/robobin_main/src/build/testing/prefix_override/sitecustomize.py
@@ -0,0 +1,4 @@
+import sys
+if sys.prefix == '/usr':
+ sys.real_prefix = sys.prefix
+ sys.prefix = sys.exec_prefix = '/home/robobin/robobin/robobin_main/src/install/testing'
diff --git a/robobin_main/src/build/testing/testing.egg-info/PKG-INFO b/robobin_main/src/build/testing/testing.egg-info/PKG-INFO
new file mode 100644
index 00000000..eee4e012
--- /dev/null
+++ b/robobin_main/src/build/testing/testing.egg-info/PKG-INFO
@@ -0,0 +1,7 @@
+Metadata-Version: 2.1
+Name: testing
+Version: 0.0.0
+Summary: TODO: Package description
+Maintainer: robobin
+Maintainer-email: robobin@todo.todo
+License: TODO: License declaration
diff --git a/robobin_main/src/build/testing/testing.egg-info/SOURCES.txt b/robobin_main/src/build/testing/testing.egg-info/SOURCES.txt
new file mode 100644
index 00000000..4122e71f
--- /dev/null
+++ b/robobin_main/src/build/testing/testing.egg-info/SOURCES.txt
@@ -0,0 +1,21 @@
+package.xml
+setup.cfg
+setup.py
+../build/testing/testing.egg-info/PKG-INFO
+../build/testing/testing.egg-info/SOURCES.txt
+../build/testing/testing.egg-info/dependency_links.txt
+../build/testing/testing.egg-info/entry_points.txt
+../build/testing/testing.egg-info/requires.txt
+../build/testing/testing.egg-info/top_level.txt
+../build/testing/testing.egg-info/zip-safe
+resource/testing
+test/test_copyright.py
+test/test_flake8.py
+test/test_pep257.py
+testing/__init__.py
+testing/control_feedback.py
+testing/encoder.py
+testing/imu_node.py
+testing/motor_control_node.py
+testing/route.py
+testing/route_filtered.py
\ No newline at end of file
diff --git a/robobin_main/src/build/testing/testing.egg-info/dependency_links.txt b/robobin_main/src/build/testing/testing.egg-info/dependency_links.txt
new file mode 100644
index 00000000..8b137891
--- /dev/null
+++ b/robobin_main/src/build/testing/testing.egg-info/dependency_links.txt
@@ -0,0 +1 @@
+
diff --git a/robobin_main/src/build/testing/testing.egg-info/entry_points.txt b/robobin_main/src/build/testing/testing.egg-info/entry_points.txt
new file mode 100644
index 00000000..281f4a1f
--- /dev/null
+++ b/robobin_main/src/build/testing/testing.egg-info/entry_points.txt
@@ -0,0 +1,7 @@
+[console_scripts]
+test_control_feedback = testing.control_feedback:main
+test_encoder_node = testing.encoder:main
+test_imu_node = testing.imu_node:main
+test_motor_node = testing.motor_control_node:main
+test_route = testing.route:main
+test_route_filter = testing.route_filtered:main
diff --git a/robobin_main/src/build/testing/testing.egg-info/requires.txt b/robobin_main/src/build/testing/testing.egg-info/requires.txt
new file mode 100644
index 00000000..8aeefb0a
--- /dev/null
+++ b/robobin_main/src/build/testing/testing.egg-info/requires.txt
@@ -0,0 +1,2 @@
+gpiozero
+setuptools
diff --git a/robobin_main/src/build/testing/testing.egg-info/top_level.txt b/robobin_main/src/build/testing/testing.egg-info/top_level.txt
new file mode 100644
index 00000000..038d718d
--- /dev/null
+++ b/robobin_main/src/build/testing/testing.egg-info/top_level.txt
@@ -0,0 +1 @@
+testing
diff --git a/robobin_main/src/build/testing/testing.egg-info/zip-safe b/robobin_main/src/build/testing/testing.egg-info/zip-safe
new file mode 100644
index 00000000..8b137891
--- /dev/null
+++ b/robobin_main/src/build/testing/testing.egg-info/zip-safe
@@ -0,0 +1 @@
+
diff --git a/robobin_main/src/install/.colcon_install_layout b/robobin_main/src/install/.colcon_install_layout
new file mode 100644
index 00000000..3aad5336
--- /dev/null
+++ b/robobin_main/src/install/.colcon_install_layout
@@ -0,0 +1 @@
+isolated
diff --git a/robobin_main/src/install/COLCON_IGNORE b/robobin_main/src/install/COLCON_IGNORE
new file mode 100644
index 00000000..e69de29b
diff --git a/robobin_main/src/install/_local_setup_util_ps1.py b/robobin_main/src/install/_local_setup_util_ps1.py
new file mode 100644
index 00000000..3c6d9e87
--- /dev/null
+++ b/robobin_main/src/install/_local_setup_util_ps1.py
@@ -0,0 +1,407 @@
+# Copyright 2016-2019 Dirk Thomas
+# Licensed under the Apache License, Version 2.0
+
+import argparse
+from collections import OrderedDict
+import os
+from pathlib import Path
+import sys
+
+
+FORMAT_STR_COMMENT_LINE = '# {comment}'
+FORMAT_STR_SET_ENV_VAR = 'Set-Item -Path "Env:{name}" -Value "{value}"'
+FORMAT_STR_USE_ENV_VAR = '$env:{name}'
+FORMAT_STR_INVOKE_SCRIPT = '_colcon_prefix_powershell_source_script "{script_path}"' # noqa: E501
+FORMAT_STR_REMOVE_LEADING_SEPARATOR = '' # noqa: E501
+FORMAT_STR_REMOVE_TRAILING_SEPARATOR = '' # noqa: E501
+
+DSV_TYPE_APPEND_NON_DUPLICATE = 'append-non-duplicate'
+DSV_TYPE_PREPEND_NON_DUPLICATE = 'prepend-non-duplicate'
+DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS = 'prepend-non-duplicate-if-exists'
+DSV_TYPE_SET = 'set'
+DSV_TYPE_SET_IF_UNSET = 'set-if-unset'
+DSV_TYPE_SOURCE = 'source'
+
+
+def main(argv=sys.argv[1:]): # noqa: D103
+ parser = argparse.ArgumentParser(
+ description='Output shell commands for the packages in topological '
+ 'order')
+ parser.add_argument(
+ 'primary_extension',
+ help='The file extension of the primary shell')
+ parser.add_argument(
+ 'additional_extension', nargs='?',
+ help='The additional file extension to be considered')
+ parser.add_argument(
+ '--merged-install', action='store_true',
+ help='All install prefixes are merged into a single location')
+ args = parser.parse_args(argv)
+
+ packages = get_packages(Path(__file__).parent, args.merged_install)
+
+ ordered_packages = order_packages(packages)
+ for pkg_name in ordered_packages:
+ if _include_comments():
+ print(
+ FORMAT_STR_COMMENT_LINE.format_map(
+ {'comment': 'Package: ' + pkg_name}))
+ prefix = os.path.abspath(os.path.dirname(__file__))
+ if not args.merged_install:
+ prefix = os.path.join(prefix, pkg_name)
+ for line in get_commands(
+ pkg_name, prefix, args.primary_extension,
+ args.additional_extension
+ ):
+ print(line)
+
+ for line in _remove_ending_separators():
+ print(line)
+
+
+def get_packages(prefix_path, merged_install):
+ """
+ Find packages based on colcon-specific files created during installation.
+
+ :param Path prefix_path: The install prefix path of all packages
+ :param bool merged_install: The flag if the packages are all installed
+ directly in the prefix or if each package is installed in a subdirectory
+ named after the package
+ :returns: A mapping from the package name to the set of runtime
+ dependencies
+ :rtype: dict
+ """
+ packages = {}
+ # since importing colcon_core isn't feasible here the following constant
+ # must match colcon_core.location.get_relative_package_index_path()
+ subdirectory = 'share/colcon-core/packages'
+ if merged_install:
+ # return if workspace is empty
+ if not (prefix_path / subdirectory).is_dir():
+ return packages
+ # find all files in the subdirectory
+ for p in (prefix_path / subdirectory).iterdir():
+ if not p.is_file():
+ continue
+ if p.name.startswith('.'):
+ continue
+ add_package_runtime_dependencies(p, packages)
+ else:
+ # for each subdirectory look for the package specific file
+ for p in prefix_path.iterdir():
+ if not p.is_dir():
+ continue
+ if p.name.startswith('.'):
+ continue
+ p = p / subdirectory / p.name
+ if p.is_file():
+ add_package_runtime_dependencies(p, packages)
+
+ # remove unknown dependencies
+ pkg_names = set(packages.keys())
+ for k in packages.keys():
+ packages[k] = {d for d in packages[k] if d in pkg_names}
+
+ return packages
+
+
+def add_package_runtime_dependencies(path, packages):
+ """
+ Check the path and if it exists extract the packages runtime dependencies.
+
+ :param Path path: The resource file containing the runtime dependencies
+ :param dict packages: A mapping from package names to the sets of runtime
+ dependencies to add to
+ """
+ content = path.read_text()
+ dependencies = set(content.split(os.pathsep) if content else [])
+ packages[path.name] = dependencies
+
+
+def order_packages(packages):
+ """
+ Order packages topologically.
+
+ :param dict packages: A mapping from package name to the set of runtime
+ dependencies
+ :returns: The package names
+ :rtype: list
+ """
+ # select packages with no dependencies in alphabetical order
+ to_be_ordered = list(packages.keys())
+ ordered = []
+ while to_be_ordered:
+ pkg_names_without_deps = [
+ name for name in to_be_ordered if not packages[name]]
+ if not pkg_names_without_deps:
+ reduce_cycle_set(packages)
+ raise RuntimeError(
+ 'Circular dependency between: ' + ', '.join(sorted(packages)))
+ pkg_names_without_deps.sort()
+ pkg_name = pkg_names_without_deps[0]
+ to_be_ordered.remove(pkg_name)
+ ordered.append(pkg_name)
+ # remove item from dependency lists
+ for k in list(packages.keys()):
+ if pkg_name in packages[k]:
+ packages[k].remove(pkg_name)
+ return ordered
+
+
+def reduce_cycle_set(packages):
+ """
+ Reduce the set of packages to the ones part of the circular dependency.
+
+ :param dict packages: A mapping from package name to the set of runtime
+ dependencies which is modified in place
+ """
+ last_depended = None
+ while len(packages) > 0:
+ # get all remaining dependencies
+ depended = set()
+ for pkg_name, dependencies in packages.items():
+ depended = depended.union(dependencies)
+ # remove all packages which are not dependent on
+ for name in list(packages.keys()):
+ if name not in depended:
+ del packages[name]
+ if last_depended:
+ # if remaining packages haven't changed return them
+ if last_depended == depended:
+ return packages.keys()
+ # otherwise reduce again
+ last_depended = depended
+
+
+def _include_comments():
+ # skipping comment lines when COLCON_TRACE is not set speeds up the
+ # processing especially on Windows
+ return bool(os.environ.get('COLCON_TRACE'))
+
+
+def get_commands(pkg_name, prefix, primary_extension, additional_extension):
+ commands = []
+ package_dsv_path = os.path.join(prefix, 'share', pkg_name, 'package.dsv')
+ if os.path.exists(package_dsv_path):
+ commands += process_dsv_file(
+ package_dsv_path, prefix, primary_extension, additional_extension)
+ return commands
+
+
+def process_dsv_file(
+ dsv_path, prefix, primary_extension=None, additional_extension=None
+):
+ commands = []
+ if _include_comments():
+ commands.append(FORMAT_STR_COMMENT_LINE.format_map({'comment': dsv_path}))
+ with open(dsv_path, 'r') as h:
+ content = h.read()
+ lines = content.splitlines()
+
+ basenames = OrderedDict()
+ for i, line in enumerate(lines):
+ # skip over empty or whitespace-only lines
+ if not line.strip():
+ continue
+ # skip over comments
+ if line.startswith('#'):
+ continue
+ try:
+ type_, remainder = line.split(';', 1)
+ except ValueError:
+ raise RuntimeError(
+ "Line %d in '%s' doesn't contain a semicolon separating the "
+ 'type from the arguments' % (i + 1, dsv_path))
+ if type_ != DSV_TYPE_SOURCE:
+ # handle non-source lines
+ try:
+ commands += handle_dsv_types_except_source(
+ type_, remainder, prefix)
+ except RuntimeError as e:
+ raise RuntimeError(
+ "Line %d in '%s' %s" % (i + 1, dsv_path, e)) from e
+ else:
+ # group remaining source lines by basename
+ path_without_ext, ext = os.path.splitext(remainder)
+ if path_without_ext not in basenames:
+ basenames[path_without_ext] = set()
+ assert ext.startswith('.')
+ ext = ext[1:]
+ if ext in (primary_extension, additional_extension):
+ basenames[path_without_ext].add(ext)
+
+ # add the dsv extension to each basename if the file exists
+ for basename, extensions in basenames.items():
+ if not os.path.isabs(basename):
+ basename = os.path.join(prefix, basename)
+ if os.path.exists(basename + '.dsv'):
+ extensions.add('dsv')
+
+ for basename, extensions in basenames.items():
+ if not os.path.isabs(basename):
+ basename = os.path.join(prefix, basename)
+ if 'dsv' in extensions:
+ # process dsv files recursively
+ commands += process_dsv_file(
+ basename + '.dsv', prefix, primary_extension=primary_extension,
+ additional_extension=additional_extension)
+ elif primary_extension in extensions and len(extensions) == 1:
+ # source primary-only files
+ commands += [
+ FORMAT_STR_INVOKE_SCRIPT.format_map({
+ 'prefix': prefix,
+ 'script_path': basename + '.' + primary_extension})]
+ elif additional_extension in extensions:
+ # source non-primary files
+ commands += [
+ FORMAT_STR_INVOKE_SCRIPT.format_map({
+ 'prefix': prefix,
+ 'script_path': basename + '.' + additional_extension})]
+
+ return commands
+
+
+def handle_dsv_types_except_source(type_, remainder, prefix):
+ commands = []
+ if type_ in (DSV_TYPE_SET, DSV_TYPE_SET_IF_UNSET):
+ try:
+ env_name, value = remainder.split(';', 1)
+ except ValueError:
+ raise RuntimeError(
+ "doesn't contain a semicolon separating the environment name "
+ 'from the value')
+ try_prefixed_value = os.path.join(prefix, value) if value else prefix
+ if os.path.exists(try_prefixed_value):
+ value = try_prefixed_value
+ if type_ == DSV_TYPE_SET:
+ commands += _set(env_name, value)
+ elif type_ == DSV_TYPE_SET_IF_UNSET:
+ commands += _set_if_unset(env_name, value)
+ else:
+ assert False
+ elif type_ in (
+ DSV_TYPE_APPEND_NON_DUPLICATE,
+ DSV_TYPE_PREPEND_NON_DUPLICATE,
+ DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS
+ ):
+ try:
+ env_name_and_values = remainder.split(';')
+ except ValueError:
+ raise RuntimeError(
+ "doesn't contain a semicolon separating the environment name "
+ 'from the values')
+ env_name = env_name_and_values[0]
+ values = env_name_and_values[1:]
+ for value in values:
+ if not value:
+ value = prefix
+ elif not os.path.isabs(value):
+ value = os.path.join(prefix, value)
+ if (
+ type_ == DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS and
+ not os.path.exists(value)
+ ):
+ comment = f'skip extending {env_name} with not existing ' \
+ f'path: {value}'
+ if _include_comments():
+ commands.append(
+ FORMAT_STR_COMMENT_LINE.format_map({'comment': comment}))
+ elif type_ == DSV_TYPE_APPEND_NON_DUPLICATE:
+ commands += _append_unique_value(env_name, value)
+ else:
+ commands += _prepend_unique_value(env_name, value)
+ else:
+ raise RuntimeError(
+ 'contains an unknown environment hook type: ' + type_)
+ return commands
+
+
+env_state = {}
+
+
+def _append_unique_value(name, value):
+ global env_state
+ if name not in env_state:
+ if os.environ.get(name):
+ env_state[name] = set(os.environ[name].split(os.pathsep))
+ else:
+ env_state[name] = set()
+ # append even if the variable has not been set yet, in case a shell script sets the
+ # same variable without the knowledge of this Python script.
+ # later _remove_ending_separators() will cleanup any unintentional leading separator
+ extend = FORMAT_STR_USE_ENV_VAR.format_map({'name': name}) + os.pathsep
+ line = FORMAT_STR_SET_ENV_VAR.format_map(
+ {'name': name, 'value': extend + value})
+ if value not in env_state[name]:
+ env_state[name].add(value)
+ else:
+ if not _include_comments():
+ return []
+ line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line})
+ return [line]
+
+
+def _prepend_unique_value(name, value):
+ global env_state
+ if name not in env_state:
+ if os.environ.get(name):
+ env_state[name] = set(os.environ[name].split(os.pathsep))
+ else:
+ env_state[name] = set()
+ # prepend even if the variable has not been set yet, in case a shell script sets the
+ # same variable without the knowledge of this Python script.
+ # later _remove_ending_separators() will cleanup any unintentional trailing separator
+ extend = os.pathsep + FORMAT_STR_USE_ENV_VAR.format_map({'name': name})
+ line = FORMAT_STR_SET_ENV_VAR.format_map(
+ {'name': name, 'value': value + extend})
+ if value not in env_state[name]:
+ env_state[name].add(value)
+ else:
+ if not _include_comments():
+ return []
+ line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line})
+ return [line]
+
+
+# generate commands for removing prepended underscores
+def _remove_ending_separators():
+ # do nothing if the shell extension does not implement the logic
+ if FORMAT_STR_REMOVE_TRAILING_SEPARATOR is None:
+ return []
+
+ global env_state
+ commands = []
+ for name in env_state:
+ # skip variables that already had values before this script started prepending
+ if name in os.environ:
+ continue
+ commands += [
+ FORMAT_STR_REMOVE_LEADING_SEPARATOR.format_map({'name': name}),
+ FORMAT_STR_REMOVE_TRAILING_SEPARATOR.format_map({'name': name})]
+ return commands
+
+
+def _set(name, value):
+ global env_state
+ env_state[name] = value
+ line = FORMAT_STR_SET_ENV_VAR.format_map(
+ {'name': name, 'value': value})
+ return [line]
+
+
+def _set_if_unset(name, value):
+ global env_state
+ line = FORMAT_STR_SET_ENV_VAR.format_map(
+ {'name': name, 'value': value})
+ if env_state.get(name, os.environ.get(name)):
+ line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line})
+ return [line]
+
+
+if __name__ == '__main__': # pragma: no cover
+ try:
+ rc = main()
+ except RuntimeError as e:
+ print(str(e), file=sys.stderr)
+ rc = 1
+ sys.exit(rc)
diff --git a/robobin_main/src/install/_local_setup_util_sh.py b/robobin_main/src/install/_local_setup_util_sh.py
new file mode 100644
index 00000000..f67eaa98
--- /dev/null
+++ b/robobin_main/src/install/_local_setup_util_sh.py
@@ -0,0 +1,407 @@
+# Copyright 2016-2019 Dirk Thomas
+# Licensed under the Apache License, Version 2.0
+
+import argparse
+from collections import OrderedDict
+import os
+from pathlib import Path
+import sys
+
+
+FORMAT_STR_COMMENT_LINE = '# {comment}'
+FORMAT_STR_SET_ENV_VAR = 'export {name}="{value}"'
+FORMAT_STR_USE_ENV_VAR = '${name}'
+FORMAT_STR_INVOKE_SCRIPT = 'COLCON_CURRENT_PREFIX="{prefix}" _colcon_prefix_sh_source_script "{script_path}"' # noqa: E501
+FORMAT_STR_REMOVE_LEADING_SEPARATOR = 'if [ "$(echo -n ${name} | head -c 1)" = ":" ]; then export {name}=${{{name}#?}} ; fi' # noqa: E501
+FORMAT_STR_REMOVE_TRAILING_SEPARATOR = 'if [ "$(echo -n ${name} | tail -c 1)" = ":" ]; then export {name}=${{{name}%?}} ; fi' # noqa: E501
+
+DSV_TYPE_APPEND_NON_DUPLICATE = 'append-non-duplicate'
+DSV_TYPE_PREPEND_NON_DUPLICATE = 'prepend-non-duplicate'
+DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS = 'prepend-non-duplicate-if-exists'
+DSV_TYPE_SET = 'set'
+DSV_TYPE_SET_IF_UNSET = 'set-if-unset'
+DSV_TYPE_SOURCE = 'source'
+
+
+def main(argv=sys.argv[1:]): # noqa: D103
+ parser = argparse.ArgumentParser(
+ description='Output shell commands for the packages in topological '
+ 'order')
+ parser.add_argument(
+ 'primary_extension',
+ help='The file extension of the primary shell')
+ parser.add_argument(
+ 'additional_extension', nargs='?',
+ help='The additional file extension to be considered')
+ parser.add_argument(
+ '--merged-install', action='store_true',
+ help='All install prefixes are merged into a single location')
+ args = parser.parse_args(argv)
+
+ packages = get_packages(Path(__file__).parent, args.merged_install)
+
+ ordered_packages = order_packages(packages)
+ for pkg_name in ordered_packages:
+ if _include_comments():
+ print(
+ FORMAT_STR_COMMENT_LINE.format_map(
+ {'comment': 'Package: ' + pkg_name}))
+ prefix = os.path.abspath(os.path.dirname(__file__))
+ if not args.merged_install:
+ prefix = os.path.join(prefix, pkg_name)
+ for line in get_commands(
+ pkg_name, prefix, args.primary_extension,
+ args.additional_extension
+ ):
+ print(line)
+
+ for line in _remove_ending_separators():
+ print(line)
+
+
+def get_packages(prefix_path, merged_install):
+ """
+ Find packages based on colcon-specific files created during installation.
+
+ :param Path prefix_path: The install prefix path of all packages
+ :param bool merged_install: The flag if the packages are all installed
+ directly in the prefix or if each package is installed in a subdirectory
+ named after the package
+ :returns: A mapping from the package name to the set of runtime
+ dependencies
+ :rtype: dict
+ """
+ packages = {}
+ # since importing colcon_core isn't feasible here the following constant
+ # must match colcon_core.location.get_relative_package_index_path()
+ subdirectory = 'share/colcon-core/packages'
+ if merged_install:
+ # return if workspace is empty
+ if not (prefix_path / subdirectory).is_dir():
+ return packages
+ # find all files in the subdirectory
+ for p in (prefix_path / subdirectory).iterdir():
+ if not p.is_file():
+ continue
+ if p.name.startswith('.'):
+ continue
+ add_package_runtime_dependencies(p, packages)
+ else:
+ # for each subdirectory look for the package specific file
+ for p in prefix_path.iterdir():
+ if not p.is_dir():
+ continue
+ if p.name.startswith('.'):
+ continue
+ p = p / subdirectory / p.name
+ if p.is_file():
+ add_package_runtime_dependencies(p, packages)
+
+ # remove unknown dependencies
+ pkg_names = set(packages.keys())
+ for k in packages.keys():
+ packages[k] = {d for d in packages[k] if d in pkg_names}
+
+ return packages
+
+
+def add_package_runtime_dependencies(path, packages):
+ """
+ Check the path and if it exists extract the packages runtime dependencies.
+
+ :param Path path: The resource file containing the runtime dependencies
+ :param dict packages: A mapping from package names to the sets of runtime
+ dependencies to add to
+ """
+ content = path.read_text()
+ dependencies = set(content.split(os.pathsep) if content else [])
+ packages[path.name] = dependencies
+
+
+def order_packages(packages):
+ """
+ Order packages topologically.
+
+ :param dict packages: A mapping from package name to the set of runtime
+ dependencies
+ :returns: The package names
+ :rtype: list
+ """
+ # select packages with no dependencies in alphabetical order
+ to_be_ordered = list(packages.keys())
+ ordered = []
+ while to_be_ordered:
+ pkg_names_without_deps = [
+ name for name in to_be_ordered if not packages[name]]
+ if not pkg_names_without_deps:
+ reduce_cycle_set(packages)
+ raise RuntimeError(
+ 'Circular dependency between: ' + ', '.join(sorted(packages)))
+ pkg_names_without_deps.sort()
+ pkg_name = pkg_names_without_deps[0]
+ to_be_ordered.remove(pkg_name)
+ ordered.append(pkg_name)
+ # remove item from dependency lists
+ for k in list(packages.keys()):
+ if pkg_name in packages[k]:
+ packages[k].remove(pkg_name)
+ return ordered
+
+
+def reduce_cycle_set(packages):
+ """
+ Reduce the set of packages to the ones part of the circular dependency.
+
+ :param dict packages: A mapping from package name to the set of runtime
+ dependencies which is modified in place
+ """
+ last_depended = None
+ while len(packages) > 0:
+ # get all remaining dependencies
+ depended = set()
+ for pkg_name, dependencies in packages.items():
+ depended = depended.union(dependencies)
+ # remove all packages which are not dependent on
+ for name in list(packages.keys()):
+ if name not in depended:
+ del packages[name]
+ if last_depended:
+ # if remaining packages haven't changed return them
+ if last_depended == depended:
+ return packages.keys()
+ # otherwise reduce again
+ last_depended = depended
+
+
+def _include_comments():
+ # skipping comment lines when COLCON_TRACE is not set speeds up the
+ # processing especially on Windows
+ return bool(os.environ.get('COLCON_TRACE'))
+
+
+def get_commands(pkg_name, prefix, primary_extension, additional_extension):
+ commands = []
+ package_dsv_path = os.path.join(prefix, 'share', pkg_name, 'package.dsv')
+ if os.path.exists(package_dsv_path):
+ commands += process_dsv_file(
+ package_dsv_path, prefix, primary_extension, additional_extension)
+ return commands
+
+
+def process_dsv_file(
+ dsv_path, prefix, primary_extension=None, additional_extension=None
+):
+ commands = []
+ if _include_comments():
+ commands.append(FORMAT_STR_COMMENT_LINE.format_map({'comment': dsv_path}))
+ with open(dsv_path, 'r') as h:
+ content = h.read()
+ lines = content.splitlines()
+
+ basenames = OrderedDict()
+ for i, line in enumerate(lines):
+ # skip over empty or whitespace-only lines
+ if not line.strip():
+ continue
+ # skip over comments
+ if line.startswith('#'):
+ continue
+ try:
+ type_, remainder = line.split(';', 1)
+ except ValueError:
+ raise RuntimeError(
+ "Line %d in '%s' doesn't contain a semicolon separating the "
+ 'type from the arguments' % (i + 1, dsv_path))
+ if type_ != DSV_TYPE_SOURCE:
+ # handle non-source lines
+ try:
+ commands += handle_dsv_types_except_source(
+ type_, remainder, prefix)
+ except RuntimeError as e:
+ raise RuntimeError(
+ "Line %d in '%s' %s" % (i + 1, dsv_path, e)) from e
+ else:
+ # group remaining source lines by basename
+ path_without_ext, ext = os.path.splitext(remainder)
+ if path_without_ext not in basenames:
+ basenames[path_without_ext] = set()
+ assert ext.startswith('.')
+ ext = ext[1:]
+ if ext in (primary_extension, additional_extension):
+ basenames[path_without_ext].add(ext)
+
+ # add the dsv extension to each basename if the file exists
+ for basename, extensions in basenames.items():
+ if not os.path.isabs(basename):
+ basename = os.path.join(prefix, basename)
+ if os.path.exists(basename + '.dsv'):
+ extensions.add('dsv')
+
+ for basename, extensions in basenames.items():
+ if not os.path.isabs(basename):
+ basename = os.path.join(prefix, basename)
+ if 'dsv' in extensions:
+ # process dsv files recursively
+ commands += process_dsv_file(
+ basename + '.dsv', prefix, primary_extension=primary_extension,
+ additional_extension=additional_extension)
+ elif primary_extension in extensions and len(extensions) == 1:
+ # source primary-only files
+ commands += [
+ FORMAT_STR_INVOKE_SCRIPT.format_map({
+ 'prefix': prefix,
+ 'script_path': basename + '.' + primary_extension})]
+ elif additional_extension in extensions:
+ # source non-primary files
+ commands += [
+ FORMAT_STR_INVOKE_SCRIPT.format_map({
+ 'prefix': prefix,
+ 'script_path': basename + '.' + additional_extension})]
+
+ return commands
+
+
+def handle_dsv_types_except_source(type_, remainder, prefix):
+ commands = []
+ if type_ in (DSV_TYPE_SET, DSV_TYPE_SET_IF_UNSET):
+ try:
+ env_name, value = remainder.split(';', 1)
+ except ValueError:
+ raise RuntimeError(
+ "doesn't contain a semicolon separating the environment name "
+ 'from the value')
+ try_prefixed_value = os.path.join(prefix, value) if value else prefix
+ if os.path.exists(try_prefixed_value):
+ value = try_prefixed_value
+ if type_ == DSV_TYPE_SET:
+ commands += _set(env_name, value)
+ elif type_ == DSV_TYPE_SET_IF_UNSET:
+ commands += _set_if_unset(env_name, value)
+ else:
+ assert False
+ elif type_ in (
+ DSV_TYPE_APPEND_NON_DUPLICATE,
+ DSV_TYPE_PREPEND_NON_DUPLICATE,
+ DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS
+ ):
+ try:
+ env_name_and_values = remainder.split(';')
+ except ValueError:
+ raise RuntimeError(
+ "doesn't contain a semicolon separating the environment name "
+ 'from the values')
+ env_name = env_name_and_values[0]
+ values = env_name_and_values[1:]
+ for value in values:
+ if not value:
+ value = prefix
+ elif not os.path.isabs(value):
+ value = os.path.join(prefix, value)
+ if (
+ type_ == DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS and
+ not os.path.exists(value)
+ ):
+ comment = f'skip extending {env_name} with not existing ' \
+ f'path: {value}'
+ if _include_comments():
+ commands.append(
+ FORMAT_STR_COMMENT_LINE.format_map({'comment': comment}))
+ elif type_ == DSV_TYPE_APPEND_NON_DUPLICATE:
+ commands += _append_unique_value(env_name, value)
+ else:
+ commands += _prepend_unique_value(env_name, value)
+ else:
+ raise RuntimeError(
+ 'contains an unknown environment hook type: ' + type_)
+ return commands
+
+
+env_state = {}
+
+
+def _append_unique_value(name, value):
+ global env_state
+ if name not in env_state:
+ if os.environ.get(name):
+ env_state[name] = set(os.environ[name].split(os.pathsep))
+ else:
+ env_state[name] = set()
+ # append even if the variable has not been set yet, in case a shell script sets the
+ # same variable without the knowledge of this Python script.
+ # later _remove_ending_separators() will cleanup any unintentional leading separator
+ extend = FORMAT_STR_USE_ENV_VAR.format_map({'name': name}) + os.pathsep
+ line = FORMAT_STR_SET_ENV_VAR.format_map(
+ {'name': name, 'value': extend + value})
+ if value not in env_state[name]:
+ env_state[name].add(value)
+ else:
+ if not _include_comments():
+ return []
+ line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line})
+ return [line]
+
+
+def _prepend_unique_value(name, value):
+ global env_state
+ if name not in env_state:
+ if os.environ.get(name):
+ env_state[name] = set(os.environ[name].split(os.pathsep))
+ else:
+ env_state[name] = set()
+ # prepend even if the variable has not been set yet, in case a shell script sets the
+ # same variable without the knowledge of this Python script.
+ # later _remove_ending_separators() will cleanup any unintentional trailing separator
+ extend = os.pathsep + FORMAT_STR_USE_ENV_VAR.format_map({'name': name})
+ line = FORMAT_STR_SET_ENV_VAR.format_map(
+ {'name': name, 'value': value + extend})
+ if value not in env_state[name]:
+ env_state[name].add(value)
+ else:
+ if not _include_comments():
+ return []
+ line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line})
+ return [line]
+
+
+# generate commands for removing prepended underscores
+def _remove_ending_separators():
+ # do nothing if the shell extension does not implement the logic
+ if FORMAT_STR_REMOVE_TRAILING_SEPARATOR is None:
+ return []
+
+ global env_state
+ commands = []
+ for name in env_state:
+ # skip variables that already had values before this script started prepending
+ if name in os.environ:
+ continue
+ commands += [
+ FORMAT_STR_REMOVE_LEADING_SEPARATOR.format_map({'name': name}),
+ FORMAT_STR_REMOVE_TRAILING_SEPARATOR.format_map({'name': name})]
+ return commands
+
+
+def _set(name, value):
+ global env_state
+ env_state[name] = value
+ line = FORMAT_STR_SET_ENV_VAR.format_map(
+ {'name': name, 'value': value})
+ return [line]
+
+
+def _set_if_unset(name, value):
+ global env_state
+ line = FORMAT_STR_SET_ENV_VAR.format_map(
+ {'name': name, 'value': value})
+ if env_state.get(name, os.environ.get(name)):
+ line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line})
+ return [line]
+
+
+if __name__ == '__main__': # pragma: no cover
+ try:
+ rc = main()
+ except RuntimeError as e:
+ print(str(e), file=sys.stderr)
+ rc = 1
+ sys.exit(rc)
diff --git a/robobin_main/src/install/local_setup.bash b/robobin_main/src/install/local_setup.bash
new file mode 100644
index 00000000..03f00256
--- /dev/null
+++ b/robobin_main/src/install/local_setup.bash
@@ -0,0 +1,121 @@
+# generated from colcon_bash/shell/template/prefix.bash.em
+
+# This script extends the environment with all packages contained in this
+# prefix path.
+
+# a bash script is able to determine its own path if necessary
+if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+ _colcon_prefix_bash_COLCON_CURRENT_PREFIX="$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)"
+else
+ _colcon_prefix_bash_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+fi
+
+# function to prepend a value to a variable
+# which uses colons as separators
+# duplicates as well as trailing separators are avoided
+# first argument: the name of the result variable
+# second argument: the value to be prepended
+_colcon_prefix_bash_prepend_unique_value() {
+ # arguments
+ _listname="$1"
+ _value="$2"
+
+ # get values from variable
+ eval _values=\"\$$_listname\"
+ # backup the field separator
+ _colcon_prefix_bash_prepend_unique_value_IFS="$IFS"
+ IFS=":"
+ # start with the new value
+ _all_values="$_value"
+ _contained_value=""
+ # iterate over existing values in the variable
+ for _item in $_values; do
+ # ignore empty strings
+ if [ -z "$_item" ]; then
+ continue
+ fi
+ # ignore duplicates of _value
+ if [ "$_item" = "$_value" ]; then
+ _contained_value=1
+ continue
+ fi
+ # keep non-duplicate values
+ _all_values="$_all_values:$_item"
+ done
+ unset _item
+ if [ -z "$_contained_value" ]; then
+ if [ -n "$COLCON_TRACE" ]; then
+ if [ "$_all_values" = "$_value" ]; then
+ echo "export $_listname=$_value"
+ else
+ echo "export $_listname=$_value:\$$_listname"
+ fi
+ fi
+ fi
+ unset _contained_value
+ # restore the field separator
+ IFS="$_colcon_prefix_bash_prepend_unique_value_IFS"
+ unset _colcon_prefix_bash_prepend_unique_value_IFS
+ # export the updated variable
+ eval export $_listname=\"$_all_values\"
+ unset _all_values
+ unset _values
+
+ unset _value
+ unset _listname
+}
+
+# add this prefix to the COLCON_PREFIX_PATH
+_colcon_prefix_bash_prepend_unique_value COLCON_PREFIX_PATH "$_colcon_prefix_bash_COLCON_CURRENT_PREFIX"
+unset _colcon_prefix_bash_prepend_unique_value
+
+# check environment variable for custom Python executable
+if [ -n "$COLCON_PYTHON_EXECUTABLE" ]; then
+ if [ ! -f "$COLCON_PYTHON_EXECUTABLE" ]; then
+ echo "error: COLCON_PYTHON_EXECUTABLE '$COLCON_PYTHON_EXECUTABLE' doesn't exist"
+ return 1
+ fi
+ _colcon_python_executable="$COLCON_PYTHON_EXECUTABLE"
+else
+ # try the Python executable known at configure time
+ _colcon_python_executable="/usr/bin/python3"
+ # if it doesn't exist try a fall back
+ if [ ! -f "$_colcon_python_executable" ]; then
+ if ! /usr/bin/env python3 --version > /dev/null 2> /dev/null; then
+ echo "error: unable to find python3 executable"
+ return 1
+ fi
+ _colcon_python_executable=`/usr/bin/env python3 -c "import sys; print(sys.executable)"`
+ fi
+fi
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+_colcon_prefix_sh_source_script() {
+ if [ -f "$1" ]; then
+ if [ -n "$COLCON_TRACE" ]; then
+ echo "# . \"$1\""
+ fi
+ . "$1"
+ else
+ echo "not found: \"$1\"" 1>&2
+ fi
+}
+
+# get all commands in topological order
+_colcon_ordered_commands="$($_colcon_python_executable "$_colcon_prefix_bash_COLCON_CURRENT_PREFIX/_local_setup_util_sh.py" sh bash)"
+unset _colcon_python_executable
+if [ -n "$COLCON_TRACE" ]; then
+ echo "$(declare -f _colcon_prefix_sh_source_script)"
+ echo "# Execute generated script:"
+ echo "# <<<"
+ echo "${_colcon_ordered_commands}"
+ echo "# >>>"
+ echo "unset _colcon_prefix_sh_source_script"
+fi
+eval "${_colcon_ordered_commands}"
+unset _colcon_ordered_commands
+
+unset _colcon_prefix_sh_source_script
+
+unset _colcon_prefix_bash_COLCON_CURRENT_PREFIX
diff --git a/robobin_main/src/install/local_setup.ps1 b/robobin_main/src/install/local_setup.ps1
new file mode 100644
index 00000000..6f68c8de
--- /dev/null
+++ b/robobin_main/src/install/local_setup.ps1
@@ -0,0 +1,55 @@
+# generated from colcon_powershell/shell/template/prefix.ps1.em
+
+# This script extends the environment with all packages contained in this
+# prefix path.
+
+# check environment variable for custom Python executable
+if ($env:COLCON_PYTHON_EXECUTABLE) {
+ if (!(Test-Path "$env:COLCON_PYTHON_EXECUTABLE" -PathType Leaf)) {
+ echo "error: COLCON_PYTHON_EXECUTABLE '$env:COLCON_PYTHON_EXECUTABLE' doesn't exist"
+ exit 1
+ }
+ $_colcon_python_executable="$env:COLCON_PYTHON_EXECUTABLE"
+} else {
+ # use the Python executable known at configure time
+ $_colcon_python_executable="/usr/bin/python3"
+ # if it doesn't exist try a fall back
+ if (!(Test-Path "$_colcon_python_executable" -PathType Leaf)) {
+ if (!(Get-Command "python3" -ErrorAction SilentlyContinue)) {
+ echo "error: unable to find python3 executable"
+ exit 1
+ }
+ $_colcon_python_executable="python3"
+ }
+}
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+function _colcon_prefix_powershell_source_script {
+ param (
+ $_colcon_prefix_powershell_source_script_param
+ )
+ # source script with conditional trace output
+ if (Test-Path $_colcon_prefix_powershell_source_script_param) {
+ if ($env:COLCON_TRACE) {
+ echo ". '$_colcon_prefix_powershell_source_script_param'"
+ }
+ . "$_colcon_prefix_powershell_source_script_param"
+ } else {
+ Write-Error "not found: '$_colcon_prefix_powershell_source_script_param'"
+ }
+}
+
+# get all commands in topological order
+$_colcon_ordered_commands = & "$_colcon_python_executable" "$(Split-Path $PSCommandPath -Parent)/_local_setup_util_ps1.py" ps1
+
+# execute all commands in topological order
+if ($env:COLCON_TRACE) {
+ echo "Execute generated script:"
+ echo "<<<"
+ $_colcon_ordered_commands.Split([Environment]::NewLine, [StringSplitOptions]::RemoveEmptyEntries) | Write-Output
+ echo ">>>"
+}
+if ($_colcon_ordered_commands) {
+ $_colcon_ordered_commands.Split([Environment]::NewLine, [StringSplitOptions]::RemoveEmptyEntries) | Invoke-Expression
+}
diff --git a/robobin_main/src/install/local_setup.sh b/robobin_main/src/install/local_setup.sh
new file mode 100644
index 00000000..67755f50
--- /dev/null
+++ b/robobin_main/src/install/local_setup.sh
@@ -0,0 +1,137 @@
+# generated from colcon_core/shell/template/prefix.sh.em
+
+# This script extends the environment with all packages contained in this
+# prefix path.
+
+# since a plain shell script can't determine its own path when being sourced
+# either use the provided COLCON_CURRENT_PREFIX
+# or fall back to the build time prefix (if it exists)
+_colcon_prefix_sh_COLCON_CURRENT_PREFIX="/home/robobin/robobin/robobin_main/src/install"
+if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+ if [ ! -d "$_colcon_prefix_sh_COLCON_CURRENT_PREFIX" ]; then
+ echo "The build time path \"$_colcon_prefix_sh_COLCON_CURRENT_PREFIX\" doesn't exist. Either source a script for a different shell or set the environment variable \"COLCON_CURRENT_PREFIX\" explicitly." 1>&2
+ unset _colcon_prefix_sh_COLCON_CURRENT_PREFIX
+ return 1
+ fi
+else
+ _colcon_prefix_sh_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+fi
+
+# function to prepend a value to a variable
+# which uses colons as separators
+# duplicates as well as trailing separators are avoided
+# first argument: the name of the result variable
+# second argument: the value to be prepended
+_colcon_prefix_sh_prepend_unique_value() {
+ # arguments
+ _listname="$1"
+ _value="$2"
+
+ # get values from variable
+ eval _values=\"\$$_listname\"
+ # backup the field separator
+ _colcon_prefix_sh_prepend_unique_value_IFS="$IFS"
+ IFS=":"
+ # start with the new value
+ _all_values="$_value"
+ _contained_value=""
+ # iterate over existing values in the variable
+ for _item in $_values; do
+ # ignore empty strings
+ if [ -z "$_item" ]; then
+ continue
+ fi
+ # ignore duplicates of _value
+ if [ "$_item" = "$_value" ]; then
+ _contained_value=1
+ continue
+ fi
+ # keep non-duplicate values
+ _all_values="$_all_values:$_item"
+ done
+ unset _item
+ if [ -z "$_contained_value" ]; then
+ if [ -n "$COLCON_TRACE" ]; then
+ if [ "$_all_values" = "$_value" ]; then
+ echo "export $_listname=$_value"
+ else
+ echo "export $_listname=$_value:\$$_listname"
+ fi
+ fi
+ fi
+ unset _contained_value
+ # restore the field separator
+ IFS="$_colcon_prefix_sh_prepend_unique_value_IFS"
+ unset _colcon_prefix_sh_prepend_unique_value_IFS
+ # export the updated variable
+ eval export $_listname=\"$_all_values\"
+ unset _all_values
+ unset _values
+
+ unset _value
+ unset _listname
+}
+
+# add this prefix to the COLCON_PREFIX_PATH
+_colcon_prefix_sh_prepend_unique_value COLCON_PREFIX_PATH "$_colcon_prefix_sh_COLCON_CURRENT_PREFIX"
+unset _colcon_prefix_sh_prepend_unique_value
+
+# check environment variable for custom Python executable
+if [ -n "$COLCON_PYTHON_EXECUTABLE" ]; then
+ if [ ! -f "$COLCON_PYTHON_EXECUTABLE" ]; then
+ echo "error: COLCON_PYTHON_EXECUTABLE '$COLCON_PYTHON_EXECUTABLE' doesn't exist"
+ return 1
+ fi
+ _colcon_python_executable="$COLCON_PYTHON_EXECUTABLE"
+else
+ # try the Python executable known at configure time
+ _colcon_python_executable="/usr/bin/python3"
+ # if it doesn't exist try a fall back
+ if [ ! -f "$_colcon_python_executable" ]; then
+ if ! /usr/bin/env python3 --version > /dev/null 2> /dev/null; then
+ echo "error: unable to find python3 executable"
+ return 1
+ fi
+ _colcon_python_executable=`/usr/bin/env python3 -c "import sys; print(sys.executable)"`
+ fi
+fi
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+_colcon_prefix_sh_source_script() {
+ if [ -f "$1" ]; then
+ if [ -n "$COLCON_TRACE" ]; then
+ echo "# . \"$1\""
+ fi
+ . "$1"
+ else
+ echo "not found: \"$1\"" 1>&2
+ fi
+}
+
+# get all commands in topological order
+_colcon_ordered_commands="$($_colcon_python_executable "$_colcon_prefix_sh_COLCON_CURRENT_PREFIX/_local_setup_util_sh.py" sh)"
+unset _colcon_python_executable
+if [ -n "$COLCON_TRACE" ]; then
+ echo "_colcon_prefix_sh_source_script() {
+ if [ -f \"\$1\" ]; then
+ if [ -n \"\$COLCON_TRACE\" ]; then
+ echo \"# . \\\"\$1\\\"\"
+ fi
+ . \"\$1\"
+ else
+ echo \"not found: \\\"\$1\\\"\" 1>&2
+ fi
+ }"
+ echo "# Execute generated script:"
+ echo "# <<<"
+ echo "${_colcon_ordered_commands}"
+ echo "# >>>"
+ echo "unset _colcon_prefix_sh_source_script"
+fi
+eval "${_colcon_ordered_commands}"
+unset _colcon_ordered_commands
+
+unset _colcon_prefix_sh_source_script
+
+unset _colcon_prefix_sh_COLCON_CURRENT_PREFIX
diff --git a/robobin_main/src/install/local_setup.zsh b/robobin_main/src/install/local_setup.zsh
new file mode 100644
index 00000000..b6487102
--- /dev/null
+++ b/robobin_main/src/install/local_setup.zsh
@@ -0,0 +1,134 @@
+# generated from colcon_zsh/shell/template/prefix.zsh.em
+
+# This script extends the environment with all packages contained in this
+# prefix path.
+
+# a zsh script is able to determine its own path if necessary
+if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+ _colcon_prefix_zsh_COLCON_CURRENT_PREFIX="$(builtin cd -q "`dirname "${(%):-%N}"`" > /dev/null && pwd)"
+else
+ _colcon_prefix_zsh_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+fi
+
+# function to convert array-like strings into arrays
+# to workaround SH_WORD_SPLIT not being set
+_colcon_prefix_zsh_convert_to_array() {
+ local _listname=$1
+ local _dollar="$"
+ local _split="{="
+ local _to_array="(\"$_dollar$_split$_listname}\")"
+ eval $_listname=$_to_array
+}
+
+# function to prepend a value to a variable
+# which uses colons as separators
+# duplicates as well as trailing separators are avoided
+# first argument: the name of the result variable
+# second argument: the value to be prepended
+_colcon_prefix_zsh_prepend_unique_value() {
+ # arguments
+ _listname="$1"
+ _value="$2"
+
+ # get values from variable
+ eval _values=\"\$$_listname\"
+ # backup the field separator
+ _colcon_prefix_zsh_prepend_unique_value_IFS="$IFS"
+ IFS=":"
+ # start with the new value
+ _all_values="$_value"
+ _contained_value=""
+ # workaround SH_WORD_SPLIT not being set
+ _colcon_prefix_zsh_convert_to_array _values
+ # iterate over existing values in the variable
+ for _item in $_values; do
+ # ignore empty strings
+ if [ -z "$_item" ]; then
+ continue
+ fi
+ # ignore duplicates of _value
+ if [ "$_item" = "$_value" ]; then
+ _contained_value=1
+ continue
+ fi
+ # keep non-duplicate values
+ _all_values="$_all_values:$_item"
+ done
+ unset _item
+ if [ -z "$_contained_value" ]; then
+ if [ -n "$COLCON_TRACE" ]; then
+ if [ "$_all_values" = "$_value" ]; then
+ echo "export $_listname=$_value"
+ else
+ echo "export $_listname=$_value:\$$_listname"
+ fi
+ fi
+ fi
+ unset _contained_value
+ # restore the field separator
+ IFS="$_colcon_prefix_zsh_prepend_unique_value_IFS"
+ unset _colcon_prefix_zsh_prepend_unique_value_IFS
+ # export the updated variable
+ eval export $_listname=\"$_all_values\"
+ unset _all_values
+ unset _values
+
+ unset _value
+ unset _listname
+}
+
+# add this prefix to the COLCON_PREFIX_PATH
+_colcon_prefix_zsh_prepend_unique_value COLCON_PREFIX_PATH "$_colcon_prefix_zsh_COLCON_CURRENT_PREFIX"
+unset _colcon_prefix_zsh_prepend_unique_value
+unset _colcon_prefix_zsh_convert_to_array
+
+# check environment variable for custom Python executable
+if [ -n "$COLCON_PYTHON_EXECUTABLE" ]; then
+ if [ ! -f "$COLCON_PYTHON_EXECUTABLE" ]; then
+ echo "error: COLCON_PYTHON_EXECUTABLE '$COLCON_PYTHON_EXECUTABLE' doesn't exist"
+ return 1
+ fi
+ _colcon_python_executable="$COLCON_PYTHON_EXECUTABLE"
+else
+ # try the Python executable known at configure time
+ _colcon_python_executable="/usr/bin/python3"
+ # if it doesn't exist try a fall back
+ if [ ! -f "$_colcon_python_executable" ]; then
+ if ! /usr/bin/env python3 --version > /dev/null 2> /dev/null; then
+ echo "error: unable to find python3 executable"
+ return 1
+ fi
+ _colcon_python_executable=`/usr/bin/env python3 -c "import sys; print(sys.executable)"`
+ fi
+fi
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+_colcon_prefix_sh_source_script() {
+ if [ -f "$1" ]; then
+ if [ -n "$COLCON_TRACE" ]; then
+ echo "# . \"$1\""
+ fi
+ . "$1"
+ else
+ echo "not found: \"$1\"" 1>&2
+ fi
+}
+
+# get all commands in topological order
+_colcon_ordered_commands="$($_colcon_python_executable "$_colcon_prefix_zsh_COLCON_CURRENT_PREFIX/_local_setup_util_sh.py" sh zsh)"
+unset _colcon_python_executable
+if [ -n "$COLCON_TRACE" ]; then
+ echo "$(declare -f _colcon_prefix_sh_source_script)"
+ echo "# Execute generated script:"
+ echo "# <<<"
+ echo "${_colcon_ordered_commands}"
+ echo "# >>>"
+ echo "unset _colcon_prefix_sh_source_script"
+fi
+eval "${_colcon_ordered_commands}"
+unset _colcon_ordered_commands
+
+unset _colcon_prefix_sh_source_script
+
+unset _colcon_prefix_zsh_COLCON_CURRENT_PREFIX
diff --git a/robobin_main/src/install/odometry_publisher/lib/odometry_publisher/odometry_node b/robobin_main/src/install/odometry_publisher/lib/odometry_publisher/odometry_node
new file mode 100755
index 00000000..0090d48d
--- /dev/null
+++ b/robobin_main/src/install/odometry_publisher/lib/odometry_publisher/odometry_node
@@ -0,0 +1,33 @@
+#!/usr/bin/python3
+# EASY-INSTALL-ENTRY-SCRIPT: 'odometry-publisher==0.0.0','console_scripts','odometry_node'
+import re
+import sys
+
+# for compatibility with easy_install; see #2198
+__requires__ = 'odometry-publisher==0.0.0'
+
+try:
+ from importlib.metadata import distribution
+except ImportError:
+ try:
+ from importlib_metadata import distribution
+ except ImportError:
+ from pkg_resources import load_entry_point
+
+
+def importlib_load_entry_point(spec, group, name):
+ dist_name, _, _ = spec.partition('==')
+ matches = (
+ entry_point
+ for entry_point in distribution(dist_name).entry_points
+ if entry_point.group == group and entry_point.name == name
+ )
+ return next(matches).load()
+
+
+globals().setdefault('load_entry_point', importlib_load_entry_point)
+
+
+if __name__ == '__main__':
+ sys.argv[0] = re.sub(r'(-script\.pyw?|\.exe)?$', '', sys.argv[0])
+ sys.exit(load_entry_point('odometry-publisher==0.0.0', 'console_scripts', 'odometry_node')())
diff --git a/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages/odometry_publisher-0.0.0-py3.12.egg-info/PKG-INFO b/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages/odometry_publisher-0.0.0-py3.12.egg-info/PKG-INFO
new file mode 100644
index 00000000..920bd7e0
--- /dev/null
+++ b/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages/odometry_publisher-0.0.0-py3.12.egg-info/PKG-INFO
@@ -0,0 +1,7 @@
+Metadata-Version: 2.1
+Name: odometry-publisher
+Version: 0.0.0
+Summary: TODO: Package description
+Maintainer: robobin
+Maintainer-email: jzc1e20@soton.ac.uk
+License: TODO: License declaration
diff --git a/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages/odometry_publisher-0.0.0-py3.12.egg-info/SOURCES.txt b/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages/odometry_publisher-0.0.0-py3.12.egg-info/SOURCES.txt
new file mode 100644
index 00000000..ba7edf56
--- /dev/null
+++ b/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages/odometry_publisher-0.0.0-py3.12.egg-info/SOURCES.txt
@@ -0,0 +1,18 @@
+package.xml
+setup.cfg
+setup.py
+../build/odometry_publisher/odometry_publisher.egg-info/PKG-INFO
+../build/odometry_publisher/odometry_publisher.egg-info/SOURCES.txt
+../build/odometry_publisher/odometry_publisher.egg-info/dependency_links.txt
+../build/odometry_publisher/odometry_publisher.egg-info/entry_points.txt
+../build/odometry_publisher/odometry_publisher.egg-info/requires.txt
+../build/odometry_publisher/odometry_publisher.egg-info/top_level.txt
+../build/odometry_publisher/odometry_publisher.egg-info/zip-safe
+odometry_publisher/__init__.py
+odometry_publisher/backup.py
+odometry_publisher/odometry_node.py
+odometry_publisher/tf_broadcaster.py
+resource/odometry_publisher
+test/test_copyright.py
+test/test_flake8.py
+test/test_pep257.py
\ No newline at end of file
diff --git a/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages/odometry_publisher-0.0.0-py3.12.egg-info/dependency_links.txt b/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages/odometry_publisher-0.0.0-py3.12.egg-info/dependency_links.txt
new file mode 100644
index 00000000..8b137891
--- /dev/null
+++ b/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages/odometry_publisher-0.0.0-py3.12.egg-info/dependency_links.txt
@@ -0,0 +1 @@
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diff --git a/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages/odometry_publisher-0.0.0-py3.12.egg-info/entry_points.txt b/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages/odometry_publisher-0.0.0-py3.12.egg-info/entry_points.txt
new file mode 100644
index 00000000..bb16a083
--- /dev/null
+++ b/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages/odometry_publisher-0.0.0-py3.12.egg-info/entry_points.txt
@@ -0,0 +1,2 @@
+[console_scripts]
+odometry_node = odometry_publisher.odometry_node:main
diff --git a/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages/odometry_publisher-0.0.0-py3.12.egg-info/requires.txt b/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages/odometry_publisher-0.0.0-py3.12.egg-info/requires.txt
new file mode 100644
index 00000000..49fe098d
--- /dev/null
+++ b/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages/odometry_publisher-0.0.0-py3.12.egg-info/requires.txt
@@ -0,0 +1 @@
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diff --git a/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages/odometry_publisher-0.0.0-py3.12.egg-info/top_level.txt b/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages/odometry_publisher-0.0.0-py3.12.egg-info/top_level.txt
new file mode 100644
index 00000000..72ace898
--- /dev/null
+++ b/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages/odometry_publisher-0.0.0-py3.12.egg-info/top_level.txt
@@ -0,0 +1 @@
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diff --git a/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages/odometry_publisher-0.0.0-py3.12.egg-info/zip-safe b/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages/odometry_publisher-0.0.0-py3.12.egg-info/zip-safe
new file mode 100644
index 00000000..8b137891
--- /dev/null
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diff --git a/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages/odometry_publisher/backup.py b/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages/odometry_publisher/backup.py
new file mode 100644
index 00000000..7402f291
--- /dev/null
+++ b/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages/odometry_publisher/backup.py
@@ -0,0 +1,193 @@
+import rclpy
+from rclpy.node import Node
+from std_msgs.msg import Int64
+from nav_msgs.msg import Odometry
+from geometry_msgs.msg import Quaternion, TransformStamped
+from math import sin, cos, pi
+import tf2_ros
+import math
+from sensor_msgs.msg import JointState
+
+
+class OdometryPublisher(Node):
+ def __init__(self):
+ super().__init__('odometry_publisher')
+
+ # Robot parameters
+ self.wheel_radius = 0.075 # meters (example value)
+ self.wheel_base = 0.4 # meters (distance between wheels)
+ self.steps_per_revolution = 310 # from your encoder observations
+ self.wheel_circumference = 2 * pi * self.wheel_radius
+ self.steps_per_meter = self.steps_per_revolution / self.wheel_circumference
+
+ # Initialize encoder readings
+ self.left_encoder = 0
+ self.right_encoder = 0
+ self.last_left_encoder = 0
+ self.last_right_encoder = 0
+
+ # Robot pose
+ self.x = 0.0
+ self.y = 0.0
+ self.theta = 0.0 # Robot's orientation
+
+ # Create subscribers for encoders
+ self.left_encoder_sub = self.create_subscription(
+ Int64,
+ 'left_wheel_steps',
+ self.left_encoder_callback,
+ 10
+ )
+ self.right_encoder_sub = self.create_subscription(
+ Int64,
+ 'right_wheel_steps',
+ self.right_encoder_callback,
+ 10
+ )
+
+ # Publisher for odometry
+ self.odom_pub = self.create_publisher(Odometry, 'odom', 10)
+
+ self.joint_state_pub = self.create_publisher(JointState, 'joint_states', 10) # New joint state publisher
+
+ # Transform broadcaster
+ self.tf_broadcaster = tf2_ros.TransformBroadcaster(self)
+
+ # Timer for updating odometry
+ self.timer = self.create_timer(0.1, self.update_odometry)
+
+ self.get_logger().info('Odometry publisher node has been started.')
+
+ def left_encoder_callback(self, msg):
+ self.left_encoder = msg.data
+
+ def right_encoder_callback(self, msg):
+ self.right_encoder = msg.data
+
+ def euler_to_quaternion(self, roll, pitch, yaw):
+ # Compute the half angles
+ cy = math.cos(yaw * 0.5)
+ sy = math.sin(yaw * 0.5)
+ cp = math.cos(pitch * 0.5)
+ sp = math.sin(pitch * 0.5)
+ cr = math.cos(roll * 0.5)
+ sr = math.sin(roll * 0.5)
+
+ # Compute the quaternion components
+ w = cr * cp * cy + sr * sp * sy
+ x = sr * cp * cy - cr * sp * sy
+ y = cr * sp * cy + sr * cp * sy
+ z = cr * cp * sy - sr * sp * cy
+
+ return x, y, z, w
+
+ def update_odometry(self):
+ # Calculate change in encoder readings
+ delta_left = self.left_encoder - self.last_left_encoder
+ delta_right = self.right_encoder - self.last_right_encoder
+
+ self.last_left_encoder = self.left_encoder
+ self.last_right_encoder = self.right_encoder
+
+ # Calculate distance traveled by each wheel
+ distance_left = (delta_left / self.steps_per_revolution) * self.wheel_circumference
+ distance_right = (delta_right / self.steps_per_revolution) * self.wheel_circumference
+
+ # Calculate average distance and change in orientation
+ delta_distance = (distance_right + distance_left) / 2.0
+ delta_theta = (distance_right - distance_left) / self.wheel_base
+
+ # Update robot pose
+ self.theta += delta_theta
+ delta_x = delta_distance * cos(self.theta)
+ delta_y = delta_distance * sin(self.theta)
+
+ self.x += delta_x
+ self.y += delta_y
+
+ # Create quaternion from yaw (using custom euler_to_quaternion)
+ odom_quat = self.euler_to_quaternion(0, 0, self.theta)
+
+ # Publish the odometry message over ROS2
+ odom = Odometry()
+ odom.header.stamp = self.get_clock().now().to_msg()
+ odom.header.frame_id = "odom"
+
+ # Set the position
+ odom.pose.pose.position.x = self.x
+ odom.pose.pose.position.y = self.y
+ odom.pose.pose.position.z = 0.0
+ odom.pose.pose.orientation = Quaternion(
+ x=odom_quat[0],
+ y=odom_quat[1],
+ z=odom_quat[2],
+ w=odom_quat[3]
+ )
+
+ # Set the velocity (optional, can be set to zero for now)
+ odom.child_frame_id = "base_link"
+ odom.twist.twist.linear.x = delta_distance / 0.1 # dt is 0.1 seconds
+ odom.twist.twist.angular.z = delta_theta / 0.1
+
+ # Set pose covariance
+ odom.pose.covariance = [0.001, 0, 0, 0, 0, 0,
+ 0, 0.001, 0, 0, 0, 0,
+ 0, 0, 1000000, 0, 0, 0,
+ 0, 0, 0, 1000000, 0, 0,
+ 0, 0, 0, 0, 1000000, 0,
+ 0, 0, 0, 0, 0, 0.01]
+
+ # Set twist covariance
+ odom.twist.covariance = [0.0001, 0, 0, 0, 0, 0,
+ 0, 0.0001, 0, 0, 0, 0,
+ 0, 0, 1000000, 0, 0, 0,
+ 0, 0, 0, 1000000, 0, 0,
+ 0, 0, 0, 0, 1000000, 0,
+ 0, 0, 0, 0, 0, 0.001]
+
+
+ # Publish the message
+ self.odom_pub.publish(odom)
+
+ # Publish the transform over TF
+ t = TransformStamped()
+ t.header.stamp = self.get_clock().now().to_msg()
+ t.header.frame_id = 'odom'
+ t.child_frame_id = 'base_link'
+
+ t.transform.translation.x = self.x
+ t.transform.translation.y = self.y
+ t.transform.translation.z = 0.0
+ t.transform.rotation = Quaternion(
+ x=odom_quat[0],
+ y=odom_quat[1],
+ z=odom_quat[2],
+ w=odom_quat[3]
+ )
+
+ self.tf_broadcaster.sendTransform(t)
+
+ #Publish joint states
+ joint_state_msg = JointState()
+ joint_state_msg.header.stamp = self.get_clock().now().to_msg()
+ joint_state_msg.name = ['base_to_left_wheel', 'base_to_right_wheel']
+ joint_state_msg.position = [
+ self.left_encoder / self.steps_per_revolution * 2 * pi, # Left wheel position (radians)
+ self.right_encoder / self.steps_per_revolution * 2 * pi # Right wheel position (radians)
+ ]
+ self.joint_state_pub.publish(joint_state_msg)
+
+def main(args=None):
+ rclpy.init(args=args)
+ node = OdometryPublisher()
+
+ try:
+ rclpy.spin(node)
+ except KeyboardInterrupt:
+ pass
+ finally:
+ node.destroy_node()
+ rclpy.shutdown()
+
+if __name__ == '__main__':
+ main()
\ No newline at end of file
diff --git a/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages/odometry_publisher/odometry_node.py b/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages/odometry_publisher/odometry_node.py
new file mode 100644
index 00000000..c612a477
--- /dev/null
+++ b/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages/odometry_publisher/odometry_node.py
@@ -0,0 +1,197 @@
+import rclpy
+from rclpy.node import Node
+from std_msgs.msg import Int64
+from nav_msgs.msg import Odometry
+from geometry_msgs.msg import Quaternion, TransformStamped
+from math import sin, cos, pi
+import tf2_ros
+import math
+from sensor_msgs.msg import JointState
+
+
+class OdometryPublisher(Node):
+ def __init__(self):
+ super().__init__('odometry_publisher')
+
+ # Robot parameters
+ self.wheel_radius = 0.075 # meters (example value)
+ self.wheel_base = 0.4 # meters (distance between wheels)
+ self.steps_per_revolution = 310 # from your encoder observations
+ self.wheel_circumference = 2 * pi * self.wheel_radius
+ self.steps_per_meter = self.steps_per_revolution / self.wheel_circumference
+
+ # Initialize encoder readings
+ self.left_encoder = 0
+ self.right_encoder = 0
+ self.last_left_encoder = 0
+ self.last_right_encoder = 0
+
+ # Robot pose
+ self.x = 0.0
+ self.y = 0.0
+ self.theta = 0.0 # Robot's orientation
+
+ # Create subscribers for encoders
+ self.left_encoder_sub = self.create_subscription(
+ Int64,
+ 'left_wheel_steps',
+ self.left_encoder_callback,
+ 10
+ )
+ self.right_encoder_sub = self.create_subscription(
+ Int64,
+ 'right_wheel_steps',
+ self.right_encoder_callback,
+ 10
+ )
+
+ # Publisher for odometry
+ self.odom_pub = self.create_publisher(Odometry, 'odom', 10)
+
+ self.joint_state_pub = self.create_publisher(JointState, 'joint_states', 10) # New joint state publisher
+
+ # Transform broadcaster
+ self.tf_broadcaster = tf2_ros.TransformBroadcaster(self)
+
+ # Timer for updating odometry
+ self.timer = self.create_timer(0.1, self.update_odometry)
+
+ self.get_logger().info('Odometry publisher node has been started.')
+
+ def left_encoder_callback(self, msg):
+ self.left_encoder = msg.data
+
+ def right_encoder_callback(self, msg):
+ self.right_encoder = msg.data
+
+ def euler_to_quaternion(self, roll, pitch, yaw):
+ # Compute the half angles
+ cy = math.cos(yaw * 0.5)
+ sy = math.sin(yaw * 0.5)
+ cp = math.cos(pitch * 0.5)
+ sp = math.sin(pitch * 0.5)
+ cr = math.cos(roll * 0.5)
+ sr = math.sin(roll * 0.5)
+
+ # Compute the quaternion components
+ w = cr * cp * cy + sr * sp * sy
+ x = sr * cp * cy - cr * sp * sy
+ y = cr * sp * cy + sr * cp * sy
+ z = cr * cp * sy - sr * sp * cy
+
+ return x, y, z, w
+
+ def update_odometry(self):
+ # Calculate change in encoder readings
+ delta_left = self.left_encoder - self.last_left_encoder
+ delta_right = self.right_encoder - self.last_right_encoder
+
+ self.last_left_encoder = self.left_encoder
+ self.last_right_encoder = self.right_encoder
+
+ # Calculate distance traveled by each wheel
+ distance_left = (delta_left / self.steps_per_revolution) * self.wheel_circumference
+ distance_right = (delta_right / self.steps_per_revolution) * self.wheel_circumference
+
+ # Calculate average distance and change in orientation
+ delta_distance = (distance_right + distance_left) / 2.0
+ delta_theta = (distance_right - distance_left) / self.wheel_base
+
+ # Update robot pose
+ self.theta += delta_theta
+ delta_x = delta_distance * cos(self.theta)
+ delta_y = delta_distance * sin(self.theta)
+
+ self.x += delta_x
+ self.y += delta_y
+
+ # Create quaternion from yaw (using custom euler_to_quaternion)
+ odom_quat = self.euler_to_quaternion(0, 0, self.theta)
+
+ # Publish the odometry message over ROS2
+ odom = Odometry()
+ odom.header.stamp = self.get_clock().now().to_msg()
+ odom.header.frame_id = "odom"
+ #odom.header.frame_id = "odom/filtered"
+
+ # Set the position
+ odom.pose.pose.position.x = self.x
+ odom.pose.pose.position.y = self.y
+ odom.pose.pose.position.z = 0.0
+ odom.pose.pose.orientation = Quaternion(
+ x=odom_quat[0],
+ y=odom_quat[1],
+ z=odom_quat[2],
+ w=odom_quat[3]
+ )
+
+ # Set the velocity (optional, can be set to zero for now)
+ odom.child_frame_id = "base_link"
+
+ odom.twist.twist.linear.x = delta_distance / 0.1 # dt is 0.1 seconds
+ odom.twist.twist.angular.z = delta_theta / 0.1
+
+
+ # Set pose covariance
+ odom.pose.covariance = [0.001, 0, 0, 0, 0, 0,
+ 0, 0.001, 0, 0, 0, 0,
+ 0, 0, 1000000, 0, 0, 0,
+ 0, 0, 0, 1000000, 0, 0,
+ 0, 0, 0, 0, 1000000, 0,
+ 0, 0, 0, 0, 0, 0.01]
+
+ # Set twist covariance
+ odom.twist.covariance = [0.0001, 0, 0, 0, 0, 0,
+ 0, 0.0001, 0, 0, 0, 0,
+ 0, 0, 1000000, 0, 0, 0,
+ 0, 0, 0, 1000000, 0, 0,
+ 0, 0, 0, 0, 1000000, 0,
+ 0, 0, 0, 0, 0, 0.001]
+
+
+ # Publish the message
+ self.odom_pub.publish(odom)
+
+ # # Publish the transform over TF
+ # t = TransformStamped()
+ # t.header.stamp = self.get_clock().now().to_msg()
+ # t.header.frame_id = 'odom'
+ # #t.header.frame_id = 'odom'
+ # t.child_frame_id = 'base_link'
+
+ # t.transform.translation.x = self.x
+ # t.transform.translation.y = self.y
+ # t.transform.translation.z = 0.0
+ # t.transform.rotation = Quaternion(
+ # x=odom_quat[0],
+ # y=odom_quat[1],
+ # z=odom_quat[2],
+ # w=odom_quat[3]
+ # )
+
+ # self.tf_broadcaster.sendTransform(t)
+
+ # #Publish joint states
+ # joint_state_msg = JointState()
+ # joint_state_msg.header.stamp = self.get_clock().now().to_msg()
+ # joint_state_msg.name = ['base_to_left_wheel', 'base_to_right_wheel']
+ # joint_state_msg.position = [
+ # self.left_encoder / self.steps_per_revolution * 2 * pi, # Left wheel position (radians)
+ # self.right_encoder / self.steps_per_revolution * 2 * pi # Right wheel position (radians)
+ # ]
+ # self.joint_state_pub.publish(joint_state_msg)
+
+def main(args=None):
+ rclpy.init(args=args)
+ node = OdometryPublisher()
+
+ try:
+ rclpy.spin(node)
+ except KeyboardInterrupt:
+ pass
+ finally:
+ node.destroy_node()
+ rclpy.shutdown()
+
+if __name__ == '__main__':
+ main()
\ No newline at end of file
diff --git a/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages/odometry_publisher/tf_broadcaster.py b/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages/odometry_publisher/tf_broadcaster.py
new file mode 100644
index 00000000..5a18b3a5
--- /dev/null
+++ b/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages/odometry_publisher/tf_broadcaster.py
@@ -0,0 +1,44 @@
+import rclpy
+from rclpy.node import Node
+from nav_msgs.msg import Odometry
+from geometry_msgs.msg import TransformStamped
+import tf2_ros
+
+class TFBroadcaster(Node):
+ def __init__(self):
+ super().__init__('tf_broadcaster')
+
+ # Transform broadcaster
+ self.tf_broadcaster = tf2_ros.TransformBroadcaster(self)
+
+ # Subscriber to odometry (can be 'odom' or 'odom/filtered')
+ self.create_subscription(Odometry, 'odom/filtered', self.odom_callback, 10)
+
+ self.get_logger().info('TF Broadcaster node has been started.')
+
+ def odom_callback(self, msg):
+ t = TransformStamped()
+ t.header.stamp = msg.header.stamp
+ t.header.frame_id = 'odom'
+ t.child_frame_id = 'base_link'
+
+ t.transform.translation.x = msg.pose.pose.position.x
+ t.transform.translation.y = msg.pose.pose.position.y
+ t.transform.translation.z = msg.pose.pose.position.z
+ t.transform.rotation = msg.pose.pose.orientation
+
+ self.tf_broadcaster.sendTransform(t)
+
+def main(args=None):
+ rclpy.init(args=args)
+ node = TFBroadcaster()
+ try:
+ rclpy.spin(node)
+ except KeyboardInterrupt:
+ pass
+ finally:
+ node.destroy_node()
+ rclpy.shutdown()
+
+if __name__ == '__main__':
+ main()
diff --git a/robobin_main/src/install/odometry_publisher/share/ament_index/resource_index/packages/odometry_publisher b/robobin_main/src/install/odometry_publisher/share/ament_index/resource_index/packages/odometry_publisher
new file mode 100644
index 00000000..e69de29b
diff --git a/robobin_main/src/install/odometry_publisher/share/colcon-core/packages/odometry_publisher b/robobin_main/src/install/odometry_publisher/share/colcon-core/packages/odometry_publisher
new file mode 100644
index 00000000..10894f05
--- /dev/null
+++ b/robobin_main/src/install/odometry_publisher/share/colcon-core/packages/odometry_publisher
@@ -0,0 +1 @@
+nav_msgs:rclpy:std_msgs:tf2_ros:tf_transformations
\ No newline at end of file
diff --git a/robobin_main/src/install/odometry_publisher/share/odometry_publisher/hook/ament_prefix_path.dsv b/robobin_main/src/install/odometry_publisher/share/odometry_publisher/hook/ament_prefix_path.dsv
new file mode 100644
index 00000000..79d4c95b
--- /dev/null
+++ b/robobin_main/src/install/odometry_publisher/share/odometry_publisher/hook/ament_prefix_path.dsv
@@ -0,0 +1 @@
+prepend-non-duplicate;AMENT_PREFIX_PATH;
diff --git a/robobin_main/src/install/odometry_publisher/share/odometry_publisher/hook/ament_prefix_path.ps1 b/robobin_main/src/install/odometry_publisher/share/odometry_publisher/hook/ament_prefix_path.ps1
new file mode 100644
index 00000000..26b99975
--- /dev/null
+++ b/robobin_main/src/install/odometry_publisher/share/odometry_publisher/hook/ament_prefix_path.ps1
@@ -0,0 +1,3 @@
+# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em
+
+colcon_prepend_unique_value AMENT_PREFIX_PATH "$env:COLCON_CURRENT_PREFIX"
diff --git a/robobin_main/src/install/odometry_publisher/share/odometry_publisher/hook/ament_prefix_path.sh b/robobin_main/src/install/odometry_publisher/share/odometry_publisher/hook/ament_prefix_path.sh
new file mode 100644
index 00000000..f3041f68
--- /dev/null
+++ b/robobin_main/src/install/odometry_publisher/share/odometry_publisher/hook/ament_prefix_path.sh
@@ -0,0 +1,3 @@
+# generated from colcon_core/shell/template/hook_prepend_value.sh.em
+
+_colcon_prepend_unique_value AMENT_PREFIX_PATH "$COLCON_CURRENT_PREFIX"
diff --git a/robobin_main/src/install/odometry_publisher/share/odometry_publisher/hook/pythonpath.dsv b/robobin_main/src/install/odometry_publisher/share/odometry_publisher/hook/pythonpath.dsv
new file mode 100644
index 00000000..c2ddcdb7
--- /dev/null
+++ b/robobin_main/src/install/odometry_publisher/share/odometry_publisher/hook/pythonpath.dsv
@@ -0,0 +1 @@
+prepend-non-duplicate;PYTHONPATH;lib/python3.12/site-packages
diff --git a/robobin_main/src/install/odometry_publisher/share/odometry_publisher/hook/pythonpath.ps1 b/robobin_main/src/install/odometry_publisher/share/odometry_publisher/hook/pythonpath.ps1
new file mode 100644
index 00000000..bdd69aff
--- /dev/null
+++ b/robobin_main/src/install/odometry_publisher/share/odometry_publisher/hook/pythonpath.ps1
@@ -0,0 +1,3 @@
+# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em
+
+colcon_prepend_unique_value PYTHONPATH "$env:COLCON_CURRENT_PREFIX\lib/python3.12/site-packages"
diff --git a/robobin_main/src/install/odometry_publisher/share/odometry_publisher/hook/pythonpath.sh b/robobin_main/src/install/odometry_publisher/share/odometry_publisher/hook/pythonpath.sh
new file mode 100644
index 00000000..45388fea
--- /dev/null
+++ b/robobin_main/src/install/odometry_publisher/share/odometry_publisher/hook/pythonpath.sh
@@ -0,0 +1,3 @@
+# generated from colcon_core/shell/template/hook_prepend_value.sh.em
+
+_colcon_prepend_unique_value PYTHONPATH "$COLCON_CURRENT_PREFIX/lib/python3.12/site-packages"
diff --git a/robobin_main/src/install/odometry_publisher/share/odometry_publisher/package.bash b/robobin_main/src/install/odometry_publisher/share/odometry_publisher/package.bash
new file mode 100644
index 00000000..d1709b3b
--- /dev/null
+++ b/robobin_main/src/install/odometry_publisher/share/odometry_publisher/package.bash
@@ -0,0 +1,31 @@
+# generated from colcon_bash/shell/template/package.bash.em
+
+# This script extends the environment for this package.
+
+# a bash script is able to determine its own path if necessary
+if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+ # the prefix is two levels up from the package specific share directory
+ _colcon_package_bash_COLCON_CURRENT_PREFIX="$(builtin cd "`dirname "${BASH_SOURCE[0]}"`/../.." > /dev/null && pwd)"
+else
+ _colcon_package_bash_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+fi
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+# additional arguments: arguments to the script
+_colcon_package_bash_source_script() {
+ if [ -f "$1" ]; then
+ if [ -n "$COLCON_TRACE" ]; then
+ echo "# . \"$1\""
+ fi
+ . "$@"
+ else
+ echo "not found: \"$1\"" 1>&2
+ fi
+}
+
+# source sh script of this package
+_colcon_package_bash_source_script "$_colcon_package_bash_COLCON_CURRENT_PREFIX/share/odometry_publisher/package.sh"
+
+unset _colcon_package_bash_source_script
+unset _colcon_package_bash_COLCON_CURRENT_PREFIX
diff --git a/robobin_main/src/install/odometry_publisher/share/odometry_publisher/package.dsv b/robobin_main/src/install/odometry_publisher/share/odometry_publisher/package.dsv
new file mode 100644
index 00000000..b51f488e
--- /dev/null
+++ b/robobin_main/src/install/odometry_publisher/share/odometry_publisher/package.dsv
@@ -0,0 +1,6 @@
+source;share/odometry_publisher/hook/pythonpath.ps1
+source;share/odometry_publisher/hook/pythonpath.dsv
+source;share/odometry_publisher/hook/pythonpath.sh
+source;share/odometry_publisher/hook/ament_prefix_path.ps1
+source;share/odometry_publisher/hook/ament_prefix_path.dsv
+source;share/odometry_publisher/hook/ament_prefix_path.sh
diff --git a/robobin_main/src/install/odometry_publisher/share/odometry_publisher/package.ps1 b/robobin_main/src/install/odometry_publisher/share/odometry_publisher/package.ps1
new file mode 100644
index 00000000..6f2ac866
--- /dev/null
+++ b/robobin_main/src/install/odometry_publisher/share/odometry_publisher/package.ps1
@@ -0,0 +1,116 @@
+# generated from colcon_powershell/shell/template/package.ps1.em
+
+# function to append a value to a variable
+# which uses colons as separators
+# duplicates as well as leading separators are avoided
+# first argument: the name of the result variable
+# second argument: the value to be prepended
+function colcon_append_unique_value {
+ param (
+ $_listname,
+ $_value
+ )
+
+ # get values from variable
+ if (Test-Path Env:$_listname) {
+ $_values=(Get-Item env:$_listname).Value
+ } else {
+ $_values=""
+ }
+ $_duplicate=""
+ # start with no values
+ $_all_values=""
+ # iterate over existing values in the variable
+ if ($_values) {
+ $_values.Split(";") | ForEach {
+ # not an empty string
+ if ($_) {
+ # not a duplicate of _value
+ if ($_ -eq $_value) {
+ $_duplicate="1"
+ }
+ if ($_all_values) {
+ $_all_values="${_all_values};$_"
+ } else {
+ $_all_values="$_"
+ }
+ }
+ }
+ }
+ # append only non-duplicates
+ if (!$_duplicate) {
+ # avoid leading separator
+ if ($_all_values) {
+ $_all_values="${_all_values};${_value}"
+ } else {
+ $_all_values="${_value}"
+ }
+ }
+
+ # export the updated variable
+ Set-Item env:\$_listname -Value "$_all_values"
+}
+
+# function to prepend a value to a variable
+# which uses colons as separators
+# duplicates as well as trailing separators are avoided
+# first argument: the name of the result variable
+# second argument: the value to be prepended
+function colcon_prepend_unique_value {
+ param (
+ $_listname,
+ $_value
+ )
+
+ # get values from variable
+ if (Test-Path Env:$_listname) {
+ $_values=(Get-Item env:$_listname).Value
+ } else {
+ $_values=""
+ }
+ # start with the new value
+ $_all_values="$_value"
+ # iterate over existing values in the variable
+ if ($_values) {
+ $_values.Split(";") | ForEach {
+ # not an empty string
+ if ($_) {
+ # not a duplicate of _value
+ if ($_ -ne $_value) {
+ # keep non-duplicate values
+ $_all_values="${_all_values};$_"
+ }
+ }
+ }
+ }
+ # export the updated variable
+ Set-Item env:\$_listname -Value "$_all_values"
+}
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+# additional arguments: arguments to the script
+function colcon_package_source_powershell_script {
+ param (
+ $_colcon_package_source_powershell_script
+ )
+ # source script with conditional trace output
+ if (Test-Path $_colcon_package_source_powershell_script) {
+ if ($env:COLCON_TRACE) {
+ echo ". '$_colcon_package_source_powershell_script'"
+ }
+ . "$_colcon_package_source_powershell_script"
+ } else {
+ Write-Error "not found: '$_colcon_package_source_powershell_script'"
+ }
+}
+
+
+# a powershell script is able to determine its own path
+# the prefix is two levels up from the package specific share directory
+$env:COLCON_CURRENT_PREFIX=(Get-Item $PSCommandPath).Directory.Parent.Parent.FullName
+
+colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX\share/odometry_publisher/hook/pythonpath.ps1"
+colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX\share/odometry_publisher/hook/ament_prefix_path.ps1"
+
+Remove-Item Env:\COLCON_CURRENT_PREFIX
diff --git a/robobin_main/src/install/odometry_publisher/share/odometry_publisher/package.sh b/robobin_main/src/install/odometry_publisher/share/odometry_publisher/package.sh
new file mode 100644
index 00000000..86d97839
--- /dev/null
+++ b/robobin_main/src/install/odometry_publisher/share/odometry_publisher/package.sh
@@ -0,0 +1,87 @@
+# generated from colcon_core/shell/template/package.sh.em
+
+# This script extends the environment for this package.
+
+# function to prepend a value to a variable
+# which uses colons as separators
+# duplicates as well as trailing separators are avoided
+# first argument: the name of the result variable
+# second argument: the value to be prepended
+_colcon_prepend_unique_value() {
+ # arguments
+ _listname="$1"
+ _value="$2"
+
+ # get values from variable
+ eval _values=\"\$$_listname\"
+ # backup the field separator
+ _colcon_prepend_unique_value_IFS=$IFS
+ IFS=":"
+ # start with the new value
+ _all_values="$_value"
+ # workaround SH_WORD_SPLIT not being set in zsh
+ if [ "$(command -v colcon_zsh_convert_to_array)" ]; then
+ colcon_zsh_convert_to_array _values
+ fi
+ # iterate over existing values in the variable
+ for _item in $_values; do
+ # ignore empty strings
+ if [ -z "$_item" ]; then
+ continue
+ fi
+ # ignore duplicates of _value
+ if [ "$_item" = "$_value" ]; then
+ continue
+ fi
+ # keep non-duplicate values
+ _all_values="$_all_values:$_item"
+ done
+ unset _item
+ # restore the field separator
+ IFS=$_colcon_prepend_unique_value_IFS
+ unset _colcon_prepend_unique_value_IFS
+ # export the updated variable
+ eval export $_listname=\"$_all_values\"
+ unset _all_values
+ unset _values
+
+ unset _value
+ unset _listname
+}
+
+# since a plain shell script can't determine its own path when being sourced
+# either use the provided COLCON_CURRENT_PREFIX
+# or fall back to the build time prefix (if it exists)
+_colcon_package_sh_COLCON_CURRENT_PREFIX="/home/robobin/robobin/robobin_main/src/install/odometry_publisher"
+if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+ if [ ! -d "$_colcon_package_sh_COLCON_CURRENT_PREFIX" ]; then
+ echo "The build time path \"$_colcon_package_sh_COLCON_CURRENT_PREFIX\" doesn't exist. Either source a script for a different shell or set the environment variable \"COLCON_CURRENT_PREFIX\" explicitly." 1>&2
+ unset _colcon_package_sh_COLCON_CURRENT_PREFIX
+ return 1
+ fi
+ COLCON_CURRENT_PREFIX="$_colcon_package_sh_COLCON_CURRENT_PREFIX"
+fi
+unset _colcon_package_sh_COLCON_CURRENT_PREFIX
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+# additional arguments: arguments to the script
+_colcon_package_sh_source_script() {
+ if [ -f "$1" ]; then
+ if [ -n "$COLCON_TRACE" ]; then
+ echo "# . \"$1\""
+ fi
+ . "$@"
+ else
+ echo "not found: \"$1\"" 1>&2
+ fi
+}
+
+# source sh hooks
+_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/odometry_publisher/hook/pythonpath.sh"
+_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/odometry_publisher/hook/ament_prefix_path.sh"
+
+unset _colcon_package_sh_source_script
+unset COLCON_CURRENT_PREFIX
+
+# do not unset _colcon_prepend_unique_value since it might be used by non-primary shell hooks
diff --git a/robobin_main/src/install/odometry_publisher/share/odometry_publisher/package.xml b/robobin_main/src/install/odometry_publisher/share/odometry_publisher/package.xml
new file mode 100644
index 00000000..5e8e8a3c
--- /dev/null
+++ b/robobin_main/src/install/odometry_publisher/share/odometry_publisher/package.xml
@@ -0,0 +1,24 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+ <name>odometry_publisher</name>
+ <version>0.0.0</version>
+ <description>TODO: Package description</description>
+ <maintainer email="jzc1e20@soton.ac.uk">robobin</maintainer>
+ <license>TODO: License declaration</license>
+
+ <test_depend>ament_copyright</test_depend>
+ <test_depend>ament_flake8</test_depend>
+ <test_depend>ament_pep257</test_depend>
+ <test_depend>python3-pytest</test_depend>
+
+ <exec_depend>rclpy</exec_depend>
+ <exec_depend>std_msgs</exec_depend>
+ <exec_depend>nav_msgs</exec_depend>
+ <exec_depend>tf_transformations</exec_depend>
+ <exec_depend>tf2_ros</exec_depend>
+
+ <export>
+ <build_type>ament_python</build_type>
+ </export>
+</package>
diff --git a/robobin_main/src/install/odometry_publisher/share/odometry_publisher/package.zsh b/robobin_main/src/install/odometry_publisher/share/odometry_publisher/package.zsh
new file mode 100644
index 00000000..f64f646a
--- /dev/null
+++ b/robobin_main/src/install/odometry_publisher/share/odometry_publisher/package.zsh
@@ -0,0 +1,42 @@
+# generated from colcon_zsh/shell/template/package.zsh.em
+
+# This script extends the environment for this package.
+
+# a zsh script is able to determine its own path if necessary
+if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+ # the prefix is two levels up from the package specific share directory
+ _colcon_package_zsh_COLCON_CURRENT_PREFIX="$(builtin cd -q "`dirname "${(%):-%N}"`/../.." > /dev/null && pwd)"
+else
+ _colcon_package_zsh_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+fi
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+# additional arguments: arguments to the script
+_colcon_package_zsh_source_script() {
+ if [ -f "$1" ]; then
+ if [ -n "$COLCON_TRACE" ]; then
+ echo "# . \"$1\""
+ fi
+ . "$@"
+ else
+ echo "not found: \"$1\"" 1>&2
+ fi
+}
+
+# function to convert array-like strings into arrays
+# to workaround SH_WORD_SPLIT not being set
+colcon_zsh_convert_to_array() {
+ local _listname=$1
+ local _dollar="$"
+ local _split="{="
+ local _to_array="(\"$_dollar$_split$_listname}\")"
+ eval $_listname=$_to_array
+}
+
+# source sh script of this package
+_colcon_package_zsh_source_script "$_colcon_package_zsh_COLCON_CURRENT_PREFIX/share/odometry_publisher/package.sh"
+unset convert_zsh_to_array
+
+unset _colcon_package_zsh_source_script
+unset _colcon_package_zsh_COLCON_CURRENT_PREFIX
diff --git a/robobin_main/src/install/robot_description/lib/python3.12/site-packages/robot_description-0.0.0-py3.12.egg-info/PKG-INFO b/robobin_main/src/install/robot_description/lib/python3.12/site-packages/robot_description-0.0.0-py3.12.egg-info/PKG-INFO
new file mode 100644
index 00000000..adcf94be
--- /dev/null
+++ b/robobin_main/src/install/robot_description/lib/python3.12/site-packages/robot_description-0.0.0-py3.12.egg-info/PKG-INFO
@@ -0,0 +1,7 @@
+Metadata-Version: 2.1
+Name: robot-description
+Version: 0.0.0
+Summary: TODO: Package description
+Maintainer: robobin
+Maintainer-email: robobin@todo.todo
+License: TODO: License declaration
diff --git a/robobin_main/src/install/robot_description/lib/python3.12/site-packages/robot_description-0.0.0-py3.12.egg-info/SOURCES.txt b/robobin_main/src/install/robot_description/lib/python3.12/site-packages/robot_description-0.0.0-py3.12.egg-info/SOURCES.txt
new file mode 100644
index 00000000..a4690e53
--- /dev/null
+++ b/robobin_main/src/install/robot_description/lib/python3.12/site-packages/robot_description-0.0.0-py3.12.egg-info/SOURCES.txt
@@ -0,0 +1,18 @@
+package.xml
+setup.cfg
+setup.py
+../build/robot_description/robot_description.egg-info/PKG-INFO
+../build/robot_description/robot_description.egg-info/SOURCES.txt
+../build/robot_description/robot_description.egg-info/dependency_links.txt
+../build/robot_description/robot_description.egg-info/requires.txt
+../build/robot_description/robot_description.egg-info/top_level.txt
+../build/robot_description/robot_description.egg-info/zip-safe
+config/ekf.yaml
+launch/view_robot.py
+resource/robot_description
+robot_description/__init__.py
+rviz/urdf_config.rviz
+test/test_copyright.py
+test/test_flake8.py
+test/test_pep257.py
+urdf/robot.urdf
\ No newline at end of file
diff --git a/robobin_main/src/install/robot_description/lib/python3.12/site-packages/robot_description-0.0.0-py3.12.egg-info/dependency_links.txt b/robobin_main/src/install/robot_description/lib/python3.12/site-packages/robot_description-0.0.0-py3.12.egg-info/dependency_links.txt
new file mode 100644
index 00000000..8b137891
--- /dev/null
+++ b/robobin_main/src/install/robot_description/lib/python3.12/site-packages/robot_description-0.0.0-py3.12.egg-info/dependency_links.txt
@@ -0,0 +1 @@
+
diff --git a/robobin_main/src/install/robot_description/lib/python3.12/site-packages/robot_description-0.0.0-py3.12.egg-info/requires.txt b/robobin_main/src/install/robot_description/lib/python3.12/site-packages/robot_description-0.0.0-py3.12.egg-info/requires.txt
new file mode 100644
index 00000000..49fe098d
--- /dev/null
+++ b/robobin_main/src/install/robot_description/lib/python3.12/site-packages/robot_description-0.0.0-py3.12.egg-info/requires.txt
@@ -0,0 +1 @@
+setuptools
diff --git a/robobin_main/src/install/robot_description/lib/python3.12/site-packages/robot_description-0.0.0-py3.12.egg-info/top_level.txt b/robobin_main/src/install/robot_description/lib/python3.12/site-packages/robot_description-0.0.0-py3.12.egg-info/top_level.txt
new file mode 100644
index 00000000..042c2857
--- /dev/null
+++ b/robobin_main/src/install/robot_description/lib/python3.12/site-packages/robot_description-0.0.0-py3.12.egg-info/top_level.txt
@@ -0,0 +1 @@
+robot_description
diff --git a/robobin_main/src/install/robot_description/lib/python3.12/site-packages/robot_description-0.0.0-py3.12.egg-info/zip-safe b/robobin_main/src/install/robot_description/lib/python3.12/site-packages/robot_description-0.0.0-py3.12.egg-info/zip-safe
new file mode 100644
index 00000000..8b137891
--- /dev/null
+++ b/robobin_main/src/install/robot_description/lib/python3.12/site-packages/robot_description-0.0.0-py3.12.egg-info/zip-safe
@@ -0,0 +1 @@
+
diff --git a/robobin_main/src/install/robot_description/lib/python3.12/site-packages/robot_description/__init__.py b/robobin_main/src/install/robot_description/lib/python3.12/site-packages/robot_description/__init__.py
new file mode 100644
index 00000000..e69de29b
diff --git a/robobin_main/src/install/robot_description/lib/python3.12/site-packages/robot_description/__pycache__/__init__.cpython-312.pyc b/robobin_main/src/install/robot_description/lib/python3.12/site-packages/robot_description/__pycache__/__init__.cpython-312.pyc
new file mode 100644
index 0000000000000000000000000000000000000000..4f796fa12924bc10b0abbc200e196ad580a30331
GIT binary patch
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z@{{tDGV{>s_}s+IJpJOLWc|#%;*!Li9I%3t_>|P*<f6=ilFa-({hZ7s{esGpjQl)f
zJwqe?;>?m%-GapA?8NlcVl2wz<1_OzOXB183Mzkb*yQG?l;)(`6|pifFfcMOFcgCr
OADI~$8H<=17#IM$x;~Qt
literal 0
HcmV?d00001
diff --git a/robobin_main/src/install/robot_description/share/ament_index/resource_index/packages/robot_description b/robobin_main/src/install/robot_description/share/ament_index/resource_index/packages/robot_description
new file mode 100644
index 00000000..e69de29b
diff --git a/robobin_main/src/install/robot_description/share/colcon-core/packages/robot_description b/robobin_main/src/install/robot_description/share/colcon-core/packages/robot_description
new file mode 100644
index 00000000..015d92f0
--- /dev/null
+++ b/robobin_main/src/install/robot_description/share/colcon-core/packages/robot_description
@@ -0,0 +1 @@
+launch:launch_ros:python3-smbus2:robot_state_publisher:rviz2
\ No newline at end of file
diff --git a/robobin_main/src/install/robot_description/share/robot_description/config/ekf.yaml b/robobin_main/src/install/robot_description/share/robot_description/config/ekf.yaml
new file mode 100644
index 00000000..bf637c00
--- /dev/null
+++ b/robobin_main/src/install/robot_description/share/robot_description/config/ekf.yaml
@@ -0,0 +1,33 @@
+ekf_filter_node:
+ ros__parameters:
+ frequency: 10.0
+ two_d_mode: false
+ publish_tf: true # Transform broadcasting
+
+ # Frame IDs
+ map_frame: map # Global frame
+ odom_frame: odom # Odometry frame
+ base_link_frame: base_link
+ world_frame: odom
+
+ # Sensor Inputs
+ odom0: odom
+ odom0_config: [true, true, false,
+ false, false, true,
+ false, false, false,
+ false, false, false,
+ false, false, false]
+ odom0_queue_size: 10
+
+ imu0: imu
+ imu0_config: [false, false, false,
+ true, true, true,
+ false, false, false,
+ false, false, true,
+ true, true, true]
+
+ imu0_queue_size: 10
+
+ # Set to true if IMU provides orientation data
+
+
diff --git a/robobin_main/src/install/robot_description/share/robot_description/hook/ament_prefix_path.dsv b/robobin_main/src/install/robot_description/share/robot_description/hook/ament_prefix_path.dsv
new file mode 100644
index 00000000..79d4c95b
--- /dev/null
+++ b/robobin_main/src/install/robot_description/share/robot_description/hook/ament_prefix_path.dsv
@@ -0,0 +1 @@
+prepend-non-duplicate;AMENT_PREFIX_PATH;
diff --git a/robobin_main/src/install/robot_description/share/robot_description/hook/ament_prefix_path.ps1 b/robobin_main/src/install/robot_description/share/robot_description/hook/ament_prefix_path.ps1
new file mode 100644
index 00000000..26b99975
--- /dev/null
+++ b/robobin_main/src/install/robot_description/share/robot_description/hook/ament_prefix_path.ps1
@@ -0,0 +1,3 @@
+# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em
+
+colcon_prepend_unique_value AMENT_PREFIX_PATH "$env:COLCON_CURRENT_PREFIX"
diff --git a/robobin_main/src/install/robot_description/share/robot_description/hook/ament_prefix_path.sh b/robobin_main/src/install/robot_description/share/robot_description/hook/ament_prefix_path.sh
new file mode 100644
index 00000000..f3041f68
--- /dev/null
+++ b/robobin_main/src/install/robot_description/share/robot_description/hook/ament_prefix_path.sh
@@ -0,0 +1,3 @@
+# generated from colcon_core/shell/template/hook_prepend_value.sh.em
+
+_colcon_prepend_unique_value AMENT_PREFIX_PATH "$COLCON_CURRENT_PREFIX"
diff --git a/robobin_main/src/install/robot_description/share/robot_description/hook/pythonpath.dsv b/robobin_main/src/install/robot_description/share/robot_description/hook/pythonpath.dsv
new file mode 100644
index 00000000..c2ddcdb7
--- /dev/null
+++ b/robobin_main/src/install/robot_description/share/robot_description/hook/pythonpath.dsv
@@ -0,0 +1 @@
+prepend-non-duplicate;PYTHONPATH;lib/python3.12/site-packages
diff --git a/robobin_main/src/install/robot_description/share/robot_description/hook/pythonpath.ps1 b/robobin_main/src/install/robot_description/share/robot_description/hook/pythonpath.ps1
new file mode 100644
index 00000000..bdd69aff
--- /dev/null
+++ b/robobin_main/src/install/robot_description/share/robot_description/hook/pythonpath.ps1
@@ -0,0 +1,3 @@
+# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em
+
+colcon_prepend_unique_value PYTHONPATH "$env:COLCON_CURRENT_PREFIX\lib/python3.12/site-packages"
diff --git a/robobin_main/src/install/robot_description/share/robot_description/hook/pythonpath.sh b/robobin_main/src/install/robot_description/share/robot_description/hook/pythonpath.sh
new file mode 100644
index 00000000..45388fea
--- /dev/null
+++ b/robobin_main/src/install/robot_description/share/robot_description/hook/pythonpath.sh
@@ -0,0 +1,3 @@
+# generated from colcon_core/shell/template/hook_prepend_value.sh.em
+
+_colcon_prepend_unique_value PYTHONPATH "$COLCON_CURRENT_PREFIX/lib/python3.12/site-packages"
diff --git a/robobin_main/src/install/robot_description/share/robot_description/launch/view_robot.py b/robobin_main/src/install/robot_description/share/robot_description/launch/view_robot.py
new file mode 100644
index 00000000..685f427a
--- /dev/null
+++ b/robobin_main/src/install/robot_description/share/robot_description/launch/view_robot.py
@@ -0,0 +1,45 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from ament_index_python.packages import get_package_share_directory
+import os
+
+def generate_launch_description():
+ urdf_file_name = 'robot.urdf'
+ urdf = os.path.join(
+ get_package_share_directory('robot_description'),
+ 'urdf',
+ urdf_file_name)
+
+ rviz_config_file = os.path.join(
+ get_package_share_directory('robot_description'),
+ 'rviz',
+ 'urdf_config.rviz')
+
+ ekf_config = os.path.join(
+ get_package_share_directory('robot_description'),
+ 'config',
+ 'ekf.yaml')
+
+ return LaunchDescription([
+ Node(
+ package='joint_state_publisher',
+ executable='joint_state_publisher',
+ name='joint_state_publisher',
+ output='screen',
+ ),
+ Node(
+ package='robot_state_publisher',
+ executable='robot_state_publisher',
+ name='robot_state_publisher',
+ output='screen',
+ parameters=[{'robot_description': open(urdf).read()}]
+ ),
+ Node(
+ package='rviz2',
+ executable='rviz2',
+ name='rviz2',
+ output='screen',
+ arguments=['-d', rviz_config_file]
+ ),
+
+ ])
\ No newline at end of file
diff --git a/robobin_main/src/install/robot_description/share/robot_description/package.bash b/robobin_main/src/install/robot_description/share/robot_description/package.bash
new file mode 100644
index 00000000..e408a286
--- /dev/null
+++ b/robobin_main/src/install/robot_description/share/robot_description/package.bash
@@ -0,0 +1,31 @@
+# generated from colcon_bash/shell/template/package.bash.em
+
+# This script extends the environment for this package.
+
+# a bash script is able to determine its own path if necessary
+if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+ # the prefix is two levels up from the package specific share directory
+ _colcon_package_bash_COLCON_CURRENT_PREFIX="$(builtin cd "`dirname "${BASH_SOURCE[0]}"`/../.." > /dev/null && pwd)"
+else
+ _colcon_package_bash_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+fi
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+# additional arguments: arguments to the script
+_colcon_package_bash_source_script() {
+ if [ -f "$1" ]; then
+ if [ -n "$COLCON_TRACE" ]; then
+ echo "# . \"$1\""
+ fi
+ . "$@"
+ else
+ echo "not found: \"$1\"" 1>&2
+ fi
+}
+
+# source sh script of this package
+_colcon_package_bash_source_script "$_colcon_package_bash_COLCON_CURRENT_PREFIX/share/robot_description/package.sh"
+
+unset _colcon_package_bash_source_script
+unset _colcon_package_bash_COLCON_CURRENT_PREFIX
diff --git a/robobin_main/src/install/robot_description/share/robot_description/package.dsv b/robobin_main/src/install/robot_description/share/robot_description/package.dsv
new file mode 100644
index 00000000..cd3f0092
--- /dev/null
+++ b/robobin_main/src/install/robot_description/share/robot_description/package.dsv
@@ -0,0 +1,6 @@
+source;share/robot_description/hook/pythonpath.ps1
+source;share/robot_description/hook/pythonpath.dsv
+source;share/robot_description/hook/pythonpath.sh
+source;share/robot_description/hook/ament_prefix_path.ps1
+source;share/robot_description/hook/ament_prefix_path.dsv
+source;share/robot_description/hook/ament_prefix_path.sh
diff --git a/robobin_main/src/install/robot_description/share/robot_description/package.ps1 b/robobin_main/src/install/robot_description/share/robot_description/package.ps1
new file mode 100644
index 00000000..b0f3de4d
--- /dev/null
+++ b/robobin_main/src/install/robot_description/share/robot_description/package.ps1
@@ -0,0 +1,116 @@
+# generated from colcon_powershell/shell/template/package.ps1.em
+
+# function to append a value to a variable
+# which uses colons as separators
+# duplicates as well as leading separators are avoided
+# first argument: the name of the result variable
+# second argument: the value to be prepended
+function colcon_append_unique_value {
+ param (
+ $_listname,
+ $_value
+ )
+
+ # get values from variable
+ if (Test-Path Env:$_listname) {
+ $_values=(Get-Item env:$_listname).Value
+ } else {
+ $_values=""
+ }
+ $_duplicate=""
+ # start with no values
+ $_all_values=""
+ # iterate over existing values in the variable
+ if ($_values) {
+ $_values.Split(";") | ForEach {
+ # not an empty string
+ if ($_) {
+ # not a duplicate of _value
+ if ($_ -eq $_value) {
+ $_duplicate="1"
+ }
+ if ($_all_values) {
+ $_all_values="${_all_values};$_"
+ } else {
+ $_all_values="$_"
+ }
+ }
+ }
+ }
+ # append only non-duplicates
+ if (!$_duplicate) {
+ # avoid leading separator
+ if ($_all_values) {
+ $_all_values="${_all_values};${_value}"
+ } else {
+ $_all_values="${_value}"
+ }
+ }
+
+ # export the updated variable
+ Set-Item env:\$_listname -Value "$_all_values"
+}
+
+# function to prepend a value to a variable
+# which uses colons as separators
+# duplicates as well as trailing separators are avoided
+# first argument: the name of the result variable
+# second argument: the value to be prepended
+function colcon_prepend_unique_value {
+ param (
+ $_listname,
+ $_value
+ )
+
+ # get values from variable
+ if (Test-Path Env:$_listname) {
+ $_values=(Get-Item env:$_listname).Value
+ } else {
+ $_values=""
+ }
+ # start with the new value
+ $_all_values="$_value"
+ # iterate over existing values in the variable
+ if ($_values) {
+ $_values.Split(";") | ForEach {
+ # not an empty string
+ if ($_) {
+ # not a duplicate of _value
+ if ($_ -ne $_value) {
+ # keep non-duplicate values
+ $_all_values="${_all_values};$_"
+ }
+ }
+ }
+ }
+ # export the updated variable
+ Set-Item env:\$_listname -Value "$_all_values"
+}
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+# additional arguments: arguments to the script
+function colcon_package_source_powershell_script {
+ param (
+ $_colcon_package_source_powershell_script
+ )
+ # source script with conditional trace output
+ if (Test-Path $_colcon_package_source_powershell_script) {
+ if ($env:COLCON_TRACE) {
+ echo ". '$_colcon_package_source_powershell_script'"
+ }
+ . "$_colcon_package_source_powershell_script"
+ } else {
+ Write-Error "not found: '$_colcon_package_source_powershell_script'"
+ }
+}
+
+
+# a powershell script is able to determine its own path
+# the prefix is two levels up from the package specific share directory
+$env:COLCON_CURRENT_PREFIX=(Get-Item $PSCommandPath).Directory.Parent.Parent.FullName
+
+colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX\share/robot_description/hook/pythonpath.ps1"
+colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX\share/robot_description/hook/ament_prefix_path.ps1"
+
+Remove-Item Env:\COLCON_CURRENT_PREFIX
diff --git a/robobin_main/src/install/robot_description/share/robot_description/package.sh b/robobin_main/src/install/robot_description/share/robot_description/package.sh
new file mode 100644
index 00000000..7345246f
--- /dev/null
+++ b/robobin_main/src/install/robot_description/share/robot_description/package.sh
@@ -0,0 +1,87 @@
+# generated from colcon_core/shell/template/package.sh.em
+
+# This script extends the environment for this package.
+
+# function to prepend a value to a variable
+# which uses colons as separators
+# duplicates as well as trailing separators are avoided
+# first argument: the name of the result variable
+# second argument: the value to be prepended
+_colcon_prepend_unique_value() {
+ # arguments
+ _listname="$1"
+ _value="$2"
+
+ # get values from variable
+ eval _values=\"\$$_listname\"
+ # backup the field separator
+ _colcon_prepend_unique_value_IFS=$IFS
+ IFS=":"
+ # start with the new value
+ _all_values="$_value"
+ # workaround SH_WORD_SPLIT not being set in zsh
+ if [ "$(command -v colcon_zsh_convert_to_array)" ]; then
+ colcon_zsh_convert_to_array _values
+ fi
+ # iterate over existing values in the variable
+ for _item in $_values; do
+ # ignore empty strings
+ if [ -z "$_item" ]; then
+ continue
+ fi
+ # ignore duplicates of _value
+ if [ "$_item" = "$_value" ]; then
+ continue
+ fi
+ # keep non-duplicate values
+ _all_values="$_all_values:$_item"
+ done
+ unset _item
+ # restore the field separator
+ IFS=$_colcon_prepend_unique_value_IFS
+ unset _colcon_prepend_unique_value_IFS
+ # export the updated variable
+ eval export $_listname=\"$_all_values\"
+ unset _all_values
+ unset _values
+
+ unset _value
+ unset _listname
+}
+
+# since a plain shell script can't determine its own path when being sourced
+# either use the provided COLCON_CURRENT_PREFIX
+# or fall back to the build time prefix (if it exists)
+_colcon_package_sh_COLCON_CURRENT_PREFIX="/home/robobin/robobin/robobin_main/src/install/robot_description"
+if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+ if [ ! -d "$_colcon_package_sh_COLCON_CURRENT_PREFIX" ]; then
+ echo "The build time path \"$_colcon_package_sh_COLCON_CURRENT_PREFIX\" doesn't exist. Either source a script for a different shell or set the environment variable \"COLCON_CURRENT_PREFIX\" explicitly." 1>&2
+ unset _colcon_package_sh_COLCON_CURRENT_PREFIX
+ return 1
+ fi
+ COLCON_CURRENT_PREFIX="$_colcon_package_sh_COLCON_CURRENT_PREFIX"
+fi
+unset _colcon_package_sh_COLCON_CURRENT_PREFIX
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+# additional arguments: arguments to the script
+_colcon_package_sh_source_script() {
+ if [ -f "$1" ]; then
+ if [ -n "$COLCON_TRACE" ]; then
+ echo "# . \"$1\""
+ fi
+ . "$@"
+ else
+ echo "not found: \"$1\"" 1>&2
+ fi
+}
+
+# source sh hooks
+_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/robot_description/hook/pythonpath.sh"
+_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/robot_description/hook/ament_prefix_path.sh"
+
+unset _colcon_package_sh_source_script
+unset COLCON_CURRENT_PREFIX
+
+# do not unset _colcon_prepend_unique_value since it might be used by non-primary shell hooks
diff --git a/robobin_main/src/install/robot_description/share/robot_description/package.xml b/robobin_main/src/install/robot_description/share/robot_description/package.xml
new file mode 100644
index 00000000..85680934
--- /dev/null
+++ b/robobin_main/src/install/robot_description/share/robot_description/package.xml
@@ -0,0 +1,25 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+ <name>robot_description</name>
+ <version>0.0.0</version>
+ <description>TODO: Package description</description>
+ <maintainer email="jzc1e20@soton.ac.uk">robobin</maintainer>
+ <license>TODO: License declaration</license>
+
+ <test_depend>ament_copyright</test_depend>
+ <test_depend>ament_flake8</test_depend>
+ <test_depend>ament_pep257</test_depend>
+ <test_depend>python3-pytest</test_depend>
+
+ <exec_depend>robot_state_publisher</exec_depend>
+ <exec_depend>rviz2</exec_depend>
+ <exec_depend>launch</exec_depend>
+ <exec_depend>launch_ros</exec_depend>
+ <exec_depend>python3-smbus2</exec_depend>
+
+
+ <export>
+ <build_type>ament_python</build_type>
+ </export>
+</package>
diff --git a/robobin_main/src/install/robot_description/share/robot_description/package.zsh b/robobin_main/src/install/robot_description/share/robot_description/package.zsh
new file mode 100644
index 00000000..d2f7ba6b
--- /dev/null
+++ b/robobin_main/src/install/robot_description/share/robot_description/package.zsh
@@ -0,0 +1,42 @@
+# generated from colcon_zsh/shell/template/package.zsh.em
+
+# This script extends the environment for this package.
+
+# a zsh script is able to determine its own path if necessary
+if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+ # the prefix is two levels up from the package specific share directory
+ _colcon_package_zsh_COLCON_CURRENT_PREFIX="$(builtin cd -q "`dirname "${(%):-%N}"`/../.." > /dev/null && pwd)"
+else
+ _colcon_package_zsh_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+fi
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+# additional arguments: arguments to the script
+_colcon_package_zsh_source_script() {
+ if [ -f "$1" ]; then
+ if [ -n "$COLCON_TRACE" ]; then
+ echo "# . \"$1\""
+ fi
+ . "$@"
+ else
+ echo "not found: \"$1\"" 1>&2
+ fi
+}
+
+# function to convert array-like strings into arrays
+# to workaround SH_WORD_SPLIT not being set
+colcon_zsh_convert_to_array() {
+ local _listname=$1
+ local _dollar="$"
+ local _split="{="
+ local _to_array="(\"$_dollar$_split$_listname}\")"
+ eval $_listname=$_to_array
+}
+
+# source sh script of this package
+_colcon_package_zsh_source_script "$_colcon_package_zsh_COLCON_CURRENT_PREFIX/share/robot_description/package.sh"
+unset convert_zsh_to_array
+
+unset _colcon_package_zsh_source_script
+unset _colcon_package_zsh_COLCON_CURRENT_PREFIX
diff --git a/robobin_main/src/install/robot_description/share/robot_description/rviz/urdf_config.rviz b/robobin_main/src/install/robot_description/share/robot_description/rviz/urdf_config.rviz
new file mode 100644
index 00000000..0c3f11af
--- /dev/null
+++ b/robobin_main/src/install/robot_description/share/robot_description/rviz/urdf_config.rviz
@@ -0,0 +1,332 @@
+Panels:
+ - Class: rviz_common/Displays
+ Help Height: 78
+ Name: Displays
+ Property Tree Widget:
+ Expanded:
+ - /Global Options1
+ - /Status1
+ - /Odometry1
+ - /Imu1/Axes properties1
+ - /Odometry2
+ - /Odometry2/Shape1
+ - /Odometry2/Covariance1
+ Splitter Ratio: 0.5
+ Tree Height: 542
+ - Class: rviz_common/Selection
+ Name: Selection
+ - Class: rviz_common/Tool Properties
+ Expanded:
+ - /2D Goal Pose1
+ - /Publish Point1
+ Name: Tool Properties
+ Splitter Ratio: 0.5886790156364441
+ - Class: rviz_common/Views
+ Expanded:
+ - /Current View1
+ Name: Views
+ Splitter Ratio: 0.5
+ - Class: rviz_common/Time
+ Experimental: false
+ Name: Time
+ SyncMode: 0
+ SyncSource: ""
+Visualization Manager:
+ Class: ""
+ Displays:
+ - Alpha: 0.5
+ Cell Size: 1
+ Class: rviz_default_plugins/Grid
+ Color: 160; 160; 164
+ Enabled: true
+ Line Style:
+ Line Width: 0.029999999329447746
+ Value: Lines
+ Name: Grid
+ Normal Cell Count: 0
+ Offset:
+ X: 0
+ Y: 0
+ Z: 0
+ Plane: XY
+ Plane Cell Count: 10
+ Reference Frame: <Fixed Frame>
+ Value: true
+ - Class: rviz_default_plugins/TF
+ Enabled: true
+ Filter (blacklist): ""
+ Filter (whitelist): ""
+ Frame Timeout: 15
+ Frames:
+ All Enabled: true
+ Platform:
+ Value: true
+ base_link:
+ Value: true
+ imu_link:
+ Value: true
+ left_wheel:
+ Value: true
+ odom:
+ Value: true
+ right_wheel:
+ Value: true
+ Marker Scale: 1
+ Name: TF
+ Show Arrows: true
+ Show Axes: true
+ Show Names: false
+ Tree:
+ base_link:
+ Platform:
+ {}
+ imu_link:
+ {}
+ left_wheel:
+ {}
+ right_wheel:
+ {}
+ odom:
+ {}
+ Update Interval: 0
+ Value: true
+ - Alpha: 1
+ Class: rviz_default_plugins/RobotModel
+ Collision Enabled: false
+ Description File: ""
+ Description Source: Topic
+ Description Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /robot_description
+ Enabled: true
+ Links:
+ All Links Enabled: true
+ Expand Joint Details: false
+ Expand Link Details: false
+ Expand Tree: false
+ Link Tree Style: Links in Alphabetic Order
+ Platform:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ base_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ imu_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ left_wheel:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ right_wheel:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ Mass Properties:
+ Inertia: false
+ Mass: false
+ Name: RobotModel
+ TF Prefix: ""
+ Update Interval: 0
+ Value: true
+ Visual Enabled: true
+ - Angle Tolerance: 0.10000000149011612
+ Class: rviz_default_plugins/Odometry
+ Covariance:
+ Orientation:
+ Alpha: 0.5
+ Color: 255; 255; 127
+ Color Style: Unique
+ Frame: Local
+ Offset: 1
+ Scale: 1
+ Value: true
+ Position:
+ Alpha: 0.30000001192092896
+ Color: 204; 51; 204
+ Scale: 1
+ Value: true
+ Value: false
+ Enabled: true
+ Keep: 100
+ Name: Odometry
+ Position Tolerance: 0.10000000149011612
+ Shape:
+ Alpha: 1
+ Axes Length: 1
+ Axes Radius: 0.10000000149011612
+ Color: 255; 25; 0
+ Head Length: 0.30000001192092896
+ Head Radius: 0.10000000149011612
+ Shaft Length: 1
+ Shaft Radius: 0.05000000074505806
+ Value: Arrow
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ Filter size: 10
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: odom
+ Value: true
+ - Acceleration properties:
+ Acc. vector alpha: 1
+ Acc. vector color: 255; 0; 0
+ Acc. vector scale: 1
+ Derotate acceleration: true
+ Enable acceleration: false
+ Axes properties:
+ Axes scale: 0.5
+ Enable axes: true
+ Box properties:
+ Box alpha: 1
+ Box color: 255; 0; 0
+ Enable box: false
+ x_scale: 1
+ y_scale: 1
+ z_scale: 1
+ Class: rviz_imu_plugin/Imu
+ Enabled: false
+ Name: Imu
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ Filter size: 10
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: imu
+ Value: false
+ fixed_frame_orientation: true
+ - Angle Tolerance: 0.10000000149011612
+ Class: rviz_default_plugins/Odometry
+ Covariance:
+ Orientation:
+ Alpha: 0.5
+ Color: 255; 255; 127
+ Color Style: Unique
+ Frame: Local
+ Offset: 1
+ Scale: 1
+ Value: true
+ Position:
+ Alpha: 0.30000001192092896
+ Color: 204; 51; 204
+ Scale: 1
+ Value: true
+ Value: false
+ Enabled: true
+ Keep: 100
+ Name: Odometry
+ Position Tolerance: 0.10000000149011612
+ Shape:
+ Alpha: 1
+ Axes Length: 1
+ Axes Radius: 0.10000000149011612
+ Color: 0; 255; 0
+ Head Length: 0.30000001192092896
+ Head Radius: 0.10000000149011612
+ Shaft Length: 0.5
+ Shaft Radius: 0.05000000074505806
+ Value: Arrow
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ Filter size: 10
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /odometry/filtered
+ Value: true
+ Enabled: true
+ Global Options:
+ Background Color: 48; 48; 48
+ Fixed Frame: odom
+ Frame Rate: 30
+ Name: root
+ Tools:
+ - Class: rviz_default_plugins/Interact
+ Hide Inactive Objects: true
+ - Class: rviz_default_plugins/MoveCamera
+ - Class: rviz_default_plugins/Select
+ - Class: rviz_default_plugins/FocusCamera
+ - Class: rviz_default_plugins/Measure
+ Line color: 128; 128; 0
+ - Class: rviz_default_plugins/SetInitialPose
+ Covariance x: 0.25
+ Covariance y: 0.25
+ Covariance yaw: 0.06853891909122467
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /initialpose
+ - Class: rviz_default_plugins/SetGoal
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /goal_pose
+ - Class: rviz_default_plugins/PublishPoint
+ Single click: true
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /clicked_point
+ Transformation:
+ Current:
+ Class: rviz_default_plugins/TF
+ Value: true
+ Views:
+ Current:
+ Class: rviz_default_plugins/Orbit
+ Distance: 6.384281158447266
+ Enable Stereo Rendering:
+ Stereo Eye Separation: 0.05999999865889549
+ Stereo Focal Distance: 1
+ Swap Stereo Eyes: false
+ Value: false
+ Focal Point:
+ X: 0
+ Y: 0
+ Z: 0
+ Focal Shape Fixed Size: true
+ Focal Shape Size: 0.05000000074505806
+ Invert Z Axis: false
+ Name: Current View
+ Near Clip Distance: 0.009999999776482582
+ Pitch: 0.0103984409943223
+ Target Frame: <Fixed Frame>
+ Value: Orbit (rviz)
+ Yaw: 0.9922106862068176
+ Saved: ~
+Window Geometry:
+ Displays:
+ collapsed: false
+ Height: 846
+ Hide Left Dock: false
+ Hide Right Dock: false
+ QMainWindow State: 000000ff00000000fd000000040000000000000156000002acfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005d00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003f000002ac000000cc00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002acfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003f000002ac000000a900fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000026f00fffffffb0000000800540069006d006501000000000000045000000000000000000000023f000002ac00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+ Selection:
+ collapsed: false
+ Time:
+ collapsed: false
+ Tool Properties:
+ collapsed: false
+ Views:
+ collapsed: false
+ Width: 1200
+ X: 1142
+ Y: 206
diff --git a/robobin_main/src/install/robot_description/share/robot_description/urdf/robot.urdf b/robobin_main/src/install/robot_description/share/robot_description/urdf/robot.urdf
new file mode 100644
index 00000000..5504ff51
--- /dev/null
+++ b/robobin_main/src/install/robot_description/share/robot_description/urdf/robot.urdf
@@ -0,0 +1,104 @@
+<robot name="robo_bin">
+
+ <!-- Base Link -->
+ <link name="base_link">
+ </link>
+
+ <!-- Platform -->
+ <link name="Platform">
+ <visual>
+ <origin xyz="0 0 0.3"/>
+ <geometry>
+ <box size = "0.36 0.36 0.60"/>
+ </geometry>
+ <material name="white">
+ <color rgba="1 1 1 1"/>
+ </material>
+ </visual>
+ </link>
+
+ <joint name="platform_joint" type="fixed">
+ <parent link="base_link"/>
+ <child link="Platform"/>
+ <origin xyz="0 0 0"/>
+ </joint>
+
+
+
+ <!-- Left Wheel -->
+ <link name="left_wheel">
+ <visual>
+ <geometry>
+ <cylinder length="0.04" radius="0.075"/>
+ </geometry>
+ <material name="black">
+ <color rgba="0 0 0 1"/>
+ </material>
+ </visual>
+ </link>
+
+ <!-- Right Wheel -->
+ <link name="right_wheel">
+ <visual>
+ <geometry>
+ <cylinder length="0.04" radius="0.075"/>
+ </geometry>
+ <material name="black">
+ <color rgba="0 0 0 1"/>
+ </material>
+ </visual>
+ </link>
+
+ <!-- Base to Left Wheel Joint -->
+ <joint name="base_to_left_wheel" type="continuous">
+ <parent link="base_link"/>
+ <child link="left_wheel"/>
+ <origin xyz="0 0.20 0" rpy="-1.57 0 0"/> <!-- No rotation needed if wheels align by default -->
+ <axis xyz="0 0 1"/> <!-- X-axis for forward rotation -->
+ </joint>
+
+ <!-- Base to Right Wheel Joint -->
+ <joint name="base_to_right_wheel" type="continuous">
+ <parent link="base_link"/>
+ <child link="right_wheel"/>
+ <origin xyz="0 -0.20 0" rpy="1.57 0 0"/> <!-- No rotation needed -->
+ <axis xyz="0 0 -1"/> <!-- X-axis for forward rotation -->
+ </joint>
+
+ <!-- Transmission for Left Wheel -->
+ <transmission name="left_wheel_transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="base_to_left_wheel">
+ <hardwareInterface>PositionJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+
+ <!-- Transmission for Right Wheel -->
+ <transmission name="right_wheel_transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="base_to_right_wheel">
+ <hardwareInterface>PositionJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+
+ <!-- IMU Link -->
+<link name="imu_link">
+ <visual>
+ <geometry>
+ <cylinder length="0.05" radius="0.02"/>
+ </geometry>
+ <material name="gray">
+ <color rgba="0.5 0.5 0.5 1"/>
+ </material>
+ </visual>
+</link>
+
+<!-- IMU Joint -->
+<joint name="imu_joint" type="fixed">
+ <parent link="base_link"/>
+ <child link="imu_link"/>
+ <origin xyz="0 0 0.1" rpy="0 0 0"/> <!-- Adjust position as needed -->
+</joint>
+
+
+</robot>
diff --git a/robobin_main/src/install/robot_localization_ekf/lib/python3.12/site-packages/robot_localization_ekf-0.0.0-py3.12.egg-info/PKG-INFO b/robobin_main/src/install/robot_localization_ekf/lib/python3.12/site-packages/robot_localization_ekf-0.0.0-py3.12.egg-info/PKG-INFO
new file mode 100644
index 00000000..18fb599d
--- /dev/null
+++ b/robobin_main/src/install/robot_localization_ekf/lib/python3.12/site-packages/robot_localization_ekf-0.0.0-py3.12.egg-info/PKG-INFO
@@ -0,0 +1,7 @@
+Metadata-Version: 2.1
+Name: robot-localization-ekf
+Version: 0.0.0
+Summary: TODO: Package description
+Maintainer: robobin
+Maintainer-email: robobin@todo.todo
+License: TODO: License declaration
diff --git a/robobin_main/src/install/robot_localization_ekf/lib/python3.12/site-packages/robot_localization_ekf-0.0.0-py3.12.egg-info/SOURCES.txt b/robobin_main/src/install/robot_localization_ekf/lib/python3.12/site-packages/robot_localization_ekf-0.0.0-py3.12.egg-info/SOURCES.txt
new file mode 100644
index 00000000..3e5acfe0
--- /dev/null
+++ b/robobin_main/src/install/robot_localization_ekf/lib/python3.12/site-packages/robot_localization_ekf-0.0.0-py3.12.egg-info/SOURCES.txt
@@ -0,0 +1,16 @@
+package.xml
+setup.cfg
+setup.py
+../build/robot_localization_ekf/robot_localization_ekf.egg-info/PKG-INFO
+../build/robot_localization_ekf/robot_localization_ekf.egg-info/SOURCES.txt
+../build/robot_localization_ekf/robot_localization_ekf.egg-info/dependency_links.txt
+../build/robot_localization_ekf/robot_localization_ekf.egg-info/requires.txt
+../build/robot_localization_ekf/robot_localization_ekf.egg-info/top_level.txt
+../build/robot_localization_ekf/robot_localization_ekf.egg-info/zip-safe
+config/ekf.yaml
+launch/ekf_launch.py
+resource/robot_localization_ekf
+robot_localization_ekf/__init__.py
+test/test_copyright.py
+test/test_flake8.py
+test/test_pep257.py
\ No newline at end of file
diff --git a/robobin_main/src/install/robot_localization_ekf/lib/python3.12/site-packages/robot_localization_ekf-0.0.0-py3.12.egg-info/dependency_links.txt b/robobin_main/src/install/robot_localization_ekf/lib/python3.12/site-packages/robot_localization_ekf-0.0.0-py3.12.egg-info/dependency_links.txt
new file mode 100644
index 00000000..8b137891
--- /dev/null
+++ b/robobin_main/src/install/robot_localization_ekf/lib/python3.12/site-packages/robot_localization_ekf-0.0.0-py3.12.egg-info/dependency_links.txt
@@ -0,0 +1 @@
+
diff --git a/robobin_main/src/install/robot_localization_ekf/lib/python3.12/site-packages/robot_localization_ekf-0.0.0-py3.12.egg-info/requires.txt b/robobin_main/src/install/robot_localization_ekf/lib/python3.12/site-packages/robot_localization_ekf-0.0.0-py3.12.egg-info/requires.txt
new file mode 100644
index 00000000..49fe098d
--- /dev/null
+++ b/robobin_main/src/install/robot_localization_ekf/lib/python3.12/site-packages/robot_localization_ekf-0.0.0-py3.12.egg-info/requires.txt
@@ -0,0 +1 @@
+setuptools
diff --git a/robobin_main/src/install/robot_localization_ekf/lib/python3.12/site-packages/robot_localization_ekf-0.0.0-py3.12.egg-info/top_level.txt b/robobin_main/src/install/robot_localization_ekf/lib/python3.12/site-packages/robot_localization_ekf-0.0.0-py3.12.egg-info/top_level.txt
new file mode 100644
index 00000000..bb70b42a
--- /dev/null
+++ b/robobin_main/src/install/robot_localization_ekf/lib/python3.12/site-packages/robot_localization_ekf-0.0.0-py3.12.egg-info/top_level.txt
@@ -0,0 +1 @@
+robot_localization_ekf
diff --git a/robobin_main/src/install/robot_localization_ekf/lib/python3.12/site-packages/robot_localization_ekf-0.0.0-py3.12.egg-info/zip-safe b/robobin_main/src/install/robot_localization_ekf/lib/python3.12/site-packages/robot_localization_ekf-0.0.0-py3.12.egg-info/zip-safe
new file mode 100644
index 00000000..8b137891
--- /dev/null
+++ b/robobin_main/src/install/robot_localization_ekf/lib/python3.12/site-packages/robot_localization_ekf-0.0.0-py3.12.egg-info/zip-safe
@@ -0,0 +1 @@
+
diff --git a/robobin_main/src/install/robot_localization_ekf/lib/python3.12/site-packages/robot_localization_ekf/__init__.py b/robobin_main/src/install/robot_localization_ekf/lib/python3.12/site-packages/robot_localization_ekf/__init__.py
new file mode 100644
index 00000000..e69de29b
diff --git a/robobin_main/src/install/robot_localization_ekf/lib/python3.12/site-packages/robot_localization_ekf/__pycache__/__init__.cpython-312.pyc b/robobin_main/src/install/robot_localization_ekf/lib/python3.12/site-packages/robot_localization_ekf/__pycache__/__init__.cpython-312.pyc
new file mode 100644
index 0000000000000000000000000000000000000000..a787e78dd4c412fc933900ca76b27df4d7961881
GIT binary patch
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zl8pR3V?9G7{o>4$RNaEa<m|-s)M8wE;^Q;(GE3s)^$IF~aoFVMr<CTT+7+=fFfcGO
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literal 0
HcmV?d00001
diff --git a/robobin_main/src/install/robot_localization_ekf/share/ament_index/resource_index/packages/robot_localization_ekf b/robobin_main/src/install/robot_localization_ekf/share/ament_index/resource_index/packages/robot_localization_ekf
new file mode 100644
index 00000000..e69de29b
diff --git a/robobin_main/src/install/robot_localization_ekf/share/colcon-core/packages/robot_localization_ekf b/robobin_main/src/install/robot_localization_ekf/share/colcon-core/packages/robot_localization_ekf
new file mode 100644
index 00000000..965c4086
--- /dev/null
+++ b/robobin_main/src/install/robot_localization_ekf/share/colcon-core/packages/robot_localization_ekf
@@ -0,0 +1 @@
+robot_localization
\ No newline at end of file
diff --git a/robobin_main/src/install/robot_localization_ekf/share/robot_localization_ekf/config/ekf.yaml b/robobin_main/src/install/robot_localization_ekf/share/robot_localization_ekf/config/ekf.yaml
new file mode 100755
index 00000000..ae11ebe6
--- /dev/null
+++ b/robobin_main/src/install/robot_localization_ekf/share/robot_localization_ekf/config/ekf.yaml
@@ -0,0 +1,39 @@
+ekf_filter_node:
+ ros__parameters:
+ frequency: 10.0
+ two_d_mode: true
+ publish_tf: true # Transform broadcasting
+
+ # Frame IDs
+ map_frame: map # Global frame
+ odom_frame: odom # Odometry frame
+ base_link_frame: base_link
+ world_frame: odom
+
+ # Sensor Inputs
+ odom0: odom
+ odom0_config: [true, true, false,
+ false, false, false,
+ true, true, false,
+ false, false, true,
+ false, false, false]
+ odom0_queue_size: 10
+
+ #[x_pos, y_pos, z_pos,
+ # roll, pitch, yaw,
+ # x_vel, y_vel, z_vel,
+ # roll_vel, pitch_vel, yaw_vel,
+ # x_acce, y_acce, z_acce]
+
+ imu0: imu
+ imu0_config: [false, false, false,
+ true, true, true,
+ false, false, false,
+ false, false, false,
+ false, false, false]
+
+ imu0_queue_size: 10
+
+ # Set to true if IMU provides orientation data
+
+
diff --git a/robobin_main/src/install/robot_localization_ekf/share/robot_localization_ekf/hook/ament_prefix_path.dsv b/robobin_main/src/install/robot_localization_ekf/share/robot_localization_ekf/hook/ament_prefix_path.dsv
new file mode 100644
index 00000000..79d4c95b
--- /dev/null
+++ b/robobin_main/src/install/robot_localization_ekf/share/robot_localization_ekf/hook/ament_prefix_path.dsv
@@ -0,0 +1 @@
+prepend-non-duplicate;AMENT_PREFIX_PATH;
diff --git a/robobin_main/src/install/robot_localization_ekf/share/robot_localization_ekf/hook/ament_prefix_path.ps1 b/robobin_main/src/install/robot_localization_ekf/share/robot_localization_ekf/hook/ament_prefix_path.ps1
new file mode 100644
index 00000000..26b99975
--- /dev/null
+++ b/robobin_main/src/install/robot_localization_ekf/share/robot_localization_ekf/hook/ament_prefix_path.ps1
@@ -0,0 +1,3 @@
+# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em
+
+colcon_prepend_unique_value AMENT_PREFIX_PATH "$env:COLCON_CURRENT_PREFIX"
diff --git a/robobin_main/src/install/robot_localization_ekf/share/robot_localization_ekf/hook/ament_prefix_path.sh b/robobin_main/src/install/robot_localization_ekf/share/robot_localization_ekf/hook/ament_prefix_path.sh
new file mode 100644
index 00000000..f3041f68
--- /dev/null
+++ b/robobin_main/src/install/robot_localization_ekf/share/robot_localization_ekf/hook/ament_prefix_path.sh
@@ -0,0 +1,3 @@
+# generated from colcon_core/shell/template/hook_prepend_value.sh.em
+
+_colcon_prepend_unique_value AMENT_PREFIX_PATH "$COLCON_CURRENT_PREFIX"
diff --git a/robobin_main/src/install/robot_localization_ekf/share/robot_localization_ekf/hook/pythonpath.dsv b/robobin_main/src/install/robot_localization_ekf/share/robot_localization_ekf/hook/pythonpath.dsv
new file mode 100644
index 00000000..c2ddcdb7
--- /dev/null
+++ b/robobin_main/src/install/robot_localization_ekf/share/robot_localization_ekf/hook/pythonpath.dsv
@@ -0,0 +1 @@
+prepend-non-duplicate;PYTHONPATH;lib/python3.12/site-packages
diff --git a/robobin_main/src/install/robot_localization_ekf/share/robot_localization_ekf/hook/pythonpath.ps1 b/robobin_main/src/install/robot_localization_ekf/share/robot_localization_ekf/hook/pythonpath.ps1
new file mode 100644
index 00000000..bdd69aff
--- /dev/null
+++ b/robobin_main/src/install/robot_localization_ekf/share/robot_localization_ekf/hook/pythonpath.ps1
@@ -0,0 +1,3 @@
+# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em
+
+colcon_prepend_unique_value PYTHONPATH "$env:COLCON_CURRENT_PREFIX\lib/python3.12/site-packages"
diff --git a/robobin_main/src/install/robot_localization_ekf/share/robot_localization_ekf/hook/pythonpath.sh b/robobin_main/src/install/robot_localization_ekf/share/robot_localization_ekf/hook/pythonpath.sh
new file mode 100644
index 00000000..45388fea
--- /dev/null
+++ b/robobin_main/src/install/robot_localization_ekf/share/robot_localization_ekf/hook/pythonpath.sh
@@ -0,0 +1,3 @@
+# generated from colcon_core/shell/template/hook_prepend_value.sh.em
+
+_colcon_prepend_unique_value PYTHONPATH "$COLCON_CURRENT_PREFIX/lib/python3.12/site-packages"
diff --git a/robobin_main/src/install/robot_localization_ekf/share/robot_localization_ekf/launch/ekf_launch.py b/robobin_main/src/install/robot_localization_ekf/share/robot_localization_ekf/launch/ekf_launch.py
new file mode 100644
index 00000000..bb850165
--- /dev/null
+++ b/robobin_main/src/install/robot_localization_ekf/share/robot_localization_ekf/launch/ekf_launch.py
@@ -0,0 +1,22 @@
+import os
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from ament_index_python.packages import get_package_share_directory
+
+def generate_launch_description():
+ # Get the absolute path to ekf.yaml
+ ekf_config = os.path.join(
+ get_package_share_directory('robot_localization_ekf'), # Replace with your package name
+ 'config',
+ 'ekf.yaml'
+ )
+
+ return LaunchDescription([
+ Node(
+ package='robot_localization',
+ executable='ekf_node',
+ name='ekf_filter_node',
+ output='screen',
+ parameters=[ekf_config],
+ )
+ ])
\ No newline at end of file
diff --git a/robobin_main/src/install/robot_localization_ekf/share/robot_localization_ekf/package.bash b/robobin_main/src/install/robot_localization_ekf/share/robot_localization_ekf/package.bash
new file mode 100644
index 00000000..61fe4c17
--- /dev/null
+++ b/robobin_main/src/install/robot_localization_ekf/share/robot_localization_ekf/package.bash
@@ -0,0 +1,31 @@
+# generated from colcon_bash/shell/template/package.bash.em
+
+# This script extends the environment for this package.
+
+# a bash script is able to determine its own path if necessary
+if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+ # the prefix is two levels up from the package specific share directory
+ _colcon_package_bash_COLCON_CURRENT_PREFIX="$(builtin cd "`dirname "${BASH_SOURCE[0]}"`/../.." > /dev/null && pwd)"
+else
+ _colcon_package_bash_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+fi
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+# additional arguments: arguments to the script
+_colcon_package_bash_source_script() {
+ if [ -f "$1" ]; then
+ if [ -n "$COLCON_TRACE" ]; then
+ echo "# . \"$1\""
+ fi
+ . "$@"
+ else
+ echo "not found: \"$1\"" 1>&2
+ fi
+}
+
+# source sh script of this package
+_colcon_package_bash_source_script "$_colcon_package_bash_COLCON_CURRENT_PREFIX/share/robot_localization_ekf/package.sh"
+
+unset _colcon_package_bash_source_script
+unset _colcon_package_bash_COLCON_CURRENT_PREFIX
diff --git a/robobin_main/src/install/robot_localization_ekf/share/robot_localization_ekf/package.dsv b/robobin_main/src/install/robot_localization_ekf/share/robot_localization_ekf/package.dsv
new file mode 100644
index 00000000..eef71ef3
--- /dev/null
+++ b/robobin_main/src/install/robot_localization_ekf/share/robot_localization_ekf/package.dsv
@@ -0,0 +1,6 @@
+source;share/robot_localization_ekf/hook/pythonpath.ps1
+source;share/robot_localization_ekf/hook/pythonpath.dsv
+source;share/robot_localization_ekf/hook/pythonpath.sh
+source;share/robot_localization_ekf/hook/ament_prefix_path.ps1
+source;share/robot_localization_ekf/hook/ament_prefix_path.dsv
+source;share/robot_localization_ekf/hook/ament_prefix_path.sh
diff --git a/robobin_main/src/install/robot_localization_ekf/share/robot_localization_ekf/package.ps1 b/robobin_main/src/install/robot_localization_ekf/share/robot_localization_ekf/package.ps1
new file mode 100644
index 00000000..bdc62fbc
--- /dev/null
+++ b/robobin_main/src/install/robot_localization_ekf/share/robot_localization_ekf/package.ps1
@@ -0,0 +1,116 @@
+# generated from colcon_powershell/shell/template/package.ps1.em
+
+# function to append a value to a variable
+# which uses colons as separators
+# duplicates as well as leading separators are avoided
+# first argument: the name of the result variable
+# second argument: the value to be prepended
+function colcon_append_unique_value {
+ param (
+ $_listname,
+ $_value
+ )
+
+ # get values from variable
+ if (Test-Path Env:$_listname) {
+ $_values=(Get-Item env:$_listname).Value
+ } else {
+ $_values=""
+ }
+ $_duplicate=""
+ # start with no values
+ $_all_values=""
+ # iterate over existing values in the variable
+ if ($_values) {
+ $_values.Split(";") | ForEach {
+ # not an empty string
+ if ($_) {
+ # not a duplicate of _value
+ if ($_ -eq $_value) {
+ $_duplicate="1"
+ }
+ if ($_all_values) {
+ $_all_values="${_all_values};$_"
+ } else {
+ $_all_values="$_"
+ }
+ }
+ }
+ }
+ # append only non-duplicates
+ if (!$_duplicate) {
+ # avoid leading separator
+ if ($_all_values) {
+ $_all_values="${_all_values};${_value}"
+ } else {
+ $_all_values="${_value}"
+ }
+ }
+
+ # export the updated variable
+ Set-Item env:\$_listname -Value "$_all_values"
+}
+
+# function to prepend a value to a variable
+# which uses colons as separators
+# duplicates as well as trailing separators are avoided
+# first argument: the name of the result variable
+# second argument: the value to be prepended
+function colcon_prepend_unique_value {
+ param (
+ $_listname,
+ $_value
+ )
+
+ # get values from variable
+ if (Test-Path Env:$_listname) {
+ $_values=(Get-Item env:$_listname).Value
+ } else {
+ $_values=""
+ }
+ # start with the new value
+ $_all_values="$_value"
+ # iterate over existing values in the variable
+ if ($_values) {
+ $_values.Split(";") | ForEach {
+ # not an empty string
+ if ($_) {
+ # not a duplicate of _value
+ if ($_ -ne $_value) {
+ # keep non-duplicate values
+ $_all_values="${_all_values};$_"
+ }
+ }
+ }
+ }
+ # export the updated variable
+ Set-Item env:\$_listname -Value "$_all_values"
+}
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+# additional arguments: arguments to the script
+function colcon_package_source_powershell_script {
+ param (
+ $_colcon_package_source_powershell_script
+ )
+ # source script with conditional trace output
+ if (Test-Path $_colcon_package_source_powershell_script) {
+ if ($env:COLCON_TRACE) {
+ echo ". '$_colcon_package_source_powershell_script'"
+ }
+ . "$_colcon_package_source_powershell_script"
+ } else {
+ Write-Error "not found: '$_colcon_package_source_powershell_script'"
+ }
+}
+
+
+# a powershell script is able to determine its own path
+# the prefix is two levels up from the package specific share directory
+$env:COLCON_CURRENT_PREFIX=(Get-Item $PSCommandPath).Directory.Parent.Parent.FullName
+
+colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX\share/robot_localization_ekf/hook/pythonpath.ps1"
+colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX\share/robot_localization_ekf/hook/ament_prefix_path.ps1"
+
+Remove-Item Env:\COLCON_CURRENT_PREFIX
diff --git a/robobin_main/src/install/robot_localization_ekf/share/robot_localization_ekf/package.sh b/robobin_main/src/install/robot_localization_ekf/share/robot_localization_ekf/package.sh
new file mode 100644
index 00000000..c731e32b
--- /dev/null
+++ b/robobin_main/src/install/robot_localization_ekf/share/robot_localization_ekf/package.sh
@@ -0,0 +1,87 @@
+# generated from colcon_core/shell/template/package.sh.em
+
+# This script extends the environment for this package.
+
+# function to prepend a value to a variable
+# which uses colons as separators
+# duplicates as well as trailing separators are avoided
+# first argument: the name of the result variable
+# second argument: the value to be prepended
+_colcon_prepend_unique_value() {
+ # arguments
+ _listname="$1"
+ _value="$2"
+
+ # get values from variable
+ eval _values=\"\$$_listname\"
+ # backup the field separator
+ _colcon_prepend_unique_value_IFS=$IFS
+ IFS=":"
+ # start with the new value
+ _all_values="$_value"
+ # workaround SH_WORD_SPLIT not being set in zsh
+ if [ "$(command -v colcon_zsh_convert_to_array)" ]; then
+ colcon_zsh_convert_to_array _values
+ fi
+ # iterate over existing values in the variable
+ for _item in $_values; do
+ # ignore empty strings
+ if [ -z "$_item" ]; then
+ continue
+ fi
+ # ignore duplicates of _value
+ if [ "$_item" = "$_value" ]; then
+ continue
+ fi
+ # keep non-duplicate values
+ _all_values="$_all_values:$_item"
+ done
+ unset _item
+ # restore the field separator
+ IFS=$_colcon_prepend_unique_value_IFS
+ unset _colcon_prepend_unique_value_IFS
+ # export the updated variable
+ eval export $_listname=\"$_all_values\"
+ unset _all_values
+ unset _values
+
+ unset _value
+ unset _listname
+}
+
+# since a plain shell script can't determine its own path when being sourced
+# either use the provided COLCON_CURRENT_PREFIX
+# or fall back to the build time prefix (if it exists)
+_colcon_package_sh_COLCON_CURRENT_PREFIX="/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf"
+if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+ if [ ! -d "$_colcon_package_sh_COLCON_CURRENT_PREFIX" ]; then
+ echo "The build time path \"$_colcon_package_sh_COLCON_CURRENT_PREFIX\" doesn't exist. Either source a script for a different shell or set the environment variable \"COLCON_CURRENT_PREFIX\" explicitly." 1>&2
+ unset _colcon_package_sh_COLCON_CURRENT_PREFIX
+ return 1
+ fi
+ COLCON_CURRENT_PREFIX="$_colcon_package_sh_COLCON_CURRENT_PREFIX"
+fi
+unset _colcon_package_sh_COLCON_CURRENT_PREFIX
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+# additional arguments: arguments to the script
+_colcon_package_sh_source_script() {
+ if [ -f "$1" ]; then
+ if [ -n "$COLCON_TRACE" ]; then
+ echo "# . \"$1\""
+ fi
+ . "$@"
+ else
+ echo "not found: \"$1\"" 1>&2
+ fi
+}
+
+# source sh hooks
+_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/robot_localization_ekf/hook/pythonpath.sh"
+_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/robot_localization_ekf/hook/ament_prefix_path.sh"
+
+unset _colcon_package_sh_source_script
+unset COLCON_CURRENT_PREFIX
+
+# do not unset _colcon_prepend_unique_value since it might be used by non-primary shell hooks
diff --git a/robobin_main/src/install/robot_localization_ekf/share/robot_localization_ekf/package.xml b/robobin_main/src/install/robot_localization_ekf/share/robot_localization_ekf/package.xml
new file mode 100644
index 00000000..4d91efc3
--- /dev/null
+++ b/robobin_main/src/install/robot_localization_ekf/share/robot_localization_ekf/package.xml
@@ -0,0 +1,21 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+ <name>robot_localization_ekf</name>
+ <version>0.0.0</version>
+ <description>TODO: Package description</description>
+ <maintainer email="robobin@todo.todo">robobin</maintainer>
+ <license>TODO: License declaration</license>
+
+ <test_depend>ament_copyright</test_depend>
+ <test_depend>ament_flake8</test_depend>
+ <test_depend>ament_pep257</test_depend>
+ <test_depend>python3-pytest</test_depend>
+
+ <exec_depend>robot_localization</exec_depend>
+
+
+ <export>
+ <build_type>ament_python</build_type>
+ </export>
+</package>
diff --git a/robobin_main/src/install/robot_localization_ekf/share/robot_localization_ekf/package.zsh b/robobin_main/src/install/robot_localization_ekf/share/robot_localization_ekf/package.zsh
new file mode 100644
index 00000000..acf22db7
--- /dev/null
+++ b/robobin_main/src/install/robot_localization_ekf/share/robot_localization_ekf/package.zsh
@@ -0,0 +1,42 @@
+# generated from colcon_zsh/shell/template/package.zsh.em
+
+# This script extends the environment for this package.
+
+# a zsh script is able to determine its own path if necessary
+if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+ # the prefix is two levels up from the package specific share directory
+ _colcon_package_zsh_COLCON_CURRENT_PREFIX="$(builtin cd -q "`dirname "${(%):-%N}"`/../.." > /dev/null && pwd)"
+else
+ _colcon_package_zsh_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+fi
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+# additional arguments: arguments to the script
+_colcon_package_zsh_source_script() {
+ if [ -f "$1" ]; then
+ if [ -n "$COLCON_TRACE" ]; then
+ echo "# . \"$1\""
+ fi
+ . "$@"
+ else
+ echo "not found: \"$1\"" 1>&2
+ fi
+}
+
+# function to convert array-like strings into arrays
+# to workaround SH_WORD_SPLIT not being set
+colcon_zsh_convert_to_array() {
+ local _listname=$1
+ local _dollar="$"
+ local _split="{="
+ local _to_array="(\"$_dollar$_split$_listname}\")"
+ eval $_listname=$_to_array
+}
+
+# source sh script of this package
+_colcon_package_zsh_source_script "$_colcon_package_zsh_COLCON_CURRENT_PREFIX/share/robot_localization_ekf/package.sh"
+unset convert_zsh_to_array
+
+unset _colcon_package_zsh_source_script
+unset _colcon_package_zsh_COLCON_CURRENT_PREFIX
diff --git a/robobin_main/src/install/setup.bash b/robobin_main/src/install/setup.bash
new file mode 100644
index 00000000..4aeadb4c
--- /dev/null
+++ b/robobin_main/src/install/setup.bash
@@ -0,0 +1,34 @@
+# generated from colcon_bash/shell/template/prefix_chain.bash.em
+
+# This script extends the environment with the environment of other prefix
+# paths which were sourced when this file was generated as well as all packages
+# contained in this prefix path.
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+_colcon_prefix_chain_bash_source_script() {
+ if [ -f "$1" ]; then
+ if [ -n "$COLCON_TRACE" ]; then
+ echo "# . \"$1\""
+ fi
+ . "$1"
+ else
+ echo "not found: \"$1\"" 1>&2
+ fi
+}
+
+# source chained prefixes
+# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
+COLCON_CURRENT_PREFIX="/opt/ros/jazzy"
+_colcon_prefix_chain_bash_source_script "$COLCON_CURRENT_PREFIX/local_setup.bash"
+# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
+COLCON_CURRENT_PREFIX="/home/robobin/Robobin_Project/ros2/robobin_main/install"
+_colcon_prefix_chain_bash_source_script "$COLCON_CURRENT_PREFIX/local_setup.bash"
+
+# source this prefix
+# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
+COLCON_CURRENT_PREFIX="$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)"
+_colcon_prefix_chain_bash_source_script "$COLCON_CURRENT_PREFIX/local_setup.bash"
+
+unset COLCON_CURRENT_PREFIX
+unset _colcon_prefix_chain_bash_source_script
diff --git a/robobin_main/src/install/setup.ps1 b/robobin_main/src/install/setup.ps1
new file mode 100644
index 00000000..556a8661
--- /dev/null
+++ b/robobin_main/src/install/setup.ps1
@@ -0,0 +1,30 @@
+# generated from colcon_powershell/shell/template/prefix_chain.ps1.em
+
+# This script extends the environment with the environment of other prefix
+# paths which were sourced when this file was generated as well as all packages
+# contained in this prefix path.
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+function _colcon_prefix_chain_powershell_source_script {
+ param (
+ $_colcon_prefix_chain_powershell_source_script_param
+ )
+ # source script with conditional trace output
+ if (Test-Path $_colcon_prefix_chain_powershell_source_script_param) {
+ if ($env:COLCON_TRACE) {
+ echo ". '$_colcon_prefix_chain_powershell_source_script_param'"
+ }
+ . "$_colcon_prefix_chain_powershell_source_script_param"
+ } else {
+ Write-Error "not found: '$_colcon_prefix_chain_powershell_source_script_param'"
+ }
+}
+
+# source chained prefixes
+_colcon_prefix_chain_powershell_source_script "/opt/ros/jazzy\local_setup.ps1"
+_colcon_prefix_chain_powershell_source_script "/home/robobin/Robobin_Project/ros2/robobin_main/install\local_setup.ps1"
+
+# source this prefix
+$env:COLCON_CURRENT_PREFIX=(Split-Path $PSCommandPath -Parent)
+_colcon_prefix_chain_powershell_source_script "$env:COLCON_CURRENT_PREFIX\local_setup.ps1"
diff --git a/robobin_main/src/install/setup.sh b/robobin_main/src/install/setup.sh
new file mode 100644
index 00000000..8c83072b
--- /dev/null
+++ b/robobin_main/src/install/setup.sh
@@ -0,0 +1,49 @@
+# generated from colcon_core/shell/template/prefix_chain.sh.em
+
+# This script extends the environment with the environment of other prefix
+# paths which were sourced when this file was generated as well as all packages
+# contained in this prefix path.
+
+# since a plain shell script can't determine its own path when being sourced
+# either use the provided COLCON_CURRENT_PREFIX
+# or fall back to the build time prefix (if it exists)
+_colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX=/home/robobin/robobin/robobin_main/src/install
+if [ ! -z "$COLCON_CURRENT_PREFIX" ]; then
+ _colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+elif [ ! -d "$_colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX" ]; then
+ echo "The build time path \"$_colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX\" doesn't exist. Either source a script for a different shell or set the environment variable \"COLCON_CURRENT_PREFIX\" explicitly." 1>&2
+ unset _colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX
+ return 1
+fi
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+_colcon_prefix_chain_sh_source_script() {
+ if [ -f "$1" ]; then
+ if [ -n "$COLCON_TRACE" ]; then
+ echo "# . \"$1\""
+ fi
+ . "$1"
+ else
+ echo "not found: \"$1\"" 1>&2
+ fi
+}
+
+# source chained prefixes
+# setting COLCON_CURRENT_PREFIX avoids relying on the build time prefix of the sourced script
+COLCON_CURRENT_PREFIX="/opt/ros/jazzy"
+_colcon_prefix_chain_sh_source_script "$COLCON_CURRENT_PREFIX/local_setup.sh"
+
+# setting COLCON_CURRENT_PREFIX avoids relying on the build time prefix of the sourced script
+COLCON_CURRENT_PREFIX="/home/robobin/Robobin_Project/ros2/robobin_main/install"
+_colcon_prefix_chain_sh_source_script "$COLCON_CURRENT_PREFIX/local_setup.sh"
+
+
+# source this prefix
+# setting COLCON_CURRENT_PREFIX avoids relying on the build time prefix of the sourced script
+COLCON_CURRENT_PREFIX="$_colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX"
+_colcon_prefix_chain_sh_source_script "$COLCON_CURRENT_PREFIX/local_setup.sh"
+
+unset _colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX
+unset _colcon_prefix_chain_sh_source_script
+unset COLCON_CURRENT_PREFIX
diff --git a/robobin_main/src/install/setup.zsh b/robobin_main/src/install/setup.zsh
new file mode 100644
index 00000000..770dee49
--- /dev/null
+++ b/robobin_main/src/install/setup.zsh
@@ -0,0 +1,34 @@
+# generated from colcon_zsh/shell/template/prefix_chain.zsh.em
+
+# This script extends the environment with the environment of other prefix
+# paths which were sourced when this file was generated as well as all packages
+# contained in this prefix path.
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+_colcon_prefix_chain_zsh_source_script() {
+ if [ -f "$1" ]; then
+ if [ -n "$COLCON_TRACE" ]; then
+ echo "# . \"$1\""
+ fi
+ . "$1"
+ else
+ echo "not found: \"$1\"" 1>&2
+ fi
+}
+
+# source chained prefixes
+# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
+COLCON_CURRENT_PREFIX="/opt/ros/jazzy"
+_colcon_prefix_chain_zsh_source_script "$COLCON_CURRENT_PREFIX/local_setup.zsh"
+# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
+COLCON_CURRENT_PREFIX="/home/robobin/Robobin_Project/ros2/robobin_main/install"
+_colcon_prefix_chain_zsh_source_script "$COLCON_CURRENT_PREFIX/local_setup.zsh"
+
+# source this prefix
+# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
+COLCON_CURRENT_PREFIX="$(builtin cd -q "`dirname "${(%):-%N}"`" > /dev/null && pwd)"
+_colcon_prefix_chain_zsh_source_script "$COLCON_CURRENT_PREFIX/local_setup.zsh"
+
+unset COLCON_CURRENT_PREFIX
+unset _colcon_prefix_chain_zsh_source_script
diff --git a/robobin_main/src/install/testing/lib/python3.12/site-packages/testing-0.0.0-py3.12.egg-info/PKG-INFO b/robobin_main/src/install/testing/lib/python3.12/site-packages/testing-0.0.0-py3.12.egg-info/PKG-INFO
new file mode 100644
index 00000000..eee4e012
--- /dev/null
+++ b/robobin_main/src/install/testing/lib/python3.12/site-packages/testing-0.0.0-py3.12.egg-info/PKG-INFO
@@ -0,0 +1,7 @@
+Metadata-Version: 2.1
+Name: testing
+Version: 0.0.0
+Summary: TODO: Package description
+Maintainer: robobin
+Maintainer-email: robobin@todo.todo
+License: TODO: License declaration
diff --git a/robobin_main/src/install/testing/lib/python3.12/site-packages/testing-0.0.0-py3.12.egg-info/SOURCES.txt b/robobin_main/src/install/testing/lib/python3.12/site-packages/testing-0.0.0-py3.12.egg-info/SOURCES.txt
new file mode 100644
index 00000000..4122e71f
--- /dev/null
+++ b/robobin_main/src/install/testing/lib/python3.12/site-packages/testing-0.0.0-py3.12.egg-info/SOURCES.txt
@@ -0,0 +1,21 @@
+package.xml
+setup.cfg
+setup.py
+../build/testing/testing.egg-info/PKG-INFO
+../build/testing/testing.egg-info/SOURCES.txt
+../build/testing/testing.egg-info/dependency_links.txt
+../build/testing/testing.egg-info/entry_points.txt
+../build/testing/testing.egg-info/requires.txt
+../build/testing/testing.egg-info/top_level.txt
+../build/testing/testing.egg-info/zip-safe
+resource/testing
+test/test_copyright.py
+test/test_flake8.py
+test/test_pep257.py
+testing/__init__.py
+testing/control_feedback.py
+testing/encoder.py
+testing/imu_node.py
+testing/motor_control_node.py
+testing/route.py
+testing/route_filtered.py
\ No newline at end of file
diff --git a/robobin_main/src/install/testing/lib/python3.12/site-packages/testing-0.0.0-py3.12.egg-info/dependency_links.txt b/robobin_main/src/install/testing/lib/python3.12/site-packages/testing-0.0.0-py3.12.egg-info/dependency_links.txt
new file mode 100644
index 00000000..8b137891
--- /dev/null
+++ b/robobin_main/src/install/testing/lib/python3.12/site-packages/testing-0.0.0-py3.12.egg-info/dependency_links.txt
@@ -0,0 +1 @@
+
diff --git a/robobin_main/src/install/testing/lib/python3.12/site-packages/testing-0.0.0-py3.12.egg-info/entry_points.txt b/robobin_main/src/install/testing/lib/python3.12/site-packages/testing-0.0.0-py3.12.egg-info/entry_points.txt
new file mode 100644
index 00000000..281f4a1f
--- /dev/null
+++ b/robobin_main/src/install/testing/lib/python3.12/site-packages/testing-0.0.0-py3.12.egg-info/entry_points.txt
@@ -0,0 +1,7 @@
+[console_scripts]
+test_control_feedback = testing.control_feedback:main
+test_encoder_node = testing.encoder:main
+test_imu_node = testing.imu_node:main
+test_motor_node = testing.motor_control_node:main
+test_route = testing.route:main
+test_route_filter = testing.route_filtered:main
diff --git a/robobin_main/src/install/testing/lib/python3.12/site-packages/testing-0.0.0-py3.12.egg-info/requires.txt b/robobin_main/src/install/testing/lib/python3.12/site-packages/testing-0.0.0-py3.12.egg-info/requires.txt
new file mode 100644
index 00000000..8aeefb0a
--- /dev/null
+++ b/robobin_main/src/install/testing/lib/python3.12/site-packages/testing-0.0.0-py3.12.egg-info/requires.txt
@@ -0,0 +1,2 @@
+gpiozero
+setuptools
diff --git a/robobin_main/src/install/testing/lib/python3.12/site-packages/testing-0.0.0-py3.12.egg-info/top_level.txt b/robobin_main/src/install/testing/lib/python3.12/site-packages/testing-0.0.0-py3.12.egg-info/top_level.txt
new file mode 100644
index 00000000..038d718d
--- /dev/null
+++ b/robobin_main/src/install/testing/lib/python3.12/site-packages/testing-0.0.0-py3.12.egg-info/top_level.txt
@@ -0,0 +1 @@
+testing
diff --git a/robobin_main/src/install/testing/lib/python3.12/site-packages/testing-0.0.0-py3.12.egg-info/zip-safe b/robobin_main/src/install/testing/lib/python3.12/site-packages/testing-0.0.0-py3.12.egg-info/zip-safe
new file mode 100644
index 00000000..8b137891
--- /dev/null
+++ b/robobin_main/src/install/testing/lib/python3.12/site-packages/testing-0.0.0-py3.12.egg-info/zip-safe
@@ -0,0 +1 @@
+
diff --git a/robobin_main/src/install/testing/lib/python3.12/site-packages/testing/__init__.py b/robobin_main/src/install/testing/lib/python3.12/site-packages/testing/__init__.py
new file mode 100644
index 00000000..e69de29b
diff --git a/robobin_main/src/install/testing/lib/python3.12/site-packages/testing/__pycache__/__init__.cpython-312.pyc b/robobin_main/src/install/testing/lib/python3.12/site-packages/testing/__pycache__/__init__.cpython-312.pyc
new file mode 100644
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diff --git a/robobin_main/src/install/testing/lib/python3.12/site-packages/testing/__pycache__/control_feedback.cpython-312.pyc b/robobin_main/src/install/testing/lib/python3.12/site-packages/testing/__pycache__/control_feedback.cpython-312.pyc
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diff --git a/robobin_main/src/install/testing/lib/python3.12/site-packages/testing/control_feedback.py b/robobin_main/src/install/testing/lib/python3.12/site-packages/testing/control_feedback.py
new file mode 100644
index 00000000..9762167a
--- /dev/null
+++ b/robobin_main/src/install/testing/lib/python3.12/site-packages/testing/control_feedback.py
@@ -0,0 +1,320 @@
+import rclpy
+from rclpy.node import Node
+from geometry_msgs.msg import Twist
+from std_msgs.msg import Int64, Float64
+from gpiozero import PWMOutputDevice, DigitalOutputDevice
+import time
+from rclpy.clock import Clock
+from rclpy.time import Time
+import bisect
+
+
+
+# Example of how you could implement a simple PID controller
+class PIDController:
+ def __init__(self, kp, ki, kd):
+ self.kp = kp
+ self.ki = ki
+ self.kd = kd
+ self.prev_error = 0
+ self.integral = 0
+
+ def reset(self):
+ self.prev_error = 0
+ self.integral = 0
+
+ def calculate(self, error, dt):
+ self.integral += error * dt
+ derivative = (error - self.prev_error) / dt
+ output = self.kp * error + self.ki * self.integral + self.kd * derivative
+ self.prev_error = error
+ return output
+
+
+
+
+class MotorControlNode(Node):
+ def __init__(self):
+ super().__init__('control_feedback_node')
+
+ # Initialize encoder values
+ self.encoder_left_steps = 0
+ self.encoder_right_steps = 0
+
+ # Desired speeds from cmd_vel
+ self.desired_linear_speed = 0.0
+ self.desired_angular_speed = 0.0
+
+ self.prev_left_steps = 0
+ self.prev_right_steps = 0
+
+ self.left_pwm = 0
+ self.right_pwm = 0
+
+ self.prev_desired_speed = 0.0
+
+
+ #Time
+ self.prev_time = time.time()
+ #self.prev_time = self.get_clock().now
+
+
+ # Robot parameters
+ self.wheel_base = 0.40
+ self.encoder_steps_per_rotation = 310
+ self.wheel_radius = 0.075
+
+ # Initialize the motors
+ self.motor = Motor(self,14,15,18, 17, 22, 27)
+
+ # PID controllers
+ self.pid_left_forward = PIDController(kp=0.5, ki=0.0, kd=0.001)
+ self.pid_right_forward = PIDController(kp=0.525, ki=0.0, kd=0.001)
+
+ self.pid_left_backward = PIDController(kp=0.525, ki=0.0, kd=0.001)
+ self.pid_right_backward = PIDController(kp=0.5, ki=0.0, kd=0.001)
+
+
+
+
+ # Subscribe to cmd_vel topic
+ self.subscription = self.create_subscription(
+ Twist,
+ '/cmd_vel',
+ self.cmd_vel_callback,
+ 10
+ )
+
+ # Subscribe to encoder data
+ self.left_encoder_sub = self.create_subscription(
+ Int64,
+ 'left_wheel_steps',
+ self.left_encoder_callback,
+ 10
+ )
+ self.right_encoder_sub = self.create_subscription(
+ Int64,
+ 'right_wheel_steps',
+ self.right_encoder_callback,
+ 10
+ )
+
+ self.left_actual_speed_pub = self.create_publisher(Float64, 'left_actual_wheel_speed', 10)
+ self.right_actual_speed_pub = self.create_publisher(Float64, 'right_actual_wheel_speed', 10)
+ self.desired_speed_pub = self.create_publisher(Float64, 'desired_wheel_speed', 10)
+
+ # Timer to update motor speeds
+ self.control_timer = self.create_timer(0.1, self.control_loop)
+
+ self.get_logger().info('Motor control node with encoder feedback has been started.')
+
+ def cmd_vel_callback(self, msg):
+ # Store desired speeds
+ self.desired_linear_speed = msg.linear.x # Forward/backward speed
+ self.desired_angular_speed = msg.angular.z # Turning rate
+
+ # if (self.desired_linear_speed >= 0 and self.prev_desired_speed < 0) or (self.desired_linear_speed < 0 and self.prev_desired_speed >= 0):
+
+ # self.pid_left_forward.reset()
+ # self.pid_right_forward.reset()
+ # self.pid_left_backward.reset()
+ # self.pid_right_backward.reset()
+
+
+
+
+
+ self.prev_desired_speed = self.desired_linear_speed
+
+ def left_encoder_callback(self, msg):
+ self.encoder_left_steps = msg.data
+
+ def right_encoder_callback(self, msg):
+ self.encoder_right_steps = msg.data
+
+
+ def control_loop(self):
+
+ if self.desired_linear_speed >= 0:
+ # Forward motion
+ left_pid = self.pid_left_forward
+ right_pid = self.pid_right_forward
+ else:
+ # Backward motion
+ left_pid = self.pid_left_backward
+ right_pid = self.pid_right_backward
+
+ if (self.desired_linear_speed == 0) and (self.desired_angular_speed == 0):
+ self.stop_motors()
+ self.pid_left_forward.reset()
+ self.pid_right_forward.reset()
+ self.pid_left_backward.reset()
+ self.pid_right_backward.reset()
+ self.left_pwm =0
+ self.right_pwm =0
+ return
+
+
+
+
+ #Calculate the actual speed
+ #-------------------------------
+ # Calculate elapsed time
+ current_time = time.time()
+ #dt = current_time - self.prev_time
+ dt = max(current_time - self.prev_time, 0.01) # Prevent dt from being too small
+ #dt = max(current_time - self.prev_time, 1e-6) # Avoid zero or too small dt
+ if dt == 0:
+ return
+ self.prev_time = current_time
+
+ # self.prev_time = self.get_clock().now()
+ # current_time = self.get_clock().now()
+ # dt = (current_time - self.prev_time).to_sec()
+ # if dt <= 0.0:
+ # return
+ # self.prev_time = current_time
+
+ #Actual Speed calculation
+ #------------------------------------
+ # Calculate change in encoder steps
+ delta_left_steps = self.encoder_left_steps - self.prev_left_steps
+ delta_right_steps = self.encoder_right_steps - self.prev_right_steps
+
+ self.prev_left_steps = self.encoder_left_steps
+ self.prev_right_steps = self.encoder_right_steps
+
+ # Calculate rotational speeds (RPS)
+ left_rps = delta_left_steps / (self.encoder_steps_per_rotation * dt)
+ right_rps = delta_right_steps / (self.encoder_steps_per_rotation * dt)
+
+ # Convert to linear speed (m/s)
+ left_speed_actual = left_rps * 2 * 3.14159 * self.wheel_radius
+ right_speed_actual = right_rps * 2 * 3.14159 * self.wheel_radius
+
+
+
+ #Desired Speed calculation
+ #------------------------------------
+ # Desired speeds for left and right wheels
+ left_speed_desired = self.desired_linear_speed - (self.desired_angular_speed * self.wheel_base / 2.0)
+ right_speed_desired = self.desired_linear_speed + (self.desired_angular_speed * self.wheel_base / 2.0)
+
+
+
+ # Speed Errors calculation
+ #------------------------------------
+ left_error = left_speed_desired - left_speed_actual
+ right_error = right_speed_desired - right_speed_actual
+
+
+
+ # Use PID controllers for left and right wheels
+ left_pwm_error = left_pid.calculate(left_error, dt)
+ right_pwm_error = right_pid.calculate(right_error, dt)
+
+ self.left_pwm += left_pwm_error
+ self.right_pwm += right_pwm_error
+
+
+
+ # Ensure PWM values are within [-1, 1]
+ left_pwm = max(-1, min(1, self.left_pwm))
+ right_pwm = max(-1, min(1, self.right_pwm))
+
+ # Apply PWM values to motors
+ self.motor.set_pwm(left_pwm, right_pwm)
+
+
+
+
+ # Publish actual speeds
+ left_actual_speed_msg = Float64()
+ left_actual_speed_msg.data = left_speed_actual
+ self.left_actual_speed_pub.publish(left_actual_speed_msg)
+
+ right_actual_speed_msg = Float64()
+ right_actual_speed_msg.data = right_speed_actual
+ self.right_actual_speed_pub.publish(right_actual_speed_msg)
+
+ desired_speed_msg = Float64()
+ desired_speed_msg.data = right_speed_desired
+ self.desired_speed_pub.publish(desired_speed_msg)
+
+
+ # Debugging info
+ self.get_logger().info(f'Left PWM IN: {self.left_pwm:.2f}, Right PWM IN: {right_pwm:.2f}')
+ self.get_logger().info(f'Left Speed Actual: {left_speed_actual:.2f}, Right Speed Actual: {right_speed_actual:.2f}')
+ self.get_logger().info(f'Left Error: {left_error:.2f}, Right Error: {left_pwm_error:.2f}')
+ self.get_logger().info(f'Left_speed_desired: {left_speed_desired:.2f}, Right_speed_desired: {right_speed_desired:.2f}')
+ self.get_logger().info('-----------------------------------------------------------------')
+
+
+ def stop_motors(self):
+ self.motor.stop()
+ self.get_logger().info('Motors have been stopped.')
+
+class Motor:
+ def __init__(self,node, EnaA, In1A, In2A, EnaB, In1B, In2B):
+
+ self.node = node
+ # Left motor control pins
+ self.pwmA = PWMOutputDevice(EnaA)
+ self.in1A = DigitalOutputDevice(In1A)
+ self.in2A = DigitalOutputDevice(In2A)
+
+ # Right motor control pins
+ self.pwmB = PWMOutputDevice(EnaB)
+ self.in1B = DigitalOutputDevice(In1B)
+ self.in2B = DigitalOutputDevice(In2B)
+
+ def set_pwm(self, left_pwm, right_pwm):
+
+ #Deadband to prevent the motors from responding to very small PWM values that could cause jitter.
+ DEADZONE = 0.002
+
+ if abs(left_pwm) < DEADZONE:
+ self.pwmA.value = 0
+ self.in1A.off()
+ self.in2A.off()
+ else:
+ self.pwmA.value = abs(left_pwm)
+ self.in1A.value = left_pwm > 0
+ self.in2A.value = left_pwm < 0
+
+ if abs(right_pwm) < DEADZONE:
+ self.pwmB.value = 0
+ self.in1B.off()
+ self.in2B.off()
+ else:
+ self.pwmB.value = abs(right_pwm)
+ self.in1B.value = right_pwm > 0
+ self.in2B.value = right_pwm < 0
+
+ #self.node.get_logger().info(f"Left Motor PWM: Speed={left_pwm}, Right Motor PWM: Speed={right_pwm}")
+
+ def stop(self):
+ # Stop both motors
+ self.pwmA.value = 0
+ self.pwmB.value = 0
+ self.in1A.off()
+ self.in2A.off()
+ self.in1B.off()
+ self.in2B.off()
+
+
+def main(args=None):
+ rclpy.init(args=args)
+ node = MotorControlNode()
+
+ try:
+ rclpy.spin(node)
+ except KeyboardInterrupt:
+ pass
+ finally:
+ node.stop_motors()
+ node.destroy_node()
+ rclpy.shutdown()
+
+if __name__ == '__main__':
+ main()
diff --git a/robobin_main/src/install/testing/lib/python3.12/site-packages/testing/encoder.py b/robobin_main/src/install/testing/lib/python3.12/site-packages/testing/encoder.py
new file mode 100644
index 00000000..4e687cd9
--- /dev/null
+++ b/robobin_main/src/install/testing/lib/python3.12/site-packages/testing/encoder.py
@@ -0,0 +1,63 @@
+import rclpy
+from rclpy.node import Node
+from std_msgs.msg import Int64
+from gpiozero import RotaryEncoder, InputDevice
+
+
+
+class EncoderReaderNode(Node):
+ def __init__(self):
+ super().__init__('encoder_reader_node')
+
+ motor1A = 5
+ motor1B = 6
+ motor2A = 20
+ motor2B = 21
+
+ self.encoder_left = RotaryEncoder(a = motor1A,b = motor1B, max_steps=0)
+ self.encoder_right = RotaryEncoder(a = motor2A,b = motor2B, max_steps=0)
+
+ # Publishers for encoder steps
+ self.left_encoder_pub = self.create_publisher(Int64, 'left_wheel_steps', 10)
+ self.right_encoder_pub = self.create_publisher(Int64, 'right_wheel_steps', 10)
+
+ # Timer to read encoders
+ self.timer = self.create_timer(0.1, self.publish_encoder_steps)
+
+ self.get_logger().info('Encoder reader node has been started.')
+
+ def publish_encoder_steps(self):
+ # Read encoder steps
+ left_steps = self.encoder_left.steps
+ right_steps = -(self.encoder_right.steps)
+
+ # Create messages
+ left_msg = Int64()
+ left_msg.data = left_steps
+
+ right_msg = Int64()
+ right_msg.data = right_steps
+
+ # Publish messages
+ self.left_encoder_pub.publish(left_msg)
+ self.right_encoder_pub.publish(right_msg)
+
+ # Log the steps
+ self.get_logger().info(f'Left Steps: {left_steps}, Right Steps: {right_steps}')
+
+
+
+def main(args=None):
+ rclpy.init(args=args)
+ node = EncoderReaderNode()
+
+ try:
+ rclpy.spin(node)
+ except KeyboardInterrupt:
+ pass
+ finally:
+ node.destroy_node()
+ rclpy.shutdown()
+
+if __name__ == '__main__':
+ main()
diff --git a/robobin_main/src/install/testing/lib/python3.12/site-packages/testing/imu_node.py b/robobin_main/src/install/testing/lib/python3.12/site-packages/testing/imu_node.py
new file mode 100644
index 00000000..d2f2a417
--- /dev/null
+++ b/robobin_main/src/install/testing/lib/python3.12/site-packages/testing/imu_node.py
@@ -0,0 +1,95 @@
+#!/usr/bin/env python3
+
+import rclpy
+from rclpy.node import Node
+from sensor_msgs.msg import Imu
+from smbus2 import SMBus
+import time
+import math
+
+class BNO055Publisher(Node):
+ def __init__(self):
+ super().__init__('imu_node')
+ self.publisher_ = self.create_publisher(Imu, 'imu', 10)
+ self.timer = self.create_timer(0.1, self.timer_callback)
+ self.bus = SMBus(1)
+ self.address = 0x28
+ self.init_bno055()
+ time.sleep(1)
+
+ def write_register(self, register, value):
+ self.bus.write_byte_data(self.address, register, value)
+
+ def read_register(self, register, length=1):
+ if length == 1:
+ return self.bus.read_byte_data(self.address, register)
+ else:
+ return self.bus.read_i2c_block_data(self.address, register, length)
+
+ def init_bno055(self):
+ # Switch to CONFIG mode
+ self.write_register(0x3D, 0x00)
+ time.sleep(0.05)
+ # Set power mode to Normal
+ self.write_register(0x3E, 0x00)
+ # Set to NDOF mode
+ self.write_register(0x3D, 0x0C)
+ time.sleep(0.5)
+
+ def read_euler_angles(self):
+ data = self.read_register(0x1A, 6)
+ yaw = (data[1] << 8) | data[0]
+ roll = (data[3] << 8) | data[2]
+ pitch = (data[5] << 8) | data[4]
+ yaw = yaw if yaw < 32768 else yaw - 65536
+ roll = roll if roll < 32768 else roll - 65536
+ pitch = pitch if pitch < 32768 else pitch - 65536
+ yaw = yaw / 16.0
+ roll = roll / 16.0
+ pitch = pitch / 16.0
+ return yaw, pitch, roll
+
+ def timer_callback(self):
+ yaw, pitch, roll = self.read_euler_angles()
+ imu_msg = Imu()
+ imu_msg.header.stamp = self.get_clock().now().to_msg()
+ imu_msg.header.frame_id = 'imu_link'
+ # Convert degrees to radians
+ yaw_rad = -(math.radians(yaw))
+ roll_rad = -(math.radians(pitch))
+ pitch_rad = -(math.radians(roll))
+ # Compute quaternion
+ cy = math.cos(yaw_rad * 0.5)
+ sy = math.sin(yaw_rad * 0.5)
+ cp = math.cos(pitch_rad * 0.5)
+ sp = math.sin(pitch_rad * 0.5)
+ cr = math.cos(roll_rad * 0.5)
+ sr = math.sin(roll_rad * 0.5)
+ imu_msg.orientation.w = cr * cp * cy + sr * sp * sy
+ imu_msg.orientation.x = sr * cp * cy - cr * sp * sy
+ imu_msg.orientation.y = cr * sp * cy + sr * cp * sy
+ imu_msg.orientation.z = cr * cp * sy - sr * sp * cy
+
+ imu_msg.orientation_covariance = [0.0025, 0, 0,
+ 0, 0.0025, 0,
+ 0, 0, 0.0025]
+ imu_msg.angular_velocity_covariance = [0.02, 0, 0,
+ 0, 0.02, 0,
+ 0, 0, 0.02]
+ imu_msg.linear_acceleration_covariance = [0.04, 0, 0,
+ 0, 0.04, 0,
+ 0, 0, 0.04]
+
+
+ self.publisher_.publish(imu_msg)
+ self.get_logger().info(f'Publishing: Yaw={yaw:.2f}, Pitch={pitch:.2f}, Roll={roll:.2f}')
+
+def main(args=None):
+ rclpy.init(args=args)
+ bno055_publisher = BNO055Publisher()
+ rclpy.spin(bno055_publisher)
+ bno055_publisher.destroy_node()
+ rclpy.shutdown()
+
+if __name__ == '__main__':
+ main()
\ No newline at end of file
diff --git a/robobin_main/src/install/testing/lib/python3.12/site-packages/testing/motor_control_node.py b/robobin_main/src/install/testing/lib/python3.12/site-packages/testing/motor_control_node.py
new file mode 100644
index 00000000..d882ed7d
--- /dev/null
+++ b/robobin_main/src/install/testing/lib/python3.12/site-packages/testing/motor_control_node.py
@@ -0,0 +1,78 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from geometry_msgs.msg import Twist
+from gpiozero import PWMOutputDevice
+from time import sleep
+
+class Motor:
+ def __init__(self, node, EnaA, In1A, In2A, EnaB, In1B, In2B):
+ self.node = node
+ self.pwmA = PWMOutputDevice(EnaA)
+ self.in1A = PWMOutputDevice(In1A)
+ self.in2A = PWMOutputDevice(In2A)
+ self.pwmB = PWMOutputDevice(EnaB)
+ self.in1B = PWMOutputDevice(In1B)
+ self.in2B = PWMOutputDevice(In2B)
+
+ def move(self, speed=0.0, turn=0.0):
+ speed = max(-1, min(1, speed))
+ turn = max(-1, min(1, turn))
+
+ leftSpeed = speed - turn
+ rightSpeed = speed + turn
+ '''
+ left_speed = self.desired_speed - (turn_rate * self.motor.wheel_base / 2)
+ right_speed = self.desired_speed + (turn_rate * self.motor.wheel_base / 2)
+ '''
+
+ leftSpeed = max(-1, min(1, leftSpeed))
+ rightSpeed = max(-1, min(1, rightSpeed))
+
+ self.pwmA.value = abs(leftSpeed)
+ self.in1A.value = leftSpeed > 0
+ self.in2A.value = leftSpeed <= 0
+
+ self.pwmB.value = abs(rightSpeed)
+ self.in1B.value = rightSpeed > 0
+ self.in2B.value = rightSpeed <= 0
+
+ self.node.get_logger().info(f"Lefts Motor: Speed={leftSpeed}, Right Motor: Speed={rightSpeed}")
+ #print("hi")
+
+
+ def stop(self):
+ self.pwmA.value = 0
+ self.pwmB.value = 0
+ self.node.get_logger().info("Motors have been stopped.")
+
+class MotorControlNode(Node):
+ def __init__(self):
+ super().__init__('motor_control_node')
+ #left 14,15,18 right 17,27,22
+ self.motor = Motor(self,14,15,18, 17, 22, 27)
+ self.subscription = self.create_subscription(
+ Twist,
+ 'cmd_vel',
+ self.cmd_vel_callback,
+ 10
+ )
+ self.subscription # prevent unused variable warning
+ self.get_logger().info('Motor control node has been started.')
+
+ def cmd_vel_callback(self, msg):
+ linear_x = msg.linear.x
+ angular_z = msg.angular.z
+ self.get_logger().info(f'Speed: {linear_x}, Turn Rate: {angular_z}')
+ self.motor.move(speed=linear_x, turn=angular_z)
+
+def main(args=None):
+ rclpy.init(args=args)
+ node = MotorControlNode()
+ rclpy.spin(node)
+ rclpy.shutdown()
+
+if __name__ == '__main__':
+ main()
+
+#colcon build --symlink-install
\ No newline at end of file
diff --git a/robobin_main/src/install/testing/lib/python3.12/site-packages/testing/route.py b/robobin_main/src/install/testing/lib/python3.12/site-packages/testing/route.py
new file mode 100644
index 00000000..b3d2bff6
--- /dev/null
+++ b/robobin_main/src/install/testing/lib/python3.12/site-packages/testing/route.py
@@ -0,0 +1,158 @@
+import rclpy
+from rclpy.node import Node
+from geometry_msgs.msg import Twist
+from nav_msgs.msg import Odometry
+from math import sqrt, pow, atan2, radians, sin, cos
+import time
+
+class MoveTurnNode(Node):
+ def __init__(self):
+ super().__init__('move_turn_node')
+
+ # Publisher for cmd_vel
+ self.cmd_vel_pub = self.create_publisher(Twist, '/cmd_vel', 10)
+
+ # Subscriber for odometry
+ self.create_subscription(Odometry, '/odom', self.odom_callback, 10)
+
+ # Robot position and orientation
+ self.x = 0.0
+ self.y = 0.0
+ self.yaw = 0.0
+
+ # Movement parameters[=]
+ self.distance_threshold = 0.01 # meters
+ self.angle_threshold = radians(0.1) # 3 degrees in radians
+ #self.linear_speed = 0.2 # m/s
+ #self.angular_speed = 0rr.25 # rad/s
+
+ self.get_logger().info('Move and Turn node started.')
+ self.execute_movement()
+
+ def odom_callback(self, msg):
+ self.x = msg.pose.pose.position.x
+ self.y = msg.pose.pose.position.y
+ self.get_logger().info(f'start_x :{self.x} , start_y :{self.y}')
+
+ # Extract yaw (orientation around Z axis)
+ _, _, self.yaw = self.quaternion_to_euler(
+ msg.pose.pose.orientation.x,
+ msg.pose.pose.orientation.y,
+ msg.pose.pose.orientation.z,
+ msg.pose.pose.orientation.w
+ )
+
+ def quaternion_to_euler(self, x, y, z, w):
+ t3 = 2.0 * (w * z + x * y)
+ t4 = 1.0 - 2.0 * (y * y + z * z)
+ yaw = atan2(t3, t4)
+
+ return 0.0, 0.0, yaw
+
+ def execute_movement(self):
+
+ # #self.move_forward(1)
+ # self.turn_angle(90)
+
+
+
+ # for i in range(10):
+ # self.get_logger().info(f'Starting loop {i + 1} of 5')
+ # # # Move forward 1 meter
+ # self.move_forward(1)
+ # self.turn_angle(180)
+
+ # # Turn 90 degrees
+ # self.stop_robot()
+
+ for i in range(4):
+ self.get_logger().info(f'Starting loop {i + 1} of 5')
+ # Move forward 1 meter
+ self.move_forward(1)
+ # Turn 90 degree
+ self.turn_angle(90)
+ self.stop_robot()
+
+
+ self.get_logger().info('Completed all loops.')
+ self.stop_robot()
+
+ def move_forward(self, distance):
+ start_x, start_y = self.x, self.y
+
+ kp = 1.0
+ max_speed = 0.2
+ min_speed = 0.05
+
+
+
+ while True:
+
+ current_distance = sqrt(pow(self.x - start_x, 2) + pow(self.y - start_y, 2))
+ distance_error = distance - current_distance
+
+ if distance_error <= self.distance_threshold:
+ self.stop_robot()
+ break
+
+ linear_speed = kp * distance_error
+ linear_speed = max(min_speed, min (max_speed, linear_speed))
+
+
+ twist = Twist()
+ twist.linear.x = linear_speed
+ self.cmd_vel_pub.publish(twist)
+
+ rclpy.spin_once(self)
+
+ def turn_angle(self, angle_degrees):
+ # Capture the starting yaw before turning
+ start_yaw = self.yaw
+
+ # Calculate the target yaw relative to the current orientation
+ target_yaw = start_yaw + radians(angle_degrees)
+ target_yaw = atan2(sin(target_yaw), cos(target_yaw))
+ kp = 1.0
+ max_speed = 0.8
+ min_speed = 0.05
+
+ while True:
+ yaw_error = target_yaw - self.yaw
+ yaw_error = atan2(sin(yaw_error), cos(yaw_error)) # Normalize angle
+
+ if abs(yaw_error) < self.angle_threshold:
+ self.stop_robot()
+ break
+
+ angular_speed = kp * abs(yaw_error)
+
+ angular_speed = max(min_speed, min (max_speed, angular_speed))
+
+ twist = Twist()
+ twist.angular.z = angular_speed if yaw_error > 0 else -angular_speed
+ self.cmd_vel_pub.publish(twist)
+
+ rclpy.spin_once(self)
+
+ def stop_robot(self):
+ twist = Twist()
+ twist.linear.x = 0.0
+ twist.angular.z = 0.0
+ self.cmd_vel_pub.publish(twist)
+ self.get_logger().info('Robot stopped.')
+ time.sleep(0.5)
+
+def main(args=None):
+ rclpy.init(args=args)
+ node = MoveTurnNode()
+
+ try:
+ rclpy.spin(node)
+ except KeyboardInterrupt:
+ pass
+ finally:
+ node.destroy_node()
+ rclpy.shutdown()
+
+if __name__ == '__main__':
+ main()
diff --git a/robobin_main/src/install/testing/lib/python3.12/site-packages/testing/route_filtered.py b/robobin_main/src/install/testing/lib/python3.12/site-packages/testing/route_filtered.py
new file mode 100644
index 00000000..e79cf08e
--- /dev/null
+++ b/robobin_main/src/install/testing/lib/python3.12/site-packages/testing/route_filtered.py
@@ -0,0 +1,191 @@
+import rclpy
+from rclpy.node import Node
+from geometry_msgs.msg import Twist
+from nav_msgs.msg import Odometry
+from math import sqrt, pow, atan2, radians, sin, cos, degrees
+import time
+
+class MoveTurnFilteredNode(Node):
+ def __init__(self):
+ super().__init__('move_turn_filtered_node')
+
+ # Publisher for cmd_vel
+ self.cmd_vel_pub = self.create_publisher(Twist, '/cmd_vel', 10)
+
+ # Subscriber for filtered odometry
+ self.create_subscription(Odometry, '/odometry/filtered', self.odom_callback, 10)
+
+ # Robot position and orientation
+ self.x = 0.0
+ self.y = 0.0
+ self.yaw = 0.0
+
+ # Movement parameters
+ self.distance_threshold = 0.01 # meters
+ self.angle_threshold = radians(0.1) # 0.1 degree in radians
+ self.linear_speed = 0.2 # m/s
+
+ self.get_logger().info('Move and Turn (Filtered) node started.')
+ self.execute_movement()
+
+ def odom_callback(self, msg):
+ self.x = msg.pose.pose.position.x
+ self.y = msg.pose.pose.position.y
+ self.get_logger().info(f'start_x :{self.x} , start_y :{self.y}')
+
+ # Extract yaw (orientation around Z axis)
+ _, _, self.yaw = self.quaternion_to_euler(
+ msg.pose.pose.orientation.x,
+ msg.pose.pose.orientation.y,
+ msg.pose.pose.orientation.z,
+ msg.pose.pose.orientation.w
+ )
+
+ self.get_logger().info(f'yaw :{degrees(self.yaw)} ')
+
+ def quaternion_to_euler(self, x, y, z, w):
+ t3 = 2.0 * (w * z + x * y)
+ t4 = 1.0 - 2.0 * (y * y + z * z)
+ yaw = atan2(t3, t4)
+
+ return 0.0, 0.0, yaw
+
+ def execute_movement(self):
+ # for i in range(1):
+ # self.get_logger().info(f'Starting loop {i + 1} of 5')
+ # self.move_forward(1)
+ # self.turn_angle(90)
+
+ for i in range(5):
+ self.get_logger().info(f'Starting loop {i + 1} of 5')
+ # # Move forward 1 meter
+ self.move_forward(1)
+ self.turn_to_angle(0)
+ # # Turn 90 degrees
+ self.stop_robot()
+ self.move_forward(1)
+ self.turn_to_angle(180)
+ # # Turn 90 degree
+ self.stop_robot()
+
+
+ # for i in range(4):
+ # self.get_logger().info(f'Starting loop {i + 1} of 5')
+ # # Move forward 1 meter
+ # self.move_forward(1)
+ # # Turn 90 degree
+ # self.turn_angle(90)
+ # self.stop_robot()
+
+ # self.move_forward(1)
+ # self.turn_to_angle(-90)
+ # self.stop_robot()
+
+ # self.move_forward(1)
+ # self.turn_to_angle(0)
+ # self.stop_robot()
+
+ # self.move_forward(1)
+ # self.turn_to_angle(90)
+ # self.stop_robot()
+
+ # self.move_forward(1)
+ # self.turn_to_angle(180)
+ # self.stop_robot()
+
+
+ self.get_logger().info('Completed all loops.')
+ self.stop_robot()
+
+ def move_forward(self, distance):
+ start_x, start_y = self.x, self.y
+ kp = 1.0
+ max_speed = 0.2
+ min_speed = 0.05
+ while True:
+
+ current_distance = sqrt(pow(self.x - start_x, 2) + pow(self.y - start_y, 2))
+ distance_error = distance - current_distance
+
+ if distance_error <= self.distance_threshold:
+ self.stop_robot()
+ break
+
+ linear_speed = kp * distance_error
+ linear_speed = max(min_speed, min (max_speed, linear_speed))
+
+
+ twist = Twist()
+ twist.linear.x = linear_speed
+ self.cmd_vel_pub.publish(twist)
+
+ rclpy.spin_once(self)
+
+ def turn_angle(self, angle_degrees):
+ target_yaw = self.yaw + radians(angle_degrees)
+ kp = 1.0
+ max_speed = 0.8
+ min_speed = 0.05
+
+ while True:
+ yaw_error = target_yaw - self.yaw
+ yaw_error = atan2(sin(yaw_error), cos(yaw_error)) # Normalize angle
+
+ if abs(yaw_error) < self.angle_threshold:
+ self.stop_robot()
+ break
+
+ angular_speed = kp * abs(yaw_error)
+ angular_speed = max(min_speed, min(max_speed, angular_speed))
+
+ twist = Twist()
+ twist.angular.z = angular_speed if yaw_error > 0 else -angular_speed
+ self.cmd_vel_pub.publish(twist)
+
+ rclpy.spin_once(self)
+
+ def turn_to_angle(self, target_angle_degrees):
+ target_angle_radian = radians(target_angle_degrees)
+ kp = 1.0
+ max_speed = 0.8
+ min_speed = 0.05
+
+ while True:
+ yaw_error = target_angle_radian - self.yaw
+ yaw_error = atan2(sin(yaw_error), cos(yaw_error)) # Normalize angle
+
+ if abs(yaw_error) < self.angle_threshold:
+ self.stop_robot()
+ break
+
+ angular_speed = kp * abs(yaw_error)
+ angular_speed = max(min_speed, min(max_speed, angular_speed))
+
+ twist = Twist()
+ twist.angular.z = angular_speed if yaw_error > 0 else -angular_speed
+ self.cmd_vel_pub.publish(twist)
+
+ rclpy.spin_once(self)
+
+ def stop_robot(self):
+ twist = Twist()
+ twist.linear.x = 0.0
+ twist.angular.z = 0.0
+ self.cmd_vel_pub.publish(twist)
+ self.get_logger().info('Robot stopped.')
+ time.sleep(0.2)
+
+def main(args=None):
+ rclpy.init(args=args)
+ node = MoveTurnFilteredNode()
+
+ try:
+ rclpy.spin(node)
+ except KeyboardInterrupt:
+ pass
+ finally:
+ node.destroy_node()
+ rclpy.shutdown()
+
+if __name__ == '__main__':
+ main()
diff --git a/robobin_main/src/install/testing/lib/testing/test_control_feedback b/robobin_main/src/install/testing/lib/testing/test_control_feedback
new file mode 100755
index 00000000..d153d66e
--- /dev/null
+++ b/robobin_main/src/install/testing/lib/testing/test_control_feedback
@@ -0,0 +1,33 @@
+#!/usr/bin/python3
+# EASY-INSTALL-ENTRY-SCRIPT: 'testing==0.0.0','console_scripts','test_control_feedback'
+import re
+import sys
+
+# for compatibility with easy_install; see #2198
+__requires__ = 'testing==0.0.0'
+
+try:
+ from importlib.metadata import distribution
+except ImportError:
+ try:
+ from importlib_metadata import distribution
+ except ImportError:
+ from pkg_resources import load_entry_point
+
+
+def importlib_load_entry_point(spec, group, name):
+ dist_name, _, _ = spec.partition('==')
+ matches = (
+ entry_point
+ for entry_point in distribution(dist_name).entry_points
+ if entry_point.group == group and entry_point.name == name
+ )
+ return next(matches).load()
+
+
+globals().setdefault('load_entry_point', importlib_load_entry_point)
+
+
+if __name__ == '__main__':
+ sys.argv[0] = re.sub(r'(-script\.pyw?|\.exe)?$', '', sys.argv[0])
+ sys.exit(load_entry_point('testing==0.0.0', 'console_scripts', 'test_control_feedback')())
diff --git a/robobin_main/src/install/testing/lib/testing/test_encoder_node b/robobin_main/src/install/testing/lib/testing/test_encoder_node
new file mode 100755
index 00000000..a39f69d5
--- /dev/null
+++ b/robobin_main/src/install/testing/lib/testing/test_encoder_node
@@ -0,0 +1,33 @@
+#!/usr/bin/python3
+# EASY-INSTALL-ENTRY-SCRIPT: 'testing==0.0.0','console_scripts','test_encoder_node'
+import re
+import sys
+
+# for compatibility with easy_install; see #2198
+__requires__ = 'testing==0.0.0'
+
+try:
+ from importlib.metadata import distribution
+except ImportError:
+ try:
+ from importlib_metadata import distribution
+ except ImportError:
+ from pkg_resources import load_entry_point
+
+
+def importlib_load_entry_point(spec, group, name):
+ dist_name, _, _ = spec.partition('==')
+ matches = (
+ entry_point
+ for entry_point in distribution(dist_name).entry_points
+ if entry_point.group == group and entry_point.name == name
+ )
+ return next(matches).load()
+
+
+globals().setdefault('load_entry_point', importlib_load_entry_point)
+
+
+if __name__ == '__main__':
+ sys.argv[0] = re.sub(r'(-script\.pyw?|\.exe)?$', '', sys.argv[0])
+ sys.exit(load_entry_point('testing==0.0.0', 'console_scripts', 'test_encoder_node')())
diff --git a/robobin_main/src/install/testing/lib/testing/test_imu_node b/robobin_main/src/install/testing/lib/testing/test_imu_node
new file mode 100755
index 00000000..fa0e91d8
--- /dev/null
+++ b/robobin_main/src/install/testing/lib/testing/test_imu_node
@@ -0,0 +1,33 @@
+#!/usr/bin/python3
+# EASY-INSTALL-ENTRY-SCRIPT: 'testing==0.0.0','console_scripts','test_imu_node'
+import re
+import sys
+
+# for compatibility with easy_install; see #2198
+__requires__ = 'testing==0.0.0'
+
+try:
+ from importlib.metadata import distribution
+except ImportError:
+ try:
+ from importlib_metadata import distribution
+ except ImportError:
+ from pkg_resources import load_entry_point
+
+
+def importlib_load_entry_point(spec, group, name):
+ dist_name, _, _ = spec.partition('==')
+ matches = (
+ entry_point
+ for entry_point in distribution(dist_name).entry_points
+ if entry_point.group == group and entry_point.name == name
+ )
+ return next(matches).load()
+
+
+globals().setdefault('load_entry_point', importlib_load_entry_point)
+
+
+if __name__ == '__main__':
+ sys.argv[0] = re.sub(r'(-script\.pyw?|\.exe)?$', '', sys.argv[0])
+ sys.exit(load_entry_point('testing==0.0.0', 'console_scripts', 'test_imu_node')())
diff --git a/robobin_main/src/install/testing/lib/testing/test_motor_node b/robobin_main/src/install/testing/lib/testing/test_motor_node
new file mode 100755
index 00000000..611564bd
--- /dev/null
+++ b/robobin_main/src/install/testing/lib/testing/test_motor_node
@@ -0,0 +1,33 @@
+#!/usr/bin/python3
+# EASY-INSTALL-ENTRY-SCRIPT: 'testing==0.0.0','console_scripts','test_motor_node'
+import re
+import sys
+
+# for compatibility with easy_install; see #2198
+__requires__ = 'testing==0.0.0'
+
+try:
+ from importlib.metadata import distribution
+except ImportError:
+ try:
+ from importlib_metadata import distribution
+ except ImportError:
+ from pkg_resources import load_entry_point
+
+
+def importlib_load_entry_point(spec, group, name):
+ dist_name, _, _ = spec.partition('==')
+ matches = (
+ entry_point
+ for entry_point in distribution(dist_name).entry_points
+ if entry_point.group == group and entry_point.name == name
+ )
+ return next(matches).load()
+
+
+globals().setdefault('load_entry_point', importlib_load_entry_point)
+
+
+if __name__ == '__main__':
+ sys.argv[0] = re.sub(r'(-script\.pyw?|\.exe)?$', '', sys.argv[0])
+ sys.exit(load_entry_point('testing==0.0.0', 'console_scripts', 'test_motor_node')())
diff --git a/robobin_main/src/install/testing/lib/testing/test_route b/robobin_main/src/install/testing/lib/testing/test_route
new file mode 100755
index 00000000..741b1b0e
--- /dev/null
+++ b/robobin_main/src/install/testing/lib/testing/test_route
@@ -0,0 +1,33 @@
+#!/usr/bin/python3
+# EASY-INSTALL-ENTRY-SCRIPT: 'testing==0.0.0','console_scripts','test_route'
+import re
+import sys
+
+# for compatibility with easy_install; see #2198
+__requires__ = 'testing==0.0.0'
+
+try:
+ from importlib.metadata import distribution
+except ImportError:
+ try:
+ from importlib_metadata import distribution
+ except ImportError:
+ from pkg_resources import load_entry_point
+
+
+def importlib_load_entry_point(spec, group, name):
+ dist_name, _, _ = spec.partition('==')
+ matches = (
+ entry_point
+ for entry_point in distribution(dist_name).entry_points
+ if entry_point.group == group and entry_point.name == name
+ )
+ return next(matches).load()
+
+
+globals().setdefault('load_entry_point', importlib_load_entry_point)
+
+
+if __name__ == '__main__':
+ sys.argv[0] = re.sub(r'(-script\.pyw?|\.exe)?$', '', sys.argv[0])
+ sys.exit(load_entry_point('testing==0.0.0', 'console_scripts', 'test_route')())
diff --git a/robobin_main/src/install/testing/lib/testing/test_route_filter b/robobin_main/src/install/testing/lib/testing/test_route_filter
new file mode 100755
index 00000000..544a03cc
--- /dev/null
+++ b/robobin_main/src/install/testing/lib/testing/test_route_filter
@@ -0,0 +1,33 @@
+#!/usr/bin/python3
+# EASY-INSTALL-ENTRY-SCRIPT: 'testing==0.0.0','console_scripts','test_route_filter'
+import re
+import sys
+
+# for compatibility with easy_install; see #2198
+__requires__ = 'testing==0.0.0'
+
+try:
+ from importlib.metadata import distribution
+except ImportError:
+ try:
+ from importlib_metadata import distribution
+ except ImportError:
+ from pkg_resources import load_entry_point
+
+
+def importlib_load_entry_point(spec, group, name):
+ dist_name, _, _ = spec.partition('==')
+ matches = (
+ entry_point
+ for entry_point in distribution(dist_name).entry_points
+ if entry_point.group == group and entry_point.name == name
+ )
+ return next(matches).load()
+
+
+globals().setdefault('load_entry_point', importlib_load_entry_point)
+
+
+if __name__ == '__main__':
+ sys.argv[0] = re.sub(r'(-script\.pyw?|\.exe)?$', '', sys.argv[0])
+ sys.exit(load_entry_point('testing==0.0.0', 'console_scripts', 'test_route_filter')())
diff --git a/robobin_main/src/install/testing/share/ament_index/resource_index/packages/testing b/robobin_main/src/install/testing/share/ament_index/resource_index/packages/testing
new file mode 100644
index 00000000..e69de29b
diff --git a/robobin_main/src/install/testing/share/colcon-core/packages/testing b/robobin_main/src/install/testing/share/colcon-core/packages/testing
new file mode 100644
index 00000000..b26d1750
--- /dev/null
+++ b/robobin_main/src/install/testing/share/colcon-core/packages/testing
@@ -0,0 +1 @@
+geometry_msgs:python3-gpiozero:python3-smbus:rclpy:sensor_msgs
\ No newline at end of file
diff --git a/robobin_main/src/install/testing/share/testing/hook/ament_prefix_path.dsv b/robobin_main/src/install/testing/share/testing/hook/ament_prefix_path.dsv
new file mode 100644
index 00000000..79d4c95b
--- /dev/null
+++ b/robobin_main/src/install/testing/share/testing/hook/ament_prefix_path.dsv
@@ -0,0 +1 @@
+prepend-non-duplicate;AMENT_PREFIX_PATH;
diff --git a/robobin_main/src/install/testing/share/testing/hook/ament_prefix_path.ps1 b/robobin_main/src/install/testing/share/testing/hook/ament_prefix_path.ps1
new file mode 100644
index 00000000..26b99975
--- /dev/null
+++ b/robobin_main/src/install/testing/share/testing/hook/ament_prefix_path.ps1
@@ -0,0 +1,3 @@
+# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em
+
+colcon_prepend_unique_value AMENT_PREFIX_PATH "$env:COLCON_CURRENT_PREFIX"
diff --git a/robobin_main/src/install/testing/share/testing/hook/ament_prefix_path.sh b/robobin_main/src/install/testing/share/testing/hook/ament_prefix_path.sh
new file mode 100644
index 00000000..f3041f68
--- /dev/null
+++ b/robobin_main/src/install/testing/share/testing/hook/ament_prefix_path.sh
@@ -0,0 +1,3 @@
+# generated from colcon_core/shell/template/hook_prepend_value.sh.em
+
+_colcon_prepend_unique_value AMENT_PREFIX_PATH "$COLCON_CURRENT_PREFIX"
diff --git a/robobin_main/src/install/testing/share/testing/hook/pythonpath.dsv b/robobin_main/src/install/testing/share/testing/hook/pythonpath.dsv
new file mode 100644
index 00000000..c2ddcdb7
--- /dev/null
+++ b/robobin_main/src/install/testing/share/testing/hook/pythonpath.dsv
@@ -0,0 +1 @@
+prepend-non-duplicate;PYTHONPATH;lib/python3.12/site-packages
diff --git a/robobin_main/src/install/testing/share/testing/hook/pythonpath.ps1 b/robobin_main/src/install/testing/share/testing/hook/pythonpath.ps1
new file mode 100644
index 00000000..bdd69aff
--- /dev/null
+++ b/robobin_main/src/install/testing/share/testing/hook/pythonpath.ps1
@@ -0,0 +1,3 @@
+# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em
+
+colcon_prepend_unique_value PYTHONPATH "$env:COLCON_CURRENT_PREFIX\lib/python3.12/site-packages"
diff --git a/robobin_main/src/install/testing/share/testing/hook/pythonpath.sh b/robobin_main/src/install/testing/share/testing/hook/pythonpath.sh
new file mode 100644
index 00000000..45388fea
--- /dev/null
+++ b/robobin_main/src/install/testing/share/testing/hook/pythonpath.sh
@@ -0,0 +1,3 @@
+# generated from colcon_core/shell/template/hook_prepend_value.sh.em
+
+_colcon_prepend_unique_value PYTHONPATH "$COLCON_CURRENT_PREFIX/lib/python3.12/site-packages"
diff --git a/robobin_main/src/install/testing/share/testing/package.bash b/robobin_main/src/install/testing/share/testing/package.bash
new file mode 100644
index 00000000..9a5ab8cc
--- /dev/null
+++ b/robobin_main/src/install/testing/share/testing/package.bash
@@ -0,0 +1,31 @@
+# generated from colcon_bash/shell/template/package.bash.em
+
+# This script extends the environment for this package.
+
+# a bash script is able to determine its own path if necessary
+if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+ # the prefix is two levels up from the package specific share directory
+ _colcon_package_bash_COLCON_CURRENT_PREFIX="$(builtin cd "`dirname "${BASH_SOURCE[0]}"`/../.." > /dev/null && pwd)"
+else
+ _colcon_package_bash_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+fi
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+# additional arguments: arguments to the script
+_colcon_package_bash_source_script() {
+ if [ -f "$1" ]; then
+ if [ -n "$COLCON_TRACE" ]; then
+ echo "# . \"$1\""
+ fi
+ . "$@"
+ else
+ echo "not found: \"$1\"" 1>&2
+ fi
+}
+
+# source sh script of this package
+_colcon_package_bash_source_script "$_colcon_package_bash_COLCON_CURRENT_PREFIX/share/testing/package.sh"
+
+unset _colcon_package_bash_source_script
+unset _colcon_package_bash_COLCON_CURRENT_PREFIX
diff --git a/robobin_main/src/install/testing/share/testing/package.dsv b/robobin_main/src/install/testing/share/testing/package.dsv
new file mode 100644
index 00000000..db1d5d80
--- /dev/null
+++ b/robobin_main/src/install/testing/share/testing/package.dsv
@@ -0,0 +1,6 @@
+source;share/testing/hook/pythonpath.ps1
+source;share/testing/hook/pythonpath.dsv
+source;share/testing/hook/pythonpath.sh
+source;share/testing/hook/ament_prefix_path.ps1
+source;share/testing/hook/ament_prefix_path.dsv
+source;share/testing/hook/ament_prefix_path.sh
diff --git a/robobin_main/src/install/testing/share/testing/package.ps1 b/robobin_main/src/install/testing/share/testing/package.ps1
new file mode 100644
index 00000000..993cddf3
--- /dev/null
+++ b/robobin_main/src/install/testing/share/testing/package.ps1
@@ -0,0 +1,116 @@
+# generated from colcon_powershell/shell/template/package.ps1.em
+
+# function to append a value to a variable
+# which uses colons as separators
+# duplicates as well as leading separators are avoided
+# first argument: the name of the result variable
+# second argument: the value to be prepended
+function colcon_append_unique_value {
+ param (
+ $_listname,
+ $_value
+ )
+
+ # get values from variable
+ if (Test-Path Env:$_listname) {
+ $_values=(Get-Item env:$_listname).Value
+ } else {
+ $_values=""
+ }
+ $_duplicate=""
+ # start with no values
+ $_all_values=""
+ # iterate over existing values in the variable
+ if ($_values) {
+ $_values.Split(";") | ForEach {
+ # not an empty string
+ if ($_) {
+ # not a duplicate of _value
+ if ($_ -eq $_value) {
+ $_duplicate="1"
+ }
+ if ($_all_values) {
+ $_all_values="${_all_values};$_"
+ } else {
+ $_all_values="$_"
+ }
+ }
+ }
+ }
+ # append only non-duplicates
+ if (!$_duplicate) {
+ # avoid leading separator
+ if ($_all_values) {
+ $_all_values="${_all_values};${_value}"
+ } else {
+ $_all_values="${_value}"
+ }
+ }
+
+ # export the updated variable
+ Set-Item env:\$_listname -Value "$_all_values"
+}
+
+# function to prepend a value to a variable
+# which uses colons as separators
+# duplicates as well as trailing separators are avoided
+# first argument: the name of the result variable
+# second argument: the value to be prepended
+function colcon_prepend_unique_value {
+ param (
+ $_listname,
+ $_value
+ )
+
+ # get values from variable
+ if (Test-Path Env:$_listname) {
+ $_values=(Get-Item env:$_listname).Value
+ } else {
+ $_values=""
+ }
+ # start with the new value
+ $_all_values="$_value"
+ # iterate over existing values in the variable
+ if ($_values) {
+ $_values.Split(";") | ForEach {
+ # not an empty string
+ if ($_) {
+ # not a duplicate of _value
+ if ($_ -ne $_value) {
+ # keep non-duplicate values
+ $_all_values="${_all_values};$_"
+ }
+ }
+ }
+ }
+ # export the updated variable
+ Set-Item env:\$_listname -Value "$_all_values"
+}
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+# additional arguments: arguments to the script
+function colcon_package_source_powershell_script {
+ param (
+ $_colcon_package_source_powershell_script
+ )
+ # source script with conditional trace output
+ if (Test-Path $_colcon_package_source_powershell_script) {
+ if ($env:COLCON_TRACE) {
+ echo ". '$_colcon_package_source_powershell_script'"
+ }
+ . "$_colcon_package_source_powershell_script"
+ } else {
+ Write-Error "not found: '$_colcon_package_source_powershell_script'"
+ }
+}
+
+
+# a powershell script is able to determine its own path
+# the prefix is two levels up from the package specific share directory
+$env:COLCON_CURRENT_PREFIX=(Get-Item $PSCommandPath).Directory.Parent.Parent.FullName
+
+colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX\share/testing/hook/pythonpath.ps1"
+colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX\share/testing/hook/ament_prefix_path.ps1"
+
+Remove-Item Env:\COLCON_CURRENT_PREFIX
diff --git a/robobin_main/src/install/testing/share/testing/package.sh b/robobin_main/src/install/testing/share/testing/package.sh
new file mode 100644
index 00000000..33a396ba
--- /dev/null
+++ b/robobin_main/src/install/testing/share/testing/package.sh
@@ -0,0 +1,87 @@
+# generated from colcon_core/shell/template/package.sh.em
+
+# This script extends the environment for this package.
+
+# function to prepend a value to a variable
+# which uses colons as separators
+# duplicates as well as trailing separators are avoided
+# first argument: the name of the result variable
+# second argument: the value to be prepended
+_colcon_prepend_unique_value() {
+ # arguments
+ _listname="$1"
+ _value="$2"
+
+ # get values from variable
+ eval _values=\"\$$_listname\"
+ # backup the field separator
+ _colcon_prepend_unique_value_IFS=$IFS
+ IFS=":"
+ # start with the new value
+ _all_values="$_value"
+ # workaround SH_WORD_SPLIT not being set in zsh
+ if [ "$(command -v colcon_zsh_convert_to_array)" ]; then
+ colcon_zsh_convert_to_array _values
+ fi
+ # iterate over existing values in the variable
+ for _item in $_values; do
+ # ignore empty strings
+ if [ -z "$_item" ]; then
+ continue
+ fi
+ # ignore duplicates of _value
+ if [ "$_item" = "$_value" ]; then
+ continue
+ fi
+ # keep non-duplicate values
+ _all_values="$_all_values:$_item"
+ done
+ unset _item
+ # restore the field separator
+ IFS=$_colcon_prepend_unique_value_IFS
+ unset _colcon_prepend_unique_value_IFS
+ # export the updated variable
+ eval export $_listname=\"$_all_values\"
+ unset _all_values
+ unset _values
+
+ unset _value
+ unset _listname
+}
+
+# since a plain shell script can't determine its own path when being sourced
+# either use the provided COLCON_CURRENT_PREFIX
+# or fall back to the build time prefix (if it exists)
+_colcon_package_sh_COLCON_CURRENT_PREFIX="/home/robobin/robobin/robobin_main/src/install/testing"
+if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+ if [ ! -d "$_colcon_package_sh_COLCON_CURRENT_PREFIX" ]; then
+ echo "The build time path \"$_colcon_package_sh_COLCON_CURRENT_PREFIX\" doesn't exist. Either source a script for a different shell or set the environment variable \"COLCON_CURRENT_PREFIX\" explicitly." 1>&2
+ unset _colcon_package_sh_COLCON_CURRENT_PREFIX
+ return 1
+ fi
+ COLCON_CURRENT_PREFIX="$_colcon_package_sh_COLCON_CURRENT_PREFIX"
+fi
+unset _colcon_package_sh_COLCON_CURRENT_PREFIX
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+# additional arguments: arguments to the script
+_colcon_package_sh_source_script() {
+ if [ -f "$1" ]; then
+ if [ -n "$COLCON_TRACE" ]; then
+ echo "# . \"$1\""
+ fi
+ . "$@"
+ else
+ echo "not found: \"$1\"" 1>&2
+ fi
+}
+
+# source sh hooks
+_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/testing/hook/pythonpath.sh"
+_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/testing/hook/ament_prefix_path.sh"
+
+unset _colcon_package_sh_source_script
+unset COLCON_CURRENT_PREFIX
+
+# do not unset _colcon_prepend_unique_value since it might be used by non-primary shell hooks
diff --git a/robobin_main/src/install/testing/share/testing/package.xml b/robobin_main/src/install/testing/share/testing/package.xml
new file mode 100644
index 00000000..a42480f1
--- /dev/null
+++ b/robobin_main/src/install/testing/share/testing/package.xml
@@ -0,0 +1,25 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+ <name>testing</name>
+ <version>0.0.0</version>
+ <description>TODO: Package description</description>
+ <maintainer email="robobin@todo.todo">robobin</maintainer>
+ <license>TODO: License declaration</license>
+
+ <depend>rclpy</depend>
+ <depend>sensor_msgs</depend>
+ <depend>geometry_msgs</depend>
+
+ <exec_depend>python3-smbus</exec_depend>
+ <exec_depend>python3-gpiozero</exec_depend>
+
+ <test_depend>ament_copyright</test_depend>
+ <test_depend>ament_flake8</test_depend>
+ <test_depend>ament_pep257</test_depend>
+ <test_depend>python3-pytest</test_depend>
+
+ <export>
+ <build_type>ament_python</build_type>
+ </export>
+</package>
diff --git a/robobin_main/src/install/testing/share/testing/package.zsh b/robobin_main/src/install/testing/share/testing/package.zsh
new file mode 100644
index 00000000..4f692051
--- /dev/null
+++ b/robobin_main/src/install/testing/share/testing/package.zsh
@@ -0,0 +1,42 @@
+# generated from colcon_zsh/shell/template/package.zsh.em
+
+# This script extends the environment for this package.
+
+# a zsh script is able to determine its own path if necessary
+if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+ # the prefix is two levels up from the package specific share directory
+ _colcon_package_zsh_COLCON_CURRENT_PREFIX="$(builtin cd -q "`dirname "${(%):-%N}"`/../.." > /dev/null && pwd)"
+else
+ _colcon_package_zsh_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+fi
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+# additional arguments: arguments to the script
+_colcon_package_zsh_source_script() {
+ if [ -f "$1" ]; then
+ if [ -n "$COLCON_TRACE" ]; then
+ echo "# . \"$1\""
+ fi
+ . "$@"
+ else
+ echo "not found: \"$1\"" 1>&2
+ fi
+}
+
+# function to convert array-like strings into arrays
+# to workaround SH_WORD_SPLIT not being set
+colcon_zsh_convert_to_array() {
+ local _listname=$1
+ local _dollar="$"
+ local _split="{="
+ local _to_array="(\"$_dollar$_split$_listname}\")"
+ eval $_listname=$_to_array
+}
+
+# source sh script of this package
+_colcon_package_zsh_source_script "$_colcon_package_zsh_COLCON_CURRENT_PREFIX/share/testing/package.sh"
+unset convert_zsh_to_array
+
+unset _colcon_package_zsh_source_script
+unset _colcon_package_zsh_COLCON_CURRENT_PREFIX
diff --git a/robobin_main/src/log/COLCON_IGNORE b/robobin_main/src/log/COLCON_IGNORE
new file mode 100644
index 00000000..e69de29b
diff --git a/robobin_main/src/log/build_2024-12-16_13-49-41/events.log b/robobin_main/src/log/build_2024-12-16_13-49-41/events.log
new file mode 100644
index 00000000..7c305930
--- /dev/null
+++ b/robobin_main/src/log/build_2024-12-16_13-49-41/events.log
@@ -0,0 +1,234 @@
+[0.000000] (-) TimerEvent: {}
+[0.002149] (odometry_publisher) JobQueued: {'identifier': 'odometry_publisher', 'dependencies': OrderedDict()}
+[0.002413] (robot_description) JobQueued: {'identifier': 'robot_description', 'dependencies': OrderedDict()}
+[0.002455] (robot_localization_ekf) JobQueued: {'identifier': 'robot_localization_ekf', 'dependencies': OrderedDict()}
+[0.002486] (testing) JobQueued: {'identifier': 'testing', 'dependencies': OrderedDict()}
+[0.002513] (odometry_publisher) JobStarted: {'identifier': 'odometry_publisher'}
+[0.029326] (robot_description) JobStarted: {'identifier': 'robot_description'}
+[0.039302] (robot_localization_ekf) JobStarted: {'identifier': 'robot_localization_ekf'}
+[0.056162] (testing) JobStarted: {'identifier': 'testing'}
+[0.099677] (-) TimerEvent: {}
+[0.200152] (-) TimerEvent: {}
+[0.300635] (-) TimerEvent: {}
+[0.401089] (-) TimerEvent: {}
+[0.501542] (-) TimerEvent: {}
+[0.601981] (-) TimerEvent: {}
+[0.702404] (-) TimerEvent: {}
+[0.802748] (-) TimerEvent: {}
+[0.903193] (-) TimerEvent: {}
+[1.003534] (-) TimerEvent: {}
+[1.103929] (-) TimerEvent: {}
+[1.204357] (-) TimerEvent: {}
+[1.304699] (-) TimerEvent: {}
+[1.405133] (-) TimerEvent: {}
+[1.507229] (-) TimerEvent: {}
+[1.607743] (-) TimerEvent: {}
+[1.708283] (-) TimerEvent: {}
+[1.808682] (-) TimerEvent: {}
+[1.912387] (-) TimerEvent: {}
+[2.012744] (-) TimerEvent: {}
+[2.113110] (-) TimerEvent: {}
+[2.213456] (-) TimerEvent: {}
+[2.313798] (-) TimerEvent: {}
+[2.414199] (-) TimerEvent: {}
+[2.514690] (-) TimerEvent: {}
+[2.615346] (-) TimerEvent: {}
+[2.718143] (-) TimerEvent: {}
+[2.818527] (-) TimerEvent: {}
+[2.919266] (-) TimerEvent: {}
+[3.020106] (-) TimerEvent: {}
+[3.123541] (-) TimerEvent: {}
+[3.224291] (-) TimerEvent: {}
+[3.255248] (robot_localization_ekf) Command: {'cmd': ['/usr/bin/python3', '-W', 'ignore:setup.py install is deprecated', '-W', 'ignore:easy_install command is deprecated', 'setup.py', 'egg_info', '--egg-base', '../build/robot_localization_ekf', 'build', '--build-base', '/home/robobin/robobin/robobin_main/src/build/robot_localization_ekf/build', 'install', '--record', '/home/robobin/robobin/robobin_main/src/build/robot_localization_ekf/install.log', '--single-version-externally-managed', 'install_data'], 'cwd': '/home/robobin/robobin/robobin_main/src/robot_localization_ekf', 'env': {'LESSOPEN': '| /usr/bin/lesspipe %s', 'USER': 'robobin', 'GZ_CONFIG_PATH': '/opt/ros/jazzy/opt/sdformat_vendor/share/gz', 'XDG_SESSION_TYPE': 'wayland', 'SHLVL': '1', 'LD_LIBRARY_PATH': '/opt/ros/jazzy/opt/sdformat_vendor/lib:/opt/ros/jazzy/opt/rviz_ogre_vendor/lib:/opt/ros/jazzy/lib/aarch64-linux-gnu:/opt/ros/jazzy/opt/gz_math_vendor/lib:/opt/ros/jazzy/opt/gz_utils_vendor/lib:/opt/ros/jazzy/opt/gz_tools_vendor/lib:/opt/ros/jazzy/opt/gz_cmake_vendor/lib:/opt/ros/jazzy/lib', 'HOME': '/home/robobin', 'DESKTOP_SESSION': 'ubuntu', 'ROS_PYTHON_VERSION': '3', 'GNOME_SHELL_SESSION_MODE': 'ubuntu', 'GTK_MODULES': 'gail:atk-bridge', 'DBUS_STARTER_BUS_TYPE': 'session', 'SYSTEMD_EXEC_PID': '1590', 'GSM_SKIP_SSH_AGENT_WORKAROUND': 'true', 'DBUS_SESSION_BUS_ADDRESS': 'unix:path=/run/user/1002/bus,guid=8a156d7e5676347bfc3ac19e67602fa1', 'COLORTERM': 'truecolor', 'DEBUGINFOD_URLS': 'https://debuginfod.ubuntu.com', 'IM_CONFIG_PHASE': '1', 'WAYLAND_DISPLAY': 'wayland-0', 'COLCON_PREFIX_PATH': '/home/robobin/Robobin_Project/ros2/robobin_main/install', 'ROS_DISTRO': 'jazzy', 'LOGNAME': 'robobin', '_': '/usr/bin/colcon', 'ROS_VERSION': '2', 'MEMORY_PRESSURE_WATCH': '/sys/fs/cgroup/user.slice/user-1002.slice/user@1002.service/app.slice/app-gnome\\x2dsession\\x2dmanager.slice/gnome-session-manager@ubuntu.service/memory.pressure', 'XDG_SESSION_CLASS': 'user', 'USERNAME': 'robobin', 'TERM': 'xterm-256color', 'GNOME_DESKTOP_SESSION_ID': 'this-is-deprecated', 'PATH': '/opt/ros/jazzy/opt/gz_tools_vendor/bin:/opt/ros/jazzy/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/snap/bin', 'SESSION_MANAGER': 'local/robobin-desktop:@/tmp/.ICE-unix/1590,unix/robobin-desktop:/tmp/.ICE-unix/1590', 'XDG_MENU_PREFIX': 'gnome-', 'GNOME_TERMINAL_SCREEN': '/org/gnome/Terminal/screen/e7eea422_a4a8_4e50_8e0b_1837288d8a14', 'GNOME_SETUP_DISPLAY': ':1', 'XDG_RUNTIME_DIR': '/run/user/1002', 'DISPLAY': ':0', 'LANG': 'en_US.UTF-8', 'XDG_CURRENT_DESKTOP': 'ubuntu:GNOME', 'XMODIFIERS': '@im=ibus', 'XDG_SESSION_DESKTOP': 'ubuntu', 'XAUTHORITY': '/run/user/1002/.mutter-Xwaylandauth.W9TAZ2', 'LS_COLORS': 'rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=00:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.zst=01;31:*.tzst=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.avif=01;35:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.webp=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:*~=00;90:*#=00;90:*.bak=00;90:*.crdownload=00;90:*.dpkg-dist=00;90:*.dpkg-new=00;90:*.dpkg-old=00;90:*.dpkg-tmp=00;90:*.old=00;90:*.orig=00;90:*.part=00;90:*.rej=00;90:*.rpmnew=00;90:*.rpmorig=00;90:*.rpmsave=00;90:*.swp=00;90:*.tmp=00;90:*.ucf-dist=00;90:*.ucf-new=00;90:*.ucf-old=00;90:', 'GNOME_TERMINAL_SERVICE': ':1.104', 'SSH_AUTH_SOCK': '/run/user/1002/keyring/ssh', 'ROS_DOMAIN_ID': '3', 'AMENT_PREFIX_PATH': '/home/robobin/Robobin_Project/ros2/robobin_main/install/testing:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_localization_ekf:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_description:/home/robobin/Robobin_Project/ros2/robobin_main/install/odometry_publisher:/opt/ros/jazzy', 'SHELL': '/bin/bash', 'QT_ACCESSIBILITY': '1', 'GDMSESSION': 'ubuntu', 'LESSCLOSE': '/usr/bin/lesspipe %s %s', 'ROS_AUTOMATIC_DISCOVERY_RANGE': 'SUBNET', 'QT_IM_MODULE': 'ibus', 'PWD': '/home/robobin/robobin/robobin_main/src/build/robot_localization_ekf', 'LC_ALL': 'en_US.UTF-8', 'XDG_CONFIG_DIRS': '/etc/xdg/xdg-ubuntu:/etc/xdg', 'DBUS_STARTER_ADDRESS': 'unix:path=/run/user/1002/bus,guid=8a156d7e5676347bfc3ac19e67602fa1', 'XDG_DATA_DIRS': '/usr/share/ubuntu:/usr/share/gnome:/usr/local/share/:/usr/share/:/var/lib/snapd/desktop', 'PYTHONPATH': '/home/robobin/robobin/robobin_main/src/build/robot_localization_ekf/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/lib/python3.12/site-packages:/home/robobin/Robobin_Project/ros2/robobin_main/build/testing:/home/robobin/Robobin_Project/ros2/robobin_main/install/testing/lib/python3.12/site-packages:/home/robobin/Robobin_Project/ros2/robobin_main/build/robot_localization_ekf:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_localization_ekf/lib/python3.12/site-packages:/home/robobin/Robobin_Project/ros2/robobin_main/build/robot_description:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_description/lib/python3.12/site-packages:/home/robobin/Robobin_Project/ros2/robobin_main/build/odometry_publisher:/home/robobin/Robobin_Project/ros2/robobin_main/install/odometry_publisher/lib/python3.12/site-packages:/opt/ros/jazzy/lib/python3.12/site-packages', 'COLCON': '1', 'MEMORY_PRESSURE_WRITE': 'c29tZSAyMDAwMDAgMjAwMDAwMAA=', 'VTE_VERSION': '7600', 'CMAKE_PREFIX_PATH': '/opt/ros/jazzy/opt/sdformat_vendor:/opt/ros/jazzy/opt/gz_math_vendor:/opt/ros/jazzy/opt/gz_utils_vendor:/opt/ros/jazzy/opt/gz_tools_vendor:/opt/ros/jazzy/opt/gz_cmake_vendor'}, 'shell': False}
+[3.265720] (odometry_publisher) Command: {'cmd': ['/usr/bin/python3', '-W', 'ignore:setup.py install is deprecated', '-W', 'ignore:easy_install command is deprecated', 'setup.py', 'egg_info', '--egg-base', '../build/odometry_publisher', 'build', '--build-base', '/home/robobin/robobin/robobin_main/src/build/odometry_publisher/build', 'install', '--record', '/home/robobin/robobin/robobin_main/src/build/odometry_publisher/install.log', '--single-version-externally-managed', 'install_data'], 'cwd': '/home/robobin/robobin/robobin_main/src/odometry_publisher', 'env': {'LESSOPEN': '| /usr/bin/lesspipe %s', 'USER': 'robobin', 'GZ_CONFIG_PATH': '/opt/ros/jazzy/opt/sdformat_vendor/share/gz', 'XDG_SESSION_TYPE': 'wayland', 'SHLVL': '1', 'LD_LIBRARY_PATH': '/opt/ros/jazzy/opt/sdformat_vendor/lib:/opt/ros/jazzy/opt/rviz_ogre_vendor/lib:/opt/ros/jazzy/lib/aarch64-linux-gnu:/opt/ros/jazzy/opt/gz_math_vendor/lib:/opt/ros/jazzy/opt/gz_utils_vendor/lib:/opt/ros/jazzy/opt/gz_tools_vendor/lib:/opt/ros/jazzy/opt/gz_cmake_vendor/lib:/opt/ros/jazzy/lib', 'HOME': '/home/robobin', 'DESKTOP_SESSION': 'ubuntu', 'ROS_PYTHON_VERSION': '3', 'GNOME_SHELL_SESSION_MODE': 'ubuntu', 'GTK_MODULES': 'gail:atk-bridge', 'DBUS_STARTER_BUS_TYPE': 'session', 'SYSTEMD_EXEC_PID': '1590', 'GSM_SKIP_SSH_AGENT_WORKAROUND': 'true', 'DBUS_SESSION_BUS_ADDRESS': 'unix:path=/run/user/1002/bus,guid=8a156d7e5676347bfc3ac19e67602fa1', 'COLORTERM': 'truecolor', 'DEBUGINFOD_URLS': 'https://debuginfod.ubuntu.com', 'IM_CONFIG_PHASE': '1', 'WAYLAND_DISPLAY': 'wayland-0', 'COLCON_PREFIX_PATH': '/home/robobin/Robobin_Project/ros2/robobin_main/install', 'ROS_DISTRO': 'jazzy', 'LOGNAME': 'robobin', '_': '/usr/bin/colcon', 'ROS_VERSION': '2', 'MEMORY_PRESSURE_WATCH': '/sys/fs/cgroup/user.slice/user-1002.slice/user@1002.service/app.slice/app-gnome\\x2dsession\\x2dmanager.slice/gnome-session-manager@ubuntu.service/memory.pressure', 'XDG_SESSION_CLASS': 'user', 'USERNAME': 'robobin', 'TERM': 'xterm-256color', 'GNOME_DESKTOP_SESSION_ID': 'this-is-deprecated', 'PATH': '/opt/ros/jazzy/opt/gz_tools_vendor/bin:/opt/ros/jazzy/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/snap/bin', 'SESSION_MANAGER': 'local/robobin-desktop:@/tmp/.ICE-unix/1590,unix/robobin-desktop:/tmp/.ICE-unix/1590', 'XDG_MENU_PREFIX': 'gnome-', 'GNOME_TERMINAL_SCREEN': '/org/gnome/Terminal/screen/e7eea422_a4a8_4e50_8e0b_1837288d8a14', 'GNOME_SETUP_DISPLAY': ':1', 'XDG_RUNTIME_DIR': '/run/user/1002', 'DISPLAY': ':0', 'LANG': 'en_US.UTF-8', 'XDG_CURRENT_DESKTOP': 'ubuntu:GNOME', 'XMODIFIERS': '@im=ibus', 'XDG_SESSION_DESKTOP': 'ubuntu', 'XAUTHORITY': '/run/user/1002/.mutter-Xwaylandauth.W9TAZ2', 'LS_COLORS': 'rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=00:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.zst=01;31:*.tzst=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.avif=01;35:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.webp=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:*~=00;90:*#=00;90:*.bak=00;90:*.crdownload=00;90:*.dpkg-dist=00;90:*.dpkg-new=00;90:*.dpkg-old=00;90:*.dpkg-tmp=00;90:*.old=00;90:*.orig=00;90:*.part=00;90:*.rej=00;90:*.rpmnew=00;90:*.rpmorig=00;90:*.rpmsave=00;90:*.swp=00;90:*.tmp=00;90:*.ucf-dist=00;90:*.ucf-new=00;90:*.ucf-old=00;90:', 'GNOME_TERMINAL_SERVICE': ':1.104', 'SSH_AUTH_SOCK': '/run/user/1002/keyring/ssh', 'ROS_DOMAIN_ID': '3', 'AMENT_PREFIX_PATH': '/home/robobin/Robobin_Project/ros2/robobin_main/install/testing:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_localization_ekf:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_description:/home/robobin/Robobin_Project/ros2/robobin_main/install/odometry_publisher:/opt/ros/jazzy', 'SHELL': '/bin/bash', 'QT_ACCESSIBILITY': '1', 'GDMSESSION': 'ubuntu', 'LESSCLOSE': '/usr/bin/lesspipe %s %s', 'ROS_AUTOMATIC_DISCOVERY_RANGE': 'SUBNET', 'QT_IM_MODULE': 'ibus', 'PWD': '/home/robobin/robobin/robobin_main/src/build/odometry_publisher', 'LC_ALL': 'en_US.UTF-8', 'XDG_CONFIG_DIRS': '/etc/xdg/xdg-ubuntu:/etc/xdg', 'DBUS_STARTER_ADDRESS': 'unix:path=/run/user/1002/bus,guid=8a156d7e5676347bfc3ac19e67602fa1', 'XDG_DATA_DIRS': '/usr/share/ubuntu:/usr/share/gnome:/usr/local/share/:/usr/share/:/var/lib/snapd/desktop', 'PYTHONPATH': '/home/robobin/robobin/robobin_main/src/build/odometry_publisher/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages:/home/robobin/Robobin_Project/ros2/robobin_main/build/testing:/home/robobin/Robobin_Project/ros2/robobin_main/install/testing/lib/python3.12/site-packages:/home/robobin/Robobin_Project/ros2/robobin_main/build/robot_localization_ekf:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_localization_ekf/lib/python3.12/site-packages:/home/robobin/Robobin_Project/ros2/robobin_main/build/robot_description:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_description/lib/python3.12/site-packages:/home/robobin/Robobin_Project/ros2/robobin_main/build/odometry_publisher:/home/robobin/Robobin_Project/ros2/robobin_main/install/odometry_publisher/lib/python3.12/site-packages:/opt/ros/jazzy/lib/python3.12/site-packages', 'COLCON': '1', 'MEMORY_PRESSURE_WRITE': 'c29tZSAyMDAwMDAgMjAwMDAwMAA=', 'VTE_VERSION': '7600', 'CMAKE_PREFIX_PATH': '/opt/ros/jazzy/opt/sdformat_vendor:/opt/ros/jazzy/opt/gz_math_vendor:/opt/ros/jazzy/opt/gz_utils_vendor:/opt/ros/jazzy/opt/gz_tools_vendor:/opt/ros/jazzy/opt/gz_cmake_vendor'}, 'shell': False}
+[3.271634] (robot_description) Command: {'cmd': ['/usr/bin/python3', '-W', 'ignore:setup.py install is deprecated', '-W', 'ignore:easy_install command is deprecated', 'setup.py', 'egg_info', '--egg-base', '../build/robot_description', 'build', '--build-base', '/home/robobin/robobin/robobin_main/src/build/robot_description/build', 'install', '--record', '/home/robobin/robobin/robobin_main/src/build/robot_description/install.log', '--single-version-externally-managed', 'install_data'], 'cwd': '/home/robobin/robobin/robobin_main/src/robot_description', 'env': {'LESSOPEN': '| /usr/bin/lesspipe %s', 'USER': 'robobin', 'GZ_CONFIG_PATH': '/opt/ros/jazzy/opt/sdformat_vendor/share/gz', 'XDG_SESSION_TYPE': 'wayland', 'SHLVL': '1', 'LD_LIBRARY_PATH': 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+[4.014129] (testing) StdoutLine: {'line': b'running install_scripts\n'}
+[4.016081] (robot_description) StdoutLine: {'line': b'Copying ../build/robot_description/robot_description.egg-info to /home/robobin/robobin/robobin_main/src/install/robot_description/lib/python3.12/site-packages/robot_description-0.0.0-py3.12.egg-info\n'}
+[4.020127] (robot_description) StdoutLine: {'line': b'running install_scripts\n'}
+[4.035435] (-) TimerEvent: {}
+[4.135805] (-) TimerEvent: {}
+[4.236150] (-) TimerEvent: {}
+[4.250540] (testing) StdoutLine: {'line': b'Installing test_control_feedback script to /home/robobin/robobin/robobin_main/src/install/testing/lib/testing\n'}
+[4.251697] (testing) StdoutLine: {'line': b'Installing test_encoder_node script to /home/robobin/robobin/robobin_main/src/install/testing/lib/testing\n'}
+[4.251904] (testing) StdoutLine: {'line': b'Installing test_imu_node script to /home/robobin/robobin/robobin_main/src/install/testing/lib/testing\n'}
+[4.252519] (testing) StdoutLine: {'line': b'Installing test_motor_node script to /home/robobin/robobin/robobin_main/src/install/testing/lib/testing\n'}
+[4.252717] (testing) StdoutLine: {'line': b'Installing test_route script to /home/robobin/robobin/robobin_main/src/install/testing/lib/testing\n'}
+[4.253763] (testing) StdoutLine: {'line': b'Installing test_route_filter script to /home/robobin/robobin/robobin_main/src/install/testing/lib/testing\n'}
+[4.253987] (odometry_publisher) StdoutLine: {'line': b'Installing odometry_node script to /home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/odometry_publisher\n'}
+[4.254193] (robot_localization_ekf) StdoutLine: {'line': b"writing list of installed files to '/home/robobin/robobin/robobin_main/src/build/robot_localization_ekf/install.log'\n"}
+[4.255131] (odometry_publisher) StdoutLine: {'line': b"writing list of installed files to '/home/robobin/robobin/robobin_main/src/build/odometry_publisher/install.log'\n"}
+[4.255435] (testing) StdoutLine: {'line': b"writing list of installed files to '/home/robobin/robobin/robobin_main/src/build/testing/install.log'\n"}
+[4.266246] (robot_description) StdoutLine: {'line': b"writing list of installed files to '/home/robobin/robobin/robobin_main/src/build/robot_description/install.log'\n"}
+[4.336309] (-) TimerEvent: {}
+[4.436837] (-) TimerEvent: {}
+[4.449340] (testing) CommandEnded: {'returncode': 0}
+[4.477496] (testing) JobEnded: {'identifier': 'testing', 'rc': 0}
+[4.481547] (robot_localization_ekf) CommandEnded: {'returncode': 0}
+[4.491739] (robot_localization_ekf) JobEnded: {'identifier': 'robot_localization_ekf', 'rc': 0}
+[4.492524] (odometry_publisher) CommandEnded: {'returncode': 0}
+[4.499370] (odometry_publisher) JobEnded: {'identifier': 'odometry_publisher', 'rc': 0}
+[4.500111] (robot_description) CommandEnded: {'returncode': 0}
+[4.510174] (robot_description) JobEnded: {'identifier': 'robot_description', 'rc': 0}
+[4.512181] (-) EventReactorShutdown: {}
diff --git a/robobin_main/src/log/build_2024-12-16_13-49-41/logger_all.log b/robobin_main/src/log/build_2024-12-16_13-49-41/logger_all.log
new file mode 100644
index 00000000..c7c789e6
--- /dev/null
+++ b/robobin_main/src/log/build_2024-12-16_13-49-41/logger_all.log
@@ -0,0 +1,263 @@
+[0.635s] DEBUG:colcon:Command line arguments: ['/usr/bin/colcon', 'build']
+[0.635s] DEBUG:colcon:Parsed command line arguments: Namespace(log_base=None, log_level=None, verb_name='build', build_base='build', install_base='install', merge_install=False, symlink_install=False, test_result_base=None, continue_on_error=False, executor='parallel', parallel_workers=4, event_handlers=None, ignore_user_meta=False, metas=['./colcon.meta'], base_paths=['.'], packages_ignore=None, packages_ignore_regex=None, paths=None, packages_up_to=None, packages_up_to_regex=None, packages_above=None, packages_above_and_dependencies=None, packages_above_depth=None, packages_select_by_dep=None, packages_skip_by_dep=None, packages_skip_up_to=None, packages_select_build_failed=False, packages_skip_build_finished=False, packages_select_test_failures=False, packages_skip_test_passed=False, packages_select=None, packages_skip=None, packages_select_regex=None, packages_skip_regex=None, packages_start=None, packages_end=None, allow_overriding=[], cmake_args=None, cmake_target=None, cmake_target_skip_unavailable=False, cmake_clean_cache=False, cmake_clean_first=False, cmake_force_configure=False, ament_cmake_args=None, catkin_cmake_args=None, catkin_skip_building_tests=False, mixin_files=None, mixin=None, verb_parser=<colcon_mixin.mixin.mixin_argument.MixinArgumentDecorator object at 0xffffa759d2e0>, verb_extension=<colcon_core.verb.build.BuildVerb object at 0xffffa759d070>, main=<bound method BuildVerb.main of <colcon_core.verb.build.BuildVerb object at 0xffffa759d070>>, mixin_verb=('build',))
+[0.758s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) check parameters
+[0.759s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) check parameters
+[0.759s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) check parameters
+[0.759s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) check parameters
+[0.759s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) discover
+[0.759s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) discover
+[0.759s] INFO:colcon.colcon_core.package_discovery:Crawling recursively for packages in '/home/robobin/robobin/robobin_main/src'
+[0.759s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ignore', 'ignore_ament_install']
+[0.759s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore'
+[0.759s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore_ament_install'
+[0.759s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_pkg']
+[0.759s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_pkg'
+[0.759s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_meta']
+[0.759s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_meta'
+[0.760s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ros']
+[0.760s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ros'
+[0.816s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['cmake', 'python']
+[0.816s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'cmake'
+[0.816s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'python'
+[0.817s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['python_setup_py']
+[0.817s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'python_setup_py'
+[0.817s] Level 1:colcon.colcon_core.package_identification:_identify(build) by extensions ['ignore', 'ignore_ament_install']
+[0.817s] Level 1:colcon.colcon_core.package_identification:_identify(build) by extension 'ignore'
+[0.817s] Level 1:colcon.colcon_core.package_identification:_identify(build) ignored
+[0.817s] Level 1:colcon.colcon_core.package_identification:_identify(install) by extensions ['ignore', 'ignore_ament_install']
+[0.817s] Level 1:colcon.colcon_core.package_identification:_identify(install) by extension 'ignore'
+[0.817s] Level 1:colcon.colcon_core.package_identification:_identify(install) ignored
+[0.817s] Level 1:colcon.colcon_core.package_identification:_identify(log) by extensions ['ignore', 'ignore_ament_install']
+[0.817s] Level 1:colcon.colcon_core.package_identification:_identify(log) by extension 'ignore'
+[0.817s] Level 1:colcon.colcon_core.package_identification:_identify(log) ignored
+[0.818s] Level 1:colcon.colcon_core.package_identification:_identify(odometry_publisher) by extensions ['ignore', 'ignore_ament_install']
+[0.818s] Level 1:colcon.colcon_core.package_identification:_identify(odometry_publisher) by extension 'ignore'
+[0.818s] Level 1:colcon.colcon_core.package_identification:_identify(odometry_publisher) by extension 'ignore_ament_install'
+[0.818s] Level 1:colcon.colcon_core.package_identification:_identify(odometry_publisher) by extensions ['colcon_pkg']
+[0.818s] Level 1:colcon.colcon_core.package_identification:_identify(odometry_publisher) by extension 'colcon_pkg'
+[0.819s] Level 1:colcon.colcon_core.package_identification:_identify(odometry_publisher) by extensions ['colcon_meta']
+[0.819s] Level 1:colcon.colcon_core.package_identification:_identify(odometry_publisher) by extension 'colcon_meta'
+[0.819s] Level 1:colcon.colcon_core.package_identification:_identify(odometry_publisher) by extensions ['ros']
+[0.819s] Level 1:colcon.colcon_core.package_identification:_identify(odometry_publisher) by extension 'ros'
+[0.825s] DEBUG:colcon.colcon_core.package_identification:Package 'odometry_publisher' with type 'ros.ament_python' and name 'odometry_publisher'
+[0.825s] Level 1:colcon.colcon_core.package_identification:_identify(robot_description) by extensions ['ignore', 'ignore_ament_install']
+[0.825s] Level 1:colcon.colcon_core.package_identification:_identify(robot_description) by extension 'ignore'
+[0.826s] Level 1:colcon.colcon_core.package_identification:_identify(robot_description) by extension 'ignore_ament_install'
+[0.826s] Level 1:colcon.colcon_core.package_identification:_identify(robot_description) by extensions ['colcon_pkg']
+[0.826s] Level 1:colcon.colcon_core.package_identification:_identify(robot_description) by extension 'colcon_pkg'
+[0.826s] Level 1:colcon.colcon_core.package_identification:_identify(robot_description) by extensions ['colcon_meta']
+[0.826s] Level 1:colcon.colcon_core.package_identification:_identify(robot_description) by extension 'colcon_meta'
+[0.826s] Level 1:colcon.colcon_core.package_identification:_identify(robot_description) by extensions ['ros']
+[0.826s] Level 1:colcon.colcon_core.package_identification:_identify(robot_description) by extension 'ros'
+[0.827s] DEBUG:colcon.colcon_core.package_identification:Package 'robot_description' with type 'ros.ament_python' and name 'robot_description'
+[0.827s] Level 1:colcon.colcon_core.package_identification:_identify(robot_localization_ekf) by extensions ['ignore', 'ignore_ament_install']
+[0.827s] Level 1:colcon.colcon_core.package_identification:_identify(robot_localization_ekf) by extension 'ignore'
+[0.828s] Level 1:colcon.colcon_core.package_identification:_identify(robot_localization_ekf) by extension 'ignore_ament_install'
+[0.828s] Level 1:colcon.colcon_core.package_identification:_identify(robot_localization_ekf) by extensions ['colcon_pkg']
+[0.828s] Level 1:colcon.colcon_core.package_identification:_identify(robot_localization_ekf) by extension 'colcon_pkg'
+[0.828s] Level 1:colcon.colcon_core.package_identification:_identify(robot_localization_ekf) by extensions ['colcon_meta']
+[0.828s] Level 1:colcon.colcon_core.package_identification:_identify(robot_localization_ekf) by extension 'colcon_meta'
+[0.828s] Level 1:colcon.colcon_core.package_identification:_identify(robot_localization_ekf) by extensions ['ros']
+[0.828s] Level 1:colcon.colcon_core.package_identification:_identify(robot_localization_ekf) by extension 'ros'
+[0.829s] DEBUG:colcon.colcon_core.package_identification:Package 'robot_localization_ekf' with type 'ros.ament_python' and name 'robot_localization_ekf'
+[0.829s] Level 1:colcon.colcon_core.package_identification:_identify(testing) by extensions ['ignore', 'ignore_ament_install']
+[0.829s] Level 1:colcon.colcon_core.package_identification:_identify(testing) by extension 'ignore'
+[0.829s] Level 1:colcon.colcon_core.package_identification:_identify(testing) by extension 'ignore_ament_install'
+[0.829s] Level 1:colcon.colcon_core.package_identification:_identify(testing) by extensions ['colcon_pkg']
+[0.829s] Level 1:colcon.colcon_core.package_identification:_identify(testing) by extension 'colcon_pkg'
+[0.829s] Level 1:colcon.colcon_core.package_identification:_identify(testing) by extensions ['colcon_meta']
+[0.829s] Level 1:colcon.colcon_core.package_identification:_identify(testing) by extension 'colcon_meta'
+[0.830s] Level 1:colcon.colcon_core.package_identification:_identify(testing) by extensions ['ros']
+[0.830s] Level 1:colcon.colcon_core.package_identification:_identify(testing) by extension 'ros'
+[0.831s] DEBUG:colcon.colcon_core.package_identification:Package 'testing' with type 'ros.ament_python' and name 'testing'
+[0.831s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) using defaults
+[0.831s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) discover
+[0.831s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) using defaults
+[0.831s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) discover
+[0.831s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) using defaults
+[0.883s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) check parameters
+[0.883s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) discover
+[0.889s] DEBUG:colcon.colcon_installed_package_information.package_discovery:Found 4 installed packages in /home/robobin/Robobin_Project/ros2/robobin_main/install
+[0.892s] DEBUG:colcon.colcon_installed_package_information.package_discovery:Found 335 installed packages in /opt/ros/jazzy
+[0.895s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) using defaults
+[0.970s] Level 5:colcon.colcon_core.verb:set package 'odometry_publisher' build argument 'cmake_args' from command line to 'None'
+[0.970s] Level 5:colcon.colcon_core.verb:set package 'odometry_publisher' build argument 'cmake_target' from command line to 'None'
+[0.970s] Level 5:colcon.colcon_core.verb:set package 'odometry_publisher' build argument 'cmake_target_skip_unavailable' from command line to 'False'
+[0.970s] Level 5:colcon.colcon_core.verb:set package 'odometry_publisher' build argument 'cmake_clean_cache' from command line to 'False'
+[0.970s] Level 5:colcon.colcon_core.verb:set package 'odometry_publisher' build argument 'cmake_clean_first' from command line to 'False'
+[0.970s] Level 5:colcon.colcon_core.verb:set package 'odometry_publisher' build argument 'cmake_force_configure' from command line to 'False'
+[0.970s] Level 5:colcon.colcon_core.verb:set package 'odometry_publisher' build argument 'ament_cmake_args' from command line to 'None'
+[0.970s] Level 5:colcon.colcon_core.verb:set package 'odometry_publisher' build argument 'catkin_cmake_args' from command line to 'None'
+[0.970s] Level 5:colcon.colcon_core.verb:set package 'odometry_publisher' build argument 'catkin_skip_building_tests' from command line to 'False'
+[0.970s] DEBUG:colcon.colcon_core.verb:Building package 'odometry_publisher' with the following arguments: {'ament_cmake_args': None, 'build_base': '/home/robobin/robobin/robobin_main/src/build/odometry_publisher', 'catkin_cmake_args': None, 'catkin_skip_building_tests': False, 'cmake_args': None, 'cmake_clean_cache': False, 'cmake_clean_first': False, 'cmake_force_configure': False, 'cmake_target': None, 'cmake_target_skip_unavailable': False, 'install_base': '/home/robobin/robobin/robobin_main/src/install/odometry_publisher', 'merge_install': False, 'path': '/home/robobin/robobin/robobin_main/src/odometry_publisher', 'symlink_install': False, 'test_result_base': None}
+[0.971s] Level 5:colcon.colcon_core.verb:set package 'robot_description' build argument 'cmake_args' from command line to 'None'
+[0.971s] Level 5:colcon.colcon_core.verb:set package 'robot_description' build argument 'cmake_target' from command line to 'None'
+[0.971s] Level 5:colcon.colcon_core.verb:set package 'robot_description' build argument 'cmake_target_skip_unavailable' from command line to 'False'
+[0.971s] Level 5:colcon.colcon_core.verb:set package 'robot_description' build argument 'cmake_clean_cache' from command line to 'False'
+[0.971s] Level 5:colcon.colcon_core.verb:set package 'robot_description' build argument 'cmake_clean_first' from command line to 'False'
+[0.971s] Level 5:colcon.colcon_core.verb:set package 'robot_description' build argument 'cmake_force_configure' from command line to 'False'
+[0.971s] Level 5:colcon.colcon_core.verb:set package 'robot_description' build argument 'ament_cmake_args' from command line to 'None'
+[0.971s] Level 5:colcon.colcon_core.verb:set package 'robot_description' build argument 'catkin_cmake_args' from command line to 'None'
+[0.971s] Level 5:colcon.colcon_core.verb:set package 'robot_description' build argument 'catkin_skip_building_tests' from command line to 'False'
+[0.971s] DEBUG:colcon.colcon_core.verb:Building package 'robot_description' with the following arguments: {'ament_cmake_args': None, 'build_base': '/home/robobin/robobin/robobin_main/src/build/robot_description', 'catkin_cmake_args': None, 'catkin_skip_building_tests': False, 'cmake_args': None, 'cmake_clean_cache': False, 'cmake_clean_first': False, 'cmake_force_configure': False, 'cmake_target': None, 'cmake_target_skip_unavailable': False, 'install_base': '/home/robobin/robobin/robobin_main/src/install/robot_description', 'merge_install': False, 'path': '/home/robobin/robobin/robobin_main/src/robot_description', 'symlink_install': False, 'test_result_base': None}
+[0.971s] Level 5:colcon.colcon_core.verb:set package 'robot_localization_ekf' build argument 'cmake_args' from command line to 'None'
+[0.971s] Level 5:colcon.colcon_core.verb:set package 'robot_localization_ekf' build argument 'cmake_target' from command line to 'None'
+[0.971s] Level 5:colcon.colcon_core.verb:set package 'robot_localization_ekf' build argument 'cmake_target_skip_unavailable' from command line to 'False'
+[0.971s] Level 5:colcon.colcon_core.verb:set package 'robot_localization_ekf' build argument 'cmake_clean_cache' from command line to 'False'
+[0.971s] Level 5:colcon.colcon_core.verb:set package 'robot_localization_ekf' build argument 'cmake_clean_first' from command line to 'False'
+[0.971s] Level 5:colcon.colcon_core.verb:set package 'robot_localization_ekf' build argument 'cmake_force_configure' from command line to 'False'
+[0.971s] Level 5:colcon.colcon_core.verb:set package 'robot_localization_ekf' build argument 'ament_cmake_args' from command line to 'None'
+[0.971s] Level 5:colcon.colcon_core.verb:set package 'robot_localization_ekf' build argument 'catkin_cmake_args' from command line to 'None'
+[0.971s] Level 5:colcon.colcon_core.verb:set package 'robot_localization_ekf' build argument 'catkin_skip_building_tests' from command line to 'False'
+[0.971s] DEBUG:colcon.colcon_core.verb:Building package 'robot_localization_ekf' with the following arguments: {'ament_cmake_args': None, 'build_base': '/home/robobin/robobin/robobin_main/src/build/robot_localization_ekf', 'catkin_cmake_args': None, 'catkin_skip_building_tests': False, 'cmake_args': None, 'cmake_clean_cache': False, 'cmake_clean_first': False, 'cmake_force_configure': False, 'cmake_target': None, 'cmake_target_skip_unavailable': False, 'install_base': '/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf', 'merge_install': False, 'path': '/home/robobin/robobin/robobin_main/src/robot_localization_ekf', 'symlink_install': False, 'test_result_base': None}
+[0.972s] Level 5:colcon.colcon_core.verb:set package 'testing' build argument 'cmake_args' from command line to 'None'
+[0.972s] Level 5:colcon.colcon_core.verb:set package 'testing' build argument 'cmake_target' from command line to 'None'
+[0.972s] Level 5:colcon.colcon_core.verb:set package 'testing' build argument 'cmake_target_skip_unavailable' from command line to 'False'
+[0.972s] Level 5:colcon.colcon_core.verb:set package 'testing' build argument 'cmake_clean_cache' from command line to 'False'
+[0.972s] Level 5:colcon.colcon_core.verb:set package 'testing' build argument 'cmake_clean_first' from command line to 'False'
+[0.972s] Level 5:colcon.colcon_core.verb:set package 'testing' build argument 'cmake_force_configure' from command line to 'False'
+[0.972s] Level 5:colcon.colcon_core.verb:set package 'testing' build argument 'ament_cmake_args' from command line to 'None'
+[0.972s] Level 5:colcon.colcon_core.verb:set package 'testing' build argument 'catkin_cmake_args' from command line to 'None'
+[0.972s] Level 5:colcon.colcon_core.verb:set package 'testing' build argument 'catkin_skip_building_tests' from command line to 'False'
+[0.972s] DEBUG:colcon.colcon_core.verb:Building package 'testing' with the following arguments: {'ament_cmake_args': None, 'build_base': '/home/robobin/robobin/robobin_main/src/build/testing', 'catkin_cmake_args': None, 'catkin_skip_building_tests': False, 'cmake_args': None, 'cmake_clean_cache': False, 'cmake_clean_first': False, 'cmake_force_configure': False, 'cmake_target': None, 'cmake_target_skip_unavailable': False, 'install_base': '/home/robobin/robobin/robobin_main/src/install/testing', 'merge_install': False, 'path': '/home/robobin/robobin/robobin_main/src/testing', 'symlink_install': False, 'test_result_base': None}
+[0.972s] INFO:colcon.colcon_core.executor:Executing jobs using 'parallel' executor
+[0.973s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete
+[0.974s] INFO:colcon.colcon_ros.task.ament_python.build:Building ROS package in '/home/robobin/robobin/robobin_main/src/odometry_publisher' with build type 'ament_python'
+[0.974s] Level 1:colcon.colcon_core.shell:create_environment_hook('odometry_publisher', 'ament_prefix_path')
+[0.991s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_core.shell.bat': Not used on non-Windows systems
+[0.991s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/robobin/robobin/robobin_main/src/install/odometry_publisher/share/odometry_publisher/hook/ament_prefix_path.ps1'
+[0.994s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/robobin/robobin/robobin_main/src/install/odometry_publisher/share/odometry_publisher/hook/ament_prefix_path.dsv'
+[0.995s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/robobin/robobin/robobin_main/src/install/odometry_publisher/share/odometry_publisher/hook/ament_prefix_path.sh'
+[0.996s] INFO:colcon.colcon_core.shell:Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell
+[0.996s] DEBUG:colcon.colcon_core.shell:Skip shell extension 'dsv' for command environment
+[1.002s] INFO:colcon.colcon_ros.task.ament_python.build:Building ROS package in '/home/robobin/robobin/robobin_main/src/robot_description' with build type 'ament_python'
+[1.003s] Level 1:colcon.colcon_core.shell:create_environment_hook('robot_description', 'ament_prefix_path')
+[1.003s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/robobin/robobin/robobin_main/src/install/robot_description/share/robot_description/hook/ament_prefix_path.ps1'
+[1.004s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/robobin/robobin/robobin_main/src/install/robot_description/share/robot_description/hook/ament_prefix_path.dsv'
+[1.004s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/robobin/robobin/robobin_main/src/install/robot_description/share/robot_description/hook/ament_prefix_path.sh'
+[1.005s] INFO:colcon.colcon_core.shell:Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell
+[1.005s] DEBUG:colcon.colcon_core.shell:Skip shell extension 'dsv' for command environment
+[1.012s] INFO:colcon.colcon_ros.task.ament_python.build:Building ROS package in '/home/robobin/robobin/robobin_main/src/robot_localization_ekf' with build type 'ament_python'
+[1.012s] Level 1:colcon.colcon_core.shell:create_environment_hook('robot_localization_ekf', 'ament_prefix_path')
+[1.013s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/share/robot_localization_ekf/hook/ament_prefix_path.ps1'
+[1.016s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/share/robot_localization_ekf/hook/ament_prefix_path.dsv'
+[1.017s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/share/robot_localization_ekf/hook/ament_prefix_path.sh'
+[1.018s] INFO:colcon.colcon_core.shell:Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell
+[1.018s] DEBUG:colcon.colcon_core.shell:Skip shell extension 'dsv' for command environment
+[1.026s] INFO:colcon.colcon_ros.task.ament_python.build:Building ROS package in '/home/robobin/robobin/robobin_main/src/testing' with build type 'ament_python'
+[1.027s] Level 1:colcon.colcon_core.shell:create_environment_hook('testing', 'ament_prefix_path')
+[1.028s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/robobin/robobin/robobin_main/src/install/testing/share/testing/hook/ament_prefix_path.ps1'
+[1.030s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/robobin/robobin/robobin_main/src/install/testing/share/testing/hook/ament_prefix_path.dsv'
+[1.030s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/robobin/robobin/robobin_main/src/install/testing/share/testing/hook/ament_prefix_path.sh'
+[1.031s] INFO:colcon.colcon_core.shell:Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell
+[1.031s] DEBUG:colcon.colcon_core.shell:Skip shell extension 'dsv' for command environment
+[1.402s] INFO:colcon.colcon_core.task.python.build:Building Python package in '/home/robobin/robobin/robobin_main/src/odometry_publisher'
+[1.402s] INFO:colcon.colcon_core.shell:Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell
+[1.402s] DEBUG:colcon.colcon_core.shell:Skip shell extension 'dsv' for command environment
+[1.750s] INFO:colcon.colcon_core.task.python.build:Building Python package in '/home/robobin/robobin/robobin_main/src/robot_description'
+[1.751s] INFO:colcon.colcon_core.shell:Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell
+[1.751s] DEBUG:colcon.colcon_core.shell:Skip shell extension 'dsv' for command environment
+[2.108s] INFO:colcon.colcon_core.task.python.build:Building Python package in '/home/robobin/robobin/robobin_main/src/robot_localization_ekf'
+[2.109s] INFO:colcon.colcon_core.shell:Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell
+[2.109s] DEBUG:colcon.colcon_core.shell:Skip shell extension 'dsv' for command environment
+[2.460s] INFO:colcon.colcon_core.task.python.build:Building Python package in '/home/robobin/robobin/robobin_main/src/testing'
+[2.461s] INFO:colcon.colcon_core.shell:Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell
+[2.461s] DEBUG:colcon.colcon_core.shell:Skip shell extension 'dsv' for command environment
+[4.230s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoking command in '/home/robobin/robobin/robobin_main/src/robot_localization_ekf': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/robobin_main/src/build/robot_localization_ekf/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../build/robot_localization_ekf build --build-base /home/robobin/robobin/robobin_main/src/build/robot_localization_ekf/build install --record /home/robobin/robobin/robobin_main/src/build/robot_localization_ekf/install.log --single-version-externally-managed install_data
+[4.242s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoking command in '/home/robobin/robobin/robobin_main/src/odometry_publisher': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/robobin_main/src/build/odometry_publisher/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../build/odometry_publisher build --build-base /home/robobin/robobin/robobin_main/src/build/odometry_publisher/build install --record /home/robobin/robobin/robobin_main/src/build/odometry_publisher/install.log --single-version-externally-managed install_data
+[4.247s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoking command in '/home/robobin/robobin/robobin_main/src/robot_description': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/robobin_main/src/build/robot_description/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/robobin_main/src/install/robot_description/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../build/robot_description build --build-base /home/robobin/robobin/robobin_main/src/build/robot_description/build install --record /home/robobin/robobin/robobin_main/src/build/robot_description/install.log --single-version-externally-managed install_data
+[4.271s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoking command in '/home/robobin/robobin/robobin_main/src/testing': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/robobin_main/src/build/testing/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../build/testing build --build-base /home/robobin/robobin/robobin_main/src/build/testing/build install --record /home/robobin/robobin/robobin_main/src/build/testing/install.log --single-version-externally-managed install_data
+[5.423s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoked command in '/home/robobin/robobin/robobin_main/src/testing' returned '0': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/robobin_main/src/build/testing/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../build/testing build --build-base /home/robobin/robobin/robobin_main/src/build/testing/build install --record /home/robobin/robobin/robobin_main/src/build/testing/install.log --single-version-externally-managed install_data
+[5.438s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/robobin_main/src/install/testing' for CMake module files
+[5.439s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/robobin_main/src/install/testing' for CMake config files
+[5.440s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/robobin_main/src/install/testing/lib'
+[5.440s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/robobin_main/src/install/testing/bin'
+[5.440s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/robobin_main/src/install/testing/lib/pkgconfig/testing.pc'
+[5.441s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages'
+[5.441s] Level 1:colcon.colcon_core.shell:create_environment_hook('testing', 'pythonpath')
+[5.441s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/robobin/robobin/robobin_main/src/install/testing/share/testing/hook/pythonpath.ps1'
+[5.442s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/robobin/robobin/robobin_main/src/install/testing/share/testing/hook/pythonpath.dsv'
+[5.442s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/robobin/robobin/robobin_main/src/install/testing/share/testing/hook/pythonpath.sh'
+[5.443s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/robobin_main/src/install/testing/bin'
+[5.443s] Level 1:colcon.colcon_core.environment:create_environment_scripts_only(testing)
+[5.443s] INFO:colcon.colcon_core.shell:Creating package script '/home/robobin/robobin/robobin_main/src/install/testing/share/testing/package.ps1'
+[5.445s] INFO:colcon.colcon_core.shell:Creating package descriptor '/home/robobin/robobin/robobin_main/src/install/testing/share/testing/package.dsv'
+[5.446s] INFO:colcon.colcon_core.shell:Creating package script '/home/robobin/robobin/robobin_main/src/install/testing/share/testing/package.sh'
+[5.447s] INFO:colcon.colcon_core.shell:Creating package script '/home/robobin/robobin/robobin_main/src/install/testing/share/testing/package.bash'
+[5.449s] INFO:colcon.colcon_core.shell:Creating package script '/home/robobin/robobin/robobin_main/src/install/testing/share/testing/package.zsh'
+[5.450s] Level 1:colcon.colcon_core.environment:create_file_with_runtime_dependencies(/home/robobin/robobin/robobin_main/src/install/testing/share/colcon-core/packages/testing)
+[5.454s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf' for CMake module files
+[5.455s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoked command in '/home/robobin/robobin/robobin_main/src/robot_localization_ekf' returned '0': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/robobin_main/src/build/robot_localization_ekf/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../build/robot_localization_ekf build --build-base /home/robobin/robobin/robobin_main/src/build/robot_localization_ekf/build install --record /home/robobin/robobin/robobin_main/src/build/robot_localization_ekf/install.log --single-version-externally-managed install_data
+[5.457s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf' for CMake config files
+[5.458s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/lib'
+[5.458s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/bin'
+[5.458s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/lib/pkgconfig/robot_localization_ekf.pc'
+[5.459s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/lib/python3.12/site-packages'
+[5.459s] Level 1:colcon.colcon_core.shell:create_environment_hook('robot_localization_ekf', 'pythonpath')
+[5.460s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/share/robot_localization_ekf/hook/pythonpath.ps1'
+[5.460s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/share/robot_localization_ekf/hook/pythonpath.dsv'
+[5.461s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/share/robot_localization_ekf/hook/pythonpath.sh'
+[5.461s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/bin'
+[5.462s] Level 1:colcon.colcon_core.environment:create_environment_scripts_only(robot_localization_ekf)
+[5.462s] INFO:colcon.colcon_core.shell:Creating package script '/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/share/robot_localization_ekf/package.ps1'
+[5.462s] INFO:colcon.colcon_core.shell:Creating package descriptor '/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/share/robot_localization_ekf/package.dsv'
+[5.463s] INFO:colcon.colcon_core.shell:Creating package script '/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/share/robot_localization_ekf/package.sh'
+[5.463s] INFO:colcon.colcon_core.shell:Creating package script '/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/share/robot_localization_ekf/package.bash'
+[5.464s] INFO:colcon.colcon_core.shell:Creating package script '/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/share/robot_localization_ekf/package.zsh'
+[5.464s] Level 1:colcon.colcon_core.environment:create_file_with_runtime_dependencies(/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/share/colcon-core/packages/robot_localization_ekf)
+[5.465s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/robobin_main/src/install/odometry_publisher' for CMake module files
+[5.466s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoked command in '/home/robobin/robobin/robobin_main/src/odometry_publisher' returned '0': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/robobin_main/src/build/odometry_publisher/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../build/odometry_publisher build --build-base /home/robobin/robobin/robobin_main/src/build/odometry_publisher/build install --record /home/robobin/robobin/robobin_main/src/build/odometry_publisher/install.log --single-version-externally-managed install_data
+[5.466s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/robobin_main/src/install/odometry_publisher' for CMake config files
+[5.467s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib'
+[5.467s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/robobin_main/src/install/odometry_publisher/bin'
+[5.467s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/pkgconfig/odometry_publisher.pc'
+[5.467s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages'
+[5.468s] Level 1:colcon.colcon_core.shell:create_environment_hook('odometry_publisher', 'pythonpath')
+[5.468s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/robobin/robobin/robobin_main/src/install/odometry_publisher/share/odometry_publisher/hook/pythonpath.ps1'
+[5.468s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/robobin/robobin/robobin_main/src/install/odometry_publisher/share/odometry_publisher/hook/pythonpath.dsv'
+[5.469s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/robobin/robobin/robobin_main/src/install/odometry_publisher/share/odometry_publisher/hook/pythonpath.sh'
+[5.469s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/robobin_main/src/install/odometry_publisher/bin'
+[5.469s] Level 1:colcon.colcon_core.environment:create_environment_scripts_only(odometry_publisher)
+[5.470s] INFO:colcon.colcon_core.shell:Creating package script '/home/robobin/robobin/robobin_main/src/install/odometry_publisher/share/odometry_publisher/package.ps1'
+[5.470s] INFO:colcon.colcon_core.shell:Creating package descriptor '/home/robobin/robobin/robobin_main/src/install/odometry_publisher/share/odometry_publisher/package.dsv'
+[5.471s] INFO:colcon.colcon_core.shell:Creating package script '/home/robobin/robobin/robobin_main/src/install/odometry_publisher/share/odometry_publisher/package.sh'
+[5.471s] INFO:colcon.colcon_core.shell:Creating package script '/home/robobin/robobin/robobin_main/src/install/odometry_publisher/share/odometry_publisher/package.bash'
+[5.472s] INFO:colcon.colcon_core.shell:Creating package script '/home/robobin/robobin/robobin_main/src/install/odometry_publisher/share/odometry_publisher/package.zsh'
+[5.472s] Level 1:colcon.colcon_core.environment:create_file_with_runtime_dependencies(/home/robobin/robobin/robobin_main/src/install/odometry_publisher/share/colcon-core/packages/odometry_publisher)
+[5.472s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/robobin_main/src/install/robot_description' for CMake module files
+[5.474s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoked command in '/home/robobin/robobin/robobin_main/src/robot_description' returned '0': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/robobin_main/src/build/robot_description/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/robobin_main/src/install/robot_description/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../build/robot_description build --build-base /home/robobin/robobin/robobin_main/src/build/robot_description/build install --record /home/robobin/robobin/robobin_main/src/build/robot_description/install.log --single-version-externally-managed install_data
+[5.474s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/robobin_main/src/install/robot_description' for CMake config files
+[5.475s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/robobin_main/src/install/robot_description/lib'
+[5.475s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/robobin_main/src/install/robot_description/bin'
+[5.475s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/robobin_main/src/install/robot_description/lib/pkgconfig/robot_description.pc'
+[5.475s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/robobin_main/src/install/robot_description/lib/python3.12/site-packages'
+[5.475s] Level 1:colcon.colcon_core.shell:create_environment_hook('robot_description', 'pythonpath')
+[5.476s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/robobin/robobin/robobin_main/src/install/robot_description/share/robot_description/hook/pythonpath.ps1'
+[5.476s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/robobin/robobin/robobin_main/src/install/robot_description/share/robot_description/hook/pythonpath.dsv'
+[5.476s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/robobin/robobin/robobin_main/src/install/robot_description/share/robot_description/hook/pythonpath.sh'
+[5.477s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/robobin_main/src/install/robot_description/bin'
+[5.477s] Level 1:colcon.colcon_core.environment:create_environment_scripts_only(robot_description)
+[5.478s] INFO:colcon.colcon_core.shell:Creating package script '/home/robobin/robobin/robobin_main/src/install/robot_description/share/robot_description/package.ps1'
+[5.479s] INFO:colcon.colcon_core.shell:Creating package descriptor '/home/robobin/robobin/robobin_main/src/install/robot_description/share/robot_description/package.dsv'
+[5.481s] INFO:colcon.colcon_core.shell:Creating package script '/home/robobin/robobin/robobin_main/src/install/robot_description/share/robot_description/package.sh'
+[5.482s] INFO:colcon.colcon_core.shell:Creating package script '/home/robobin/robobin/robobin_main/src/install/robot_description/share/robot_description/package.bash'
+[5.482s] INFO:colcon.colcon_core.shell:Creating package script '/home/robobin/robobin/robobin_main/src/install/robot_description/share/robot_description/package.zsh'
+[5.483s] Level 1:colcon.colcon_core.environment:create_file_with_runtime_dependencies(/home/robobin/robobin/robobin_main/src/install/robot_description/share/colcon-core/packages/robot_description)
+[5.483s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:closing loop
+[5.484s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:loop closed
+[5.484s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete finished with '0'
+[5.484s] DEBUG:colcon.colcon_core.event_reactor:joining thread
+[5.504s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.terminal_notifier': Not used on non-Darwin systems
+[5.504s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.win32': Not used on non-Windows systems
+[5.504s] INFO:colcon.colcon_notification.desktop_notification:Sending desktop notification using 'notify2'
+[5.552s] DEBUG:colcon.colcon_core.event_reactor:joined thread
+[5.552s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/robobin/robobin/robobin_main/src/install/local_setup.ps1'
+[5.554s] INFO:colcon.colcon_core.shell:Creating prefix util module '/home/robobin/robobin/robobin_main/src/install/_local_setup_util_ps1.py'
+[5.557s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/robobin/robobin/robobin_main/src/install/setup.ps1'
+[5.559s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/robobin/robobin/robobin_main/src/install/local_setup.sh'
+[5.560s] INFO:colcon.colcon_core.shell:Creating prefix util module '/home/robobin/robobin/robobin_main/src/install/_local_setup_util_sh.py'
+[5.561s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/robobin/robobin/robobin_main/src/install/setup.sh'
+[5.564s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/robobin/robobin/robobin_main/src/install/local_setup.bash'
+[5.565s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/robobin/robobin/robobin_main/src/install/setup.bash'
+[5.567s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/robobin/robobin/robobin_main/src/install/local_setup.zsh'
+[5.568s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/robobin/robobin/robobin_main/src/install/setup.zsh'
diff --git a/robobin_main/src/log/build_2024-12-16_13-49-41/odometry_publisher/command.log b/robobin_main/src/log/build_2024-12-16_13-49-41/odometry_publisher/command.log
new file mode 100644
index 00000000..6787a59c
--- /dev/null
+++ b/robobin_main/src/log/build_2024-12-16_13-49-41/odometry_publisher/command.log
@@ -0,0 +1,2 @@
+Invoking command in '/home/robobin/robobin/robobin_main/src/odometry_publisher': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/robobin_main/src/build/odometry_publisher/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../build/odometry_publisher build --build-base /home/robobin/robobin/robobin_main/src/build/odometry_publisher/build install --record /home/robobin/robobin/robobin_main/src/build/odometry_publisher/install.log --single-version-externally-managed install_data
+Invoked command in '/home/robobin/robobin/robobin_main/src/odometry_publisher' returned '0': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/robobin_main/src/build/odometry_publisher/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../build/odometry_publisher build --build-base /home/robobin/robobin/robobin_main/src/build/odometry_publisher/build install --record /home/robobin/robobin/robobin_main/src/build/odometry_publisher/install.log --single-version-externally-managed install_data
diff --git a/robobin_main/src/log/build_2024-12-16_13-49-41/odometry_publisher/stderr.log b/robobin_main/src/log/build_2024-12-16_13-49-41/odometry_publisher/stderr.log
new file mode 100644
index 00000000..e69de29b
diff --git a/robobin_main/src/log/build_2024-12-16_13-49-41/odometry_publisher/stdout.log b/robobin_main/src/log/build_2024-12-16_13-49-41/odometry_publisher/stdout.log
new file mode 100644
index 00000000..44fc0206
--- /dev/null
+++ b/robobin_main/src/log/build_2024-12-16_13-49-41/odometry_publisher/stdout.log
@@ -0,0 +1,41 @@
+running egg_info
+creating ../build/odometry_publisher/odometry_publisher.egg-info
+writing ../build/odometry_publisher/odometry_publisher.egg-info/PKG-INFO
+writing dependency_links to ../build/odometry_publisher/odometry_publisher.egg-info/dependency_links.txt
+writing entry points to ../build/odometry_publisher/odometry_publisher.egg-info/entry_points.txt
+writing requirements to ../build/odometry_publisher/odometry_publisher.egg-info/requires.txt
+writing top-level names to ../build/odometry_publisher/odometry_publisher.egg-info/top_level.txt
+writing manifest file '../build/odometry_publisher/odometry_publisher.egg-info/SOURCES.txt'
+reading manifest file '../build/odometry_publisher/odometry_publisher.egg-info/SOURCES.txt'
+writing manifest file '../build/odometry_publisher/odometry_publisher.egg-info/SOURCES.txt'
+running build
+running build_py
+creating /home/robobin/robobin/robobin_main/src/build/odometry_publisher/build
+creating /home/robobin/robobin/robobin_main/src/build/odometry_publisher/build/lib
+creating /home/robobin/robobin/robobin_main/src/build/odometry_publisher/build/lib/odometry_publisher
+copying odometry_publisher/__init__.py -> /home/robobin/robobin/robobin_main/src/build/odometry_publisher/build/lib/odometry_publisher
+copying odometry_publisher/tf_broadcaster.py -> /home/robobin/robobin/robobin_main/src/build/odometry_publisher/build/lib/odometry_publisher
+copying odometry_publisher/odometry_node.py -> /home/robobin/robobin/robobin_main/src/build/odometry_publisher/build/lib/odometry_publisher
+copying odometry_publisher/backup.py -> /home/robobin/robobin/robobin_main/src/build/odometry_publisher/build/lib/odometry_publisher
+running install
+running install_lib
+creating /home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages/odometry_publisher
+copying /home/robobin/robobin/robobin_main/src/build/odometry_publisher/build/lib/odometry_publisher/__init__.py -> /home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages/odometry_publisher
+copying /home/robobin/robobin/robobin_main/src/build/odometry_publisher/build/lib/odometry_publisher/tf_broadcaster.py -> /home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages/odometry_publisher
+copying /home/robobin/robobin/robobin_main/src/build/odometry_publisher/build/lib/odometry_publisher/odometry_node.py -> /home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages/odometry_publisher
+copying /home/robobin/robobin/robobin_main/src/build/odometry_publisher/build/lib/odometry_publisher/backup.py -> /home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages/odometry_publisher
+byte-compiling /home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages/odometry_publisher/__init__.py to __init__.cpython-312.pyc
+byte-compiling /home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages/odometry_publisher/tf_broadcaster.py to tf_broadcaster.cpython-312.pyc
+byte-compiling /home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages/odometry_publisher/odometry_node.py to odometry_node.cpython-312.pyc
+byte-compiling /home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages/odometry_publisher/backup.py to backup.cpython-312.pyc
+running install_data
+creating /home/robobin/robobin/robobin_main/src/install/odometry_publisher/share/ament_index
+creating /home/robobin/robobin/robobin_main/src/install/odometry_publisher/share/ament_index/resource_index
+creating /home/robobin/robobin/robobin_main/src/install/odometry_publisher/share/ament_index/resource_index/packages
+copying resource/odometry_publisher -> /home/robobin/robobin/robobin_main/src/install/odometry_publisher/share/ament_index/resource_index/packages
+copying package.xml -> /home/robobin/robobin/robobin_main/src/install/odometry_publisher/share/odometry_publisher
+running install_egg_info
+Copying ../build/odometry_publisher/odometry_publisher.egg-info to /home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages/odometry_publisher-0.0.0-py3.12.egg-info
+running install_scripts
+Installing odometry_node script to /home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/odometry_publisher
+writing list of installed files to '/home/robobin/robobin/robobin_main/src/build/odometry_publisher/install.log'
diff --git a/robobin_main/src/log/build_2024-12-16_13-49-41/odometry_publisher/stdout_stderr.log b/robobin_main/src/log/build_2024-12-16_13-49-41/odometry_publisher/stdout_stderr.log
new file mode 100644
index 00000000..44fc0206
--- /dev/null
+++ b/robobin_main/src/log/build_2024-12-16_13-49-41/odometry_publisher/stdout_stderr.log
@@ -0,0 +1,41 @@
+running egg_info
+creating ../build/odometry_publisher/odometry_publisher.egg-info
+writing ../build/odometry_publisher/odometry_publisher.egg-info/PKG-INFO
+writing dependency_links to ../build/odometry_publisher/odometry_publisher.egg-info/dependency_links.txt
+writing entry points to ../build/odometry_publisher/odometry_publisher.egg-info/entry_points.txt
+writing requirements to ../build/odometry_publisher/odometry_publisher.egg-info/requires.txt
+writing top-level names to ../build/odometry_publisher/odometry_publisher.egg-info/top_level.txt
+writing manifest file '../build/odometry_publisher/odometry_publisher.egg-info/SOURCES.txt'
+reading manifest file '../build/odometry_publisher/odometry_publisher.egg-info/SOURCES.txt'
+writing manifest file '../build/odometry_publisher/odometry_publisher.egg-info/SOURCES.txt'
+running build
+running build_py
+creating /home/robobin/robobin/robobin_main/src/build/odometry_publisher/build
+creating /home/robobin/robobin/robobin_main/src/build/odometry_publisher/build/lib
+creating /home/robobin/robobin/robobin_main/src/build/odometry_publisher/build/lib/odometry_publisher
+copying odometry_publisher/__init__.py -> /home/robobin/robobin/robobin_main/src/build/odometry_publisher/build/lib/odometry_publisher
+copying odometry_publisher/tf_broadcaster.py -> /home/robobin/robobin/robobin_main/src/build/odometry_publisher/build/lib/odometry_publisher
+copying odometry_publisher/odometry_node.py -> /home/robobin/robobin/robobin_main/src/build/odometry_publisher/build/lib/odometry_publisher
+copying odometry_publisher/backup.py -> /home/robobin/robobin/robobin_main/src/build/odometry_publisher/build/lib/odometry_publisher
+running install
+running install_lib
+creating /home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages/odometry_publisher
+copying /home/robobin/robobin/robobin_main/src/build/odometry_publisher/build/lib/odometry_publisher/__init__.py -> /home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages/odometry_publisher
+copying /home/robobin/robobin/robobin_main/src/build/odometry_publisher/build/lib/odometry_publisher/tf_broadcaster.py -> /home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages/odometry_publisher
+copying /home/robobin/robobin/robobin_main/src/build/odometry_publisher/build/lib/odometry_publisher/odometry_node.py -> /home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages/odometry_publisher
+copying /home/robobin/robobin/robobin_main/src/build/odometry_publisher/build/lib/odometry_publisher/backup.py -> /home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages/odometry_publisher
+byte-compiling /home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages/odometry_publisher/__init__.py to __init__.cpython-312.pyc
+byte-compiling /home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages/odometry_publisher/tf_broadcaster.py to tf_broadcaster.cpython-312.pyc
+byte-compiling /home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages/odometry_publisher/odometry_node.py to odometry_node.cpython-312.pyc
+byte-compiling /home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages/odometry_publisher/backup.py to backup.cpython-312.pyc
+running install_data
+creating /home/robobin/robobin/robobin_main/src/install/odometry_publisher/share/ament_index
+creating /home/robobin/robobin/robobin_main/src/install/odometry_publisher/share/ament_index/resource_index
+creating /home/robobin/robobin/robobin_main/src/install/odometry_publisher/share/ament_index/resource_index/packages
+copying resource/odometry_publisher -> /home/robobin/robobin/robobin_main/src/install/odometry_publisher/share/ament_index/resource_index/packages
+copying package.xml -> /home/robobin/robobin/robobin_main/src/install/odometry_publisher/share/odometry_publisher
+running install_egg_info
+Copying ../build/odometry_publisher/odometry_publisher.egg-info to /home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages/odometry_publisher-0.0.0-py3.12.egg-info
+running install_scripts
+Installing odometry_node script to /home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/odometry_publisher
+writing list of installed files to '/home/robobin/robobin/robobin_main/src/build/odometry_publisher/install.log'
diff --git a/robobin_main/src/log/build_2024-12-16_13-49-41/odometry_publisher/streams.log b/robobin_main/src/log/build_2024-12-16_13-49-41/odometry_publisher/streams.log
new file mode 100644
index 00000000..0dc4c37b
--- /dev/null
+++ b/robobin_main/src/log/build_2024-12-16_13-49-41/odometry_publisher/streams.log
@@ -0,0 +1,43 @@
+[3.266s] Invoking command in '/home/robobin/robobin/robobin_main/src/odometry_publisher': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/robobin_main/src/build/odometry_publisher/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../build/odometry_publisher build --build-base /home/robobin/robobin/robobin_main/src/build/odometry_publisher/build install --record /home/robobin/robobin/robobin_main/src/build/odometry_publisher/install.log --single-version-externally-managed install_data
+[3.808s] running egg_info
+[3.808s] creating ../build/odometry_publisher/odometry_publisher.egg-info
+[3.839s] writing ../build/odometry_publisher/odometry_publisher.egg-info/PKG-INFO
+[3.842s] writing dependency_links to ../build/odometry_publisher/odometry_publisher.egg-info/dependency_links.txt
+[3.843s] writing entry points to ../build/odometry_publisher/odometry_publisher.egg-info/entry_points.txt
+[3.843s] writing requirements to ../build/odometry_publisher/odometry_publisher.egg-info/requires.txt
+[3.843s] writing top-level names to ../build/odometry_publisher/odometry_publisher.egg-info/top_level.txt
+[3.844s] writing manifest file '../build/odometry_publisher/odometry_publisher.egg-info/SOURCES.txt'
+[3.905s] reading manifest file '../build/odometry_publisher/odometry_publisher.egg-info/SOURCES.txt'
+[3.907s] writing manifest file '../build/odometry_publisher/odometry_publisher.egg-info/SOURCES.txt'
+[3.907s] running build
+[3.908s] running build_py
+[3.908s] creating /home/robobin/robobin/robobin_main/src/build/odometry_publisher/build
+[3.908s] creating /home/robobin/robobin/robobin_main/src/build/odometry_publisher/build/lib
+[3.908s] creating /home/robobin/robobin/robobin_main/src/build/odometry_publisher/build/lib/odometry_publisher
+[3.908s] copying odometry_publisher/__init__.py -> /home/robobin/robobin/robobin_main/src/build/odometry_publisher/build/lib/odometry_publisher
+[3.908s] copying odometry_publisher/tf_broadcaster.py -> /home/robobin/robobin/robobin_main/src/build/odometry_publisher/build/lib/odometry_publisher
+[3.908s] copying odometry_publisher/odometry_node.py -> /home/robobin/robobin/robobin_main/src/build/odometry_publisher/build/lib/odometry_publisher
+[3.909s] copying odometry_publisher/backup.py -> /home/robobin/robobin/robobin_main/src/build/odometry_publisher/build/lib/odometry_publisher
+[3.910s] running install
+[3.921s] running install_lib
+[3.960s] creating /home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages/odometry_publisher
+[3.960s] copying /home/robobin/robobin/robobin_main/src/build/odometry_publisher/build/lib/odometry_publisher/__init__.py -> /home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages/odometry_publisher
+[3.960s] copying /home/robobin/robobin/robobin_main/src/build/odometry_publisher/build/lib/odometry_publisher/tf_broadcaster.py -> /home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages/odometry_publisher
+[3.961s] copying /home/robobin/robobin/robobin_main/src/build/odometry_publisher/build/lib/odometry_publisher/odometry_node.py -> /home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages/odometry_publisher
+[3.961s] copying /home/robobin/robobin/robobin_main/src/build/odometry_publisher/build/lib/odometry_publisher/backup.py -> /home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages/odometry_publisher
+[3.961s] byte-compiling /home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages/odometry_publisher/__init__.py to __init__.cpython-312.pyc
+[3.965s] byte-compiling /home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages/odometry_publisher/tf_broadcaster.py to tf_broadcaster.cpython-312.pyc
+[3.965s] byte-compiling /home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages/odometry_publisher/odometry_node.py to odometry_node.cpython-312.pyc
+[3.966s] byte-compiling /home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages/odometry_publisher/backup.py to backup.cpython-312.pyc
+[3.967s] running install_data
+[3.967s] creating /home/robobin/robobin/robobin_main/src/install/odometry_publisher/share/ament_index
+[3.967s] creating /home/robobin/robobin/robobin_main/src/install/odometry_publisher/share/ament_index/resource_index
+[3.967s] creating /home/robobin/robobin/robobin_main/src/install/odometry_publisher/share/ament_index/resource_index/packages
+[3.967s] copying resource/odometry_publisher -> /home/robobin/robobin/robobin_main/src/install/odometry_publisher/share/ament_index/resource_index/packages
+[3.967s] copying package.xml -> /home/robobin/robobin/robobin_main/src/install/odometry_publisher/share/odometry_publisher
+[3.968s] running install_egg_info
+[4.003s] Copying ../build/odometry_publisher/odometry_publisher.egg-info to /home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages/odometry_publisher-0.0.0-py3.12.egg-info
+[4.003s] running install_scripts
+[4.252s] Installing odometry_node script to /home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/odometry_publisher
+[4.253s] writing list of installed files to '/home/robobin/robobin/robobin_main/src/build/odometry_publisher/install.log'
+[4.490s] Invoked command in '/home/robobin/robobin/robobin_main/src/odometry_publisher' returned '0': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/robobin_main/src/build/odometry_publisher/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../build/odometry_publisher build --build-base /home/robobin/robobin/robobin_main/src/build/odometry_publisher/build install --record /home/robobin/robobin/robobin_main/src/build/odometry_publisher/install.log --single-version-externally-managed install_data
diff --git a/robobin_main/src/log/build_2024-12-16_13-49-41/robot_description/command.log b/robobin_main/src/log/build_2024-12-16_13-49-41/robot_description/command.log
new file mode 100644
index 00000000..78d3e3b0
--- /dev/null
+++ b/robobin_main/src/log/build_2024-12-16_13-49-41/robot_description/command.log
@@ -0,0 +1,2 @@
+Invoking command in '/home/robobin/robobin/robobin_main/src/robot_description': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/robobin_main/src/build/robot_description/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/robobin_main/src/install/robot_description/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../build/robot_description build --build-base /home/robobin/robobin/robobin_main/src/build/robot_description/build install --record /home/robobin/robobin/robobin_main/src/build/robot_description/install.log --single-version-externally-managed install_data
+Invoked command in '/home/robobin/robobin/robobin_main/src/robot_description' returned '0': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/robobin_main/src/build/robot_description/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/robobin_main/src/install/robot_description/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../build/robot_description build --build-base /home/robobin/robobin/robobin_main/src/build/robot_description/build install --record /home/robobin/robobin/robobin_main/src/build/robot_description/install.log --single-version-externally-managed install_data
diff --git a/robobin_main/src/log/build_2024-12-16_13-49-41/robot_description/stderr.log b/robobin_main/src/log/build_2024-12-16_13-49-41/robot_description/stderr.log
new file mode 100644
index 00000000..e69de29b
diff --git a/robobin_main/src/log/build_2024-12-16_13-49-41/robot_description/stdout.log b/robobin_main/src/log/build_2024-12-16_13-49-41/robot_description/stdout.log
new file mode 100644
index 00000000..3b5ec640
--- /dev/null
+++ b/robobin_main/src/log/build_2024-12-16_13-49-41/robot_description/stdout.log
@@ -0,0 +1,38 @@
+running egg_info
+creating ../build/robot_description/robot_description.egg-info
+writing ../build/robot_description/robot_description.egg-info/PKG-INFO
+writing dependency_links to ../build/robot_description/robot_description.egg-info/dependency_links.txt
+writing requirements to ../build/robot_description/robot_description.egg-info/requires.txt
+writing top-level names to ../build/robot_description/robot_description.egg-info/top_level.txt
+writing manifest file '../build/robot_description/robot_description.egg-info/SOURCES.txt'
+reading manifest file '../build/robot_description/robot_description.egg-info/SOURCES.txt'
+writing manifest file '../build/robot_description/robot_description.egg-info/SOURCES.txt'
+running build
+running build_py
+creating /home/robobin/robobin/robobin_main/src/build/robot_description/build
+creating /home/robobin/robobin/robobin_main/src/build/robot_description/build/lib
+creating /home/robobin/robobin/robobin_main/src/build/robot_description/build/lib/robot_description
+copying robot_description/__init__.py -> /home/robobin/robobin/robobin_main/src/build/robot_description/build/lib/robot_description
+running install
+running install_lib
+creating /home/robobin/robobin/robobin_main/src/install/robot_description/lib/python3.12/site-packages/robot_description
+copying /home/robobin/robobin/robobin_main/src/build/robot_description/build/lib/robot_description/__init__.py -> /home/robobin/robobin/robobin_main/src/install/robot_description/lib/python3.12/site-packages/robot_description
+byte-compiling /home/robobin/robobin/robobin_main/src/install/robot_description/lib/python3.12/site-packages/robot_description/__init__.py to __init__.cpython-312.pyc
+running install_data
+creating /home/robobin/robobin/robobin_main/src/install/robot_description/share/ament_index
+creating /home/robobin/robobin/robobin_main/src/install/robot_description/share/ament_index/resource_index
+creating /home/robobin/robobin/robobin_main/src/install/robot_description/share/ament_index/resource_index/packages
+copying resource/robot_description -> /home/robobin/robobin/robobin_main/src/install/robot_description/share/ament_index/resource_index/packages
+copying package.xml -> /home/robobin/robobin/robobin_main/src/install/robot_description/share/robot_description
+creating /home/robobin/robobin/robobin_main/src/install/robot_description/share/robot_description/urdf
+copying urdf/robot.urdf -> /home/robobin/robobin/robobin_main/src/install/robot_description/share/robot_description/urdf
+creating /home/robobin/robobin/robobin_main/src/install/robot_description/share/robot_description/launch
+copying launch/view_robot.py -> /home/robobin/robobin/robobin_main/src/install/robot_description/share/robot_description/launch
+creating /home/robobin/robobin/robobin_main/src/install/robot_description/share/robot_description/rviz
+copying rviz/urdf_config.rviz -> /home/robobin/robobin/robobin_main/src/install/robot_description/share/robot_description/rviz
+creating /home/robobin/robobin/robobin_main/src/install/robot_description/share/robot_description/config
+copying config/ekf.yaml -> /home/robobin/robobin/robobin_main/src/install/robot_description/share/robot_description/config
+running install_egg_info
+Copying ../build/robot_description/robot_description.egg-info to /home/robobin/robobin/robobin_main/src/install/robot_description/lib/python3.12/site-packages/robot_description-0.0.0-py3.12.egg-info
+running install_scripts
+writing list of installed files to '/home/robobin/robobin/robobin_main/src/build/robot_description/install.log'
diff --git a/robobin_main/src/log/build_2024-12-16_13-49-41/robot_description/stdout_stderr.log b/robobin_main/src/log/build_2024-12-16_13-49-41/robot_description/stdout_stderr.log
new file mode 100644
index 00000000..3b5ec640
--- /dev/null
+++ b/robobin_main/src/log/build_2024-12-16_13-49-41/robot_description/stdout_stderr.log
@@ -0,0 +1,38 @@
+running egg_info
+creating ../build/robot_description/robot_description.egg-info
+writing ../build/robot_description/robot_description.egg-info/PKG-INFO
+writing dependency_links to ../build/robot_description/robot_description.egg-info/dependency_links.txt
+writing requirements to ../build/robot_description/robot_description.egg-info/requires.txt
+writing top-level names to ../build/robot_description/robot_description.egg-info/top_level.txt
+writing manifest file '../build/robot_description/robot_description.egg-info/SOURCES.txt'
+reading manifest file '../build/robot_description/robot_description.egg-info/SOURCES.txt'
+writing manifest file '../build/robot_description/robot_description.egg-info/SOURCES.txt'
+running build
+running build_py
+creating /home/robobin/robobin/robobin_main/src/build/robot_description/build
+creating /home/robobin/robobin/robobin_main/src/build/robot_description/build/lib
+creating /home/robobin/robobin/robobin_main/src/build/robot_description/build/lib/robot_description
+copying robot_description/__init__.py -> /home/robobin/robobin/robobin_main/src/build/robot_description/build/lib/robot_description
+running install
+running install_lib
+creating /home/robobin/robobin/robobin_main/src/install/robot_description/lib/python3.12/site-packages/robot_description
+copying /home/robobin/robobin/robobin_main/src/build/robot_description/build/lib/robot_description/__init__.py -> /home/robobin/robobin/robobin_main/src/install/robot_description/lib/python3.12/site-packages/robot_description
+byte-compiling /home/robobin/robobin/robobin_main/src/install/robot_description/lib/python3.12/site-packages/robot_description/__init__.py to __init__.cpython-312.pyc
+running install_data
+creating /home/robobin/robobin/robobin_main/src/install/robot_description/share/ament_index
+creating /home/robobin/robobin/robobin_main/src/install/robot_description/share/ament_index/resource_index
+creating /home/robobin/robobin/robobin_main/src/install/robot_description/share/ament_index/resource_index/packages
+copying resource/robot_description -> /home/robobin/robobin/robobin_main/src/install/robot_description/share/ament_index/resource_index/packages
+copying package.xml -> /home/robobin/robobin/robobin_main/src/install/robot_description/share/robot_description
+creating /home/robobin/robobin/robobin_main/src/install/robot_description/share/robot_description/urdf
+copying urdf/robot.urdf -> /home/robobin/robobin/robobin_main/src/install/robot_description/share/robot_description/urdf
+creating /home/robobin/robobin/robobin_main/src/install/robot_description/share/robot_description/launch
+copying launch/view_robot.py -> /home/robobin/robobin/robobin_main/src/install/robot_description/share/robot_description/launch
+creating /home/robobin/robobin/robobin_main/src/install/robot_description/share/robot_description/rviz
+copying rviz/urdf_config.rviz -> /home/robobin/robobin/robobin_main/src/install/robot_description/share/robot_description/rviz
+creating /home/robobin/robobin/robobin_main/src/install/robot_description/share/robot_description/config
+copying config/ekf.yaml -> /home/robobin/robobin/robobin_main/src/install/robot_description/share/robot_description/config
+running install_egg_info
+Copying ../build/robot_description/robot_description.egg-info to /home/robobin/robobin/robobin_main/src/install/robot_description/lib/python3.12/site-packages/robot_description-0.0.0-py3.12.egg-info
+running install_scripts
+writing list of installed files to '/home/robobin/robobin/robobin_main/src/build/robot_description/install.log'
diff --git a/robobin_main/src/log/build_2024-12-16_13-49-41/robot_description/streams.log b/robobin_main/src/log/build_2024-12-16_13-49-41/robot_description/streams.log
new file mode 100644
index 00000000..a98796e1
--- /dev/null
+++ b/robobin_main/src/log/build_2024-12-16_13-49-41/robot_description/streams.log
@@ -0,0 +1,40 @@
+[3.244s] Invoking command in '/home/robobin/robobin/robobin_main/src/robot_description': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/robobin_main/src/build/robot_description/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/robobin_main/src/install/robot_description/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../build/robot_description build --build-base /home/robobin/robobin/robobin_main/src/build/robot_description/build install --record /home/robobin/robobin/robobin_main/src/build/robot_description/install.log --single-version-externally-managed install_data
+[3.792s] running egg_info
+[3.792s] creating ../build/robot_description/robot_description.egg-info
+[3.829s] writing ../build/robot_description/robot_description.egg-info/PKG-INFO
+[3.831s] writing dependency_links to ../build/robot_description/robot_description.egg-info/dependency_links.txt
+[3.831s] writing requirements to ../build/robot_description/robot_description.egg-info/requires.txt
+[3.832s] writing top-level names to ../build/robot_description/robot_description.egg-info/top_level.txt
+[3.832s] writing manifest file '../build/robot_description/robot_description.egg-info/SOURCES.txt'
+[3.891s] reading manifest file '../build/robot_description/robot_description.egg-info/SOURCES.txt'
+[3.891s] writing manifest file '../build/robot_description/robot_description.egg-info/SOURCES.txt'
+[3.892s] running build
+[3.892s] running build_py
+[3.892s] creating /home/robobin/robobin/robobin_main/src/build/robot_description/build
+[3.892s] creating /home/robobin/robobin/robobin_main/src/build/robot_description/build/lib
+[3.893s] creating /home/robobin/robobin/robobin_main/src/build/robot_description/build/lib/robot_description
+[3.893s] copying robot_description/__init__.py -> /home/robobin/robobin/robobin_main/src/build/robot_description/build/lib/robot_description
+[3.894s] running install
+[3.906s] running install_lib
+[3.943s] creating /home/robobin/robobin/robobin_main/src/install/robot_description/lib/python3.12/site-packages/robot_description
+[3.944s] copying /home/robobin/robobin/robobin_main/src/build/robot_description/build/lib/robot_description/__init__.py -> /home/robobin/robobin/robobin_main/src/install/robot_description/lib/python3.12/site-packages/robot_description
+[3.944s] byte-compiling /home/robobin/robobin/robobin_main/src/install/robot_description/lib/python3.12/site-packages/robot_description/__init__.py to __init__.cpython-312.pyc
+[3.952s] running install_data
+[3.952s] creating /home/robobin/robobin/robobin_main/src/install/robot_description/share/ament_index
+[3.952s] creating /home/robobin/robobin/robobin_main/src/install/robot_description/share/ament_index/resource_index
+[3.952s] creating /home/robobin/robobin/robobin_main/src/install/robot_description/share/ament_index/resource_index/packages
+[3.952s] copying resource/robot_description -> /home/robobin/robobin/robobin_main/src/install/robot_description/share/ament_index/resource_index/packages
+[3.952s] copying package.xml -> /home/robobin/robobin/robobin_main/src/install/robot_description/share/robot_description
+[3.953s] creating /home/robobin/robobin/robobin_main/src/install/robot_description/share/robot_description/urdf
+[3.953s] copying urdf/robot.urdf -> /home/robobin/robobin/robobin_main/src/install/robot_description/share/robot_description/urdf
+[3.953s] creating /home/robobin/robobin/robobin_main/src/install/robot_description/share/robot_description/launch
+[3.953s] copying launch/view_robot.py -> /home/robobin/robobin/robobin_main/src/install/robot_description/share/robot_description/launch
+[3.953s] creating /home/robobin/robobin/robobin_main/src/install/robot_description/share/robot_description/rviz
+[3.953s] copying rviz/urdf_config.rviz -> /home/robobin/robobin/robobin_main/src/install/robot_description/share/robot_description/rviz
+[3.953s] creating /home/robobin/robobin/robobin_main/src/install/robot_description/share/robot_description/config
+[3.953s] copying config/ekf.yaml -> /home/robobin/robobin/robobin_main/src/install/robot_description/share/robot_description/config
+[3.953s] running install_egg_info
+[3.986s] Copying ../build/robot_description/robot_description.egg-info to /home/robobin/robobin/robobin_main/src/install/robot_description/lib/python3.12/site-packages/robot_description-0.0.0-py3.12.egg-info
+[3.990s] running install_scripts
+[4.237s] writing list of installed files to '/home/robobin/robobin/robobin_main/src/build/robot_description/install.log'
+[4.471s] Invoked command in '/home/robobin/robobin/robobin_main/src/robot_description' returned '0': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/robobin_main/src/build/robot_description/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/robobin_main/src/install/robot_description/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../build/robot_description build --build-base /home/robobin/robobin/robobin_main/src/build/robot_description/build install --record /home/robobin/robobin/robobin_main/src/build/robot_description/install.log --single-version-externally-managed install_data
diff --git a/robobin_main/src/log/build_2024-12-16_13-49-41/robot_localization_ekf/command.log b/robobin_main/src/log/build_2024-12-16_13-49-41/robot_localization_ekf/command.log
new file mode 100644
index 00000000..28b0d8dd
--- /dev/null
+++ b/robobin_main/src/log/build_2024-12-16_13-49-41/robot_localization_ekf/command.log
@@ -0,0 +1,2 @@
+Invoking command in '/home/robobin/robobin/robobin_main/src/robot_localization_ekf': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/robobin_main/src/build/robot_localization_ekf/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../build/robot_localization_ekf build --build-base /home/robobin/robobin/robobin_main/src/build/robot_localization_ekf/build install --record /home/robobin/robobin/robobin_main/src/build/robot_localization_ekf/install.log --single-version-externally-managed install_data
+Invoked command in '/home/robobin/robobin/robobin_main/src/robot_localization_ekf' returned '0': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/robobin_main/src/build/robot_localization_ekf/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../build/robot_localization_ekf build --build-base /home/robobin/robobin/robobin_main/src/build/robot_localization_ekf/build install --record /home/robobin/robobin/robobin_main/src/build/robot_localization_ekf/install.log --single-version-externally-managed install_data
diff --git a/robobin_main/src/log/build_2024-12-16_13-49-41/robot_localization_ekf/stderr.log b/robobin_main/src/log/build_2024-12-16_13-49-41/robot_localization_ekf/stderr.log
new file mode 100644
index 00000000..e69de29b
diff --git a/robobin_main/src/log/build_2024-12-16_13-49-41/robot_localization_ekf/stdout.log b/robobin_main/src/log/build_2024-12-16_13-49-41/robot_localization_ekf/stdout.log
new file mode 100644
index 00000000..d4e2d735
--- /dev/null
+++ b/robobin_main/src/log/build_2024-12-16_13-49-41/robot_localization_ekf/stdout.log
@@ -0,0 +1,34 @@
+running egg_info
+creating ../build/robot_localization_ekf/robot_localization_ekf.egg-info
+writing ../build/robot_localization_ekf/robot_localization_ekf.egg-info/PKG-INFO
+writing dependency_links to ../build/robot_localization_ekf/robot_localization_ekf.egg-info/dependency_links.txt
+writing requirements to ../build/robot_localization_ekf/robot_localization_ekf.egg-info/requires.txt
+writing top-level names to ../build/robot_localization_ekf/robot_localization_ekf.egg-info/top_level.txt
+writing manifest file '../build/robot_localization_ekf/robot_localization_ekf.egg-info/SOURCES.txt'
+reading manifest file '../build/robot_localization_ekf/robot_localization_ekf.egg-info/SOURCES.txt'
+writing manifest file '../build/robot_localization_ekf/robot_localization_ekf.egg-info/SOURCES.txt'
+running build
+running build_py
+creating /home/robobin/robobin/robobin_main/src/build/robot_localization_ekf/build
+creating /home/robobin/robobin/robobin_main/src/build/robot_localization_ekf/build/lib
+creating /home/robobin/robobin/robobin_main/src/build/robot_localization_ekf/build/lib/robot_localization_ekf
+copying robot_localization_ekf/__init__.py -> /home/robobin/robobin/robobin_main/src/build/robot_localization_ekf/build/lib/robot_localization_ekf
+running install
+running install_lib
+creating /home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/lib/python3.12/site-packages/robot_localization_ekf
+copying /home/robobin/robobin/robobin_main/src/build/robot_localization_ekf/build/lib/robot_localization_ekf/__init__.py -> /home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/lib/python3.12/site-packages/robot_localization_ekf
+byte-compiling /home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/lib/python3.12/site-packages/robot_localization_ekf/__init__.py to __init__.cpython-312.pyc
+running install_data
+creating /home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/share/ament_index
+creating /home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/share/ament_index/resource_index
+creating /home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/share/ament_index/resource_index/packages
+copying resource/robot_localization_ekf -> /home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/share/ament_index/resource_index/packages
+copying package.xml -> /home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/share/robot_localization_ekf
+creating /home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/share/robot_localization_ekf/config
+copying config/ekf.yaml -> /home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/share/robot_localization_ekf/config
+creating /home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/share/robot_localization_ekf/launch
+copying launch/ekf_launch.py -> /home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/share/robot_localization_ekf/launch
+running install_egg_info
+Copying ../build/robot_localization_ekf/robot_localization_ekf.egg-info to /home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/lib/python3.12/site-packages/robot_localization_ekf-0.0.0-py3.12.egg-info
+running install_scripts
+writing list of installed files to '/home/robobin/robobin/robobin_main/src/build/robot_localization_ekf/install.log'
diff --git a/robobin_main/src/log/build_2024-12-16_13-49-41/robot_localization_ekf/stdout_stderr.log b/robobin_main/src/log/build_2024-12-16_13-49-41/robot_localization_ekf/stdout_stderr.log
new file mode 100644
index 00000000..d4e2d735
--- /dev/null
+++ b/robobin_main/src/log/build_2024-12-16_13-49-41/robot_localization_ekf/stdout_stderr.log
@@ -0,0 +1,34 @@
+running egg_info
+creating ../build/robot_localization_ekf/robot_localization_ekf.egg-info
+writing ../build/robot_localization_ekf/robot_localization_ekf.egg-info/PKG-INFO
+writing dependency_links to ../build/robot_localization_ekf/robot_localization_ekf.egg-info/dependency_links.txt
+writing requirements to ../build/robot_localization_ekf/robot_localization_ekf.egg-info/requires.txt
+writing top-level names to ../build/robot_localization_ekf/robot_localization_ekf.egg-info/top_level.txt
+writing manifest file '../build/robot_localization_ekf/robot_localization_ekf.egg-info/SOURCES.txt'
+reading manifest file '../build/robot_localization_ekf/robot_localization_ekf.egg-info/SOURCES.txt'
+writing manifest file '../build/robot_localization_ekf/robot_localization_ekf.egg-info/SOURCES.txt'
+running build
+running build_py
+creating /home/robobin/robobin/robobin_main/src/build/robot_localization_ekf/build
+creating /home/robobin/robobin/robobin_main/src/build/robot_localization_ekf/build/lib
+creating /home/robobin/robobin/robobin_main/src/build/robot_localization_ekf/build/lib/robot_localization_ekf
+copying robot_localization_ekf/__init__.py -> /home/robobin/robobin/robobin_main/src/build/robot_localization_ekf/build/lib/robot_localization_ekf
+running install
+running install_lib
+creating /home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/lib/python3.12/site-packages/robot_localization_ekf
+copying /home/robobin/robobin/robobin_main/src/build/robot_localization_ekf/build/lib/robot_localization_ekf/__init__.py -> /home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/lib/python3.12/site-packages/robot_localization_ekf
+byte-compiling /home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/lib/python3.12/site-packages/robot_localization_ekf/__init__.py to __init__.cpython-312.pyc
+running install_data
+creating /home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/share/ament_index
+creating /home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/share/ament_index/resource_index
+creating /home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/share/ament_index/resource_index/packages
+copying resource/robot_localization_ekf -> /home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/share/ament_index/resource_index/packages
+copying package.xml -> /home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/share/robot_localization_ekf
+creating /home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/share/robot_localization_ekf/config
+copying config/ekf.yaml -> /home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/share/robot_localization_ekf/config
+creating /home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/share/robot_localization_ekf/launch
+copying launch/ekf_launch.py -> /home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/share/robot_localization_ekf/launch
+running install_egg_info
+Copying ../build/robot_localization_ekf/robot_localization_ekf.egg-info to /home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/lib/python3.12/site-packages/robot_localization_ekf-0.0.0-py3.12.egg-info
+running install_scripts
+writing list of installed files to '/home/robobin/robobin/robobin_main/src/build/robot_localization_ekf/install.log'
diff --git a/robobin_main/src/log/build_2024-12-16_13-49-41/robot_localization_ekf/streams.log b/robobin_main/src/log/build_2024-12-16_13-49-41/robot_localization_ekf/streams.log
new file mode 100644
index 00000000..3b718772
--- /dev/null
+++ b/robobin_main/src/log/build_2024-12-16_13-49-41/robot_localization_ekf/streams.log
@@ -0,0 +1,36 @@
+[3.216s] Invoking command in '/home/robobin/robobin/robobin_main/src/robot_localization_ekf': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/robobin_main/src/build/robot_localization_ekf/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../build/robot_localization_ekf build --build-base /home/robobin/robobin/robobin_main/src/build/robot_localization_ekf/build install --record /home/robobin/robobin/robobin_main/src/build/robot_localization_ekf/install.log --single-version-externally-managed install_data
+[3.774s] running egg_info
+[3.774s] creating ../build/robot_localization_ekf/robot_localization_ekf.egg-info
+[3.811s] writing ../build/robot_localization_ekf/robot_localization_ekf.egg-info/PKG-INFO
+[3.811s] writing dependency_links to ../build/robot_localization_ekf/robot_localization_ekf.egg-info/dependency_links.txt
+[3.812s] writing requirements to ../build/robot_localization_ekf/robot_localization_ekf.egg-info/requires.txt
+[3.812s] writing top-level names to ../build/robot_localization_ekf/robot_localization_ekf.egg-info/top_level.txt
+[3.813s] writing manifest file '../build/robot_localization_ekf/robot_localization_ekf.egg-info/SOURCES.txt'
+[3.876s] reading manifest file '../build/robot_localization_ekf/robot_localization_ekf.egg-info/SOURCES.txt'
+[3.877s] writing manifest file '../build/robot_localization_ekf/robot_localization_ekf.egg-info/SOURCES.txt'
+[3.877s] running build
+[3.877s] running build_py
+[3.878s] creating /home/robobin/robobin/robobin_main/src/build/robot_localization_ekf/build
+[3.878s] creating /home/robobin/robobin/robobin_main/src/build/robot_localization_ekf/build/lib
+[3.878s] creating /home/robobin/robobin/robobin_main/src/build/robot_localization_ekf/build/lib/robot_localization_ekf
+[3.880s] copying robot_localization_ekf/__init__.py -> /home/robobin/robobin/robobin_main/src/build/robot_localization_ekf/build/lib/robot_localization_ekf
+[3.880s] running install
+[3.895s] running install_lib
+[3.931s] creating /home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/lib/python3.12/site-packages/robot_localization_ekf
+[3.933s] copying /home/robobin/robobin/robobin_main/src/build/robot_localization_ekf/build/lib/robot_localization_ekf/__init__.py -> /home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/lib/python3.12/site-packages/robot_localization_ekf
+[3.936s] byte-compiling /home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/lib/python3.12/site-packages/robot_localization_ekf/__init__.py to __init__.cpython-312.pyc
+[3.937s] running install_data
+[3.941s] creating /home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/share/ament_index
+[3.941s] creating /home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/share/ament_index/resource_index
+[3.941s] creating /home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/share/ament_index/resource_index/packages
+[3.941s] copying resource/robot_localization_ekf -> /home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/share/ament_index/resource_index/packages
+[3.941s] copying package.xml -> /home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/share/robot_localization_ekf
+[3.941s] creating /home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/share/robot_localization_ekf/config
+[3.941s] copying config/ekf.yaml -> /home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/share/robot_localization_ekf/config
+[3.942s] creating /home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/share/robot_localization_ekf/launch
+[3.943s] copying launch/ekf_launch.py -> /home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/share/robot_localization_ekf/launch
+[3.943s] running install_egg_info
+[3.969s] Copying ../build/robot_localization_ekf/robot_localization_ekf.egg-info to /home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/lib/python3.12/site-packages/robot_localization_ekf-0.0.0-py3.12.egg-info
+[3.970s] running install_scripts
+[4.214s] writing list of installed files to '/home/robobin/robobin/robobin_main/src/build/robot_localization_ekf/install.log'
+[4.442s] Invoked command in '/home/robobin/robobin/robobin_main/src/robot_localization_ekf' returned '0': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/robobin_main/src/build/robot_localization_ekf/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../build/robot_localization_ekf build --build-base /home/robobin/robobin/robobin_main/src/build/robot_localization_ekf/build install --record /home/robobin/robobin/robobin_main/src/build/robot_localization_ekf/install.log --single-version-externally-managed install_data
diff --git a/robobin_main/src/log/build_2024-12-16_13-49-41/testing/command.log b/robobin_main/src/log/build_2024-12-16_13-49-41/testing/command.log
new file mode 100644
index 00000000..dc9b85d6
--- /dev/null
+++ b/robobin_main/src/log/build_2024-12-16_13-49-41/testing/command.log
@@ -0,0 +1,2 @@
+Invoking command in '/home/robobin/robobin/robobin_main/src/testing': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/robobin_main/src/build/testing/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../build/testing build --build-base /home/robobin/robobin/robobin_main/src/build/testing/build install --record /home/robobin/robobin/robobin_main/src/build/testing/install.log --single-version-externally-managed install_data
+Invoked command in '/home/robobin/robobin/robobin_main/src/testing' returned '0': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/robobin_main/src/build/testing/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../build/testing build --build-base /home/robobin/robobin/robobin_main/src/build/testing/build install --record /home/robobin/robobin/robobin_main/src/build/testing/install.log --single-version-externally-managed install_data
diff --git a/robobin_main/src/log/build_2024-12-16_13-49-41/testing/stderr.log b/robobin_main/src/log/build_2024-12-16_13-49-41/testing/stderr.log
new file mode 100644
index 00000000..e69de29b
diff --git a/robobin_main/src/log/build_2024-12-16_13-49-41/testing/stdout.log b/robobin_main/src/log/build_2024-12-16_13-49-41/testing/stdout.log
new file mode 100644
index 00000000..c36f1c47
--- /dev/null
+++ b/robobin_main/src/log/build_2024-12-16_13-49-41/testing/stdout.log
@@ -0,0 +1,55 @@
+running egg_info
+creating ../build/testing/testing.egg-info
+writing ../build/testing/testing.egg-info/PKG-INFO
+writing dependency_links to ../build/testing/testing.egg-info/dependency_links.txt
+writing entry points to ../build/testing/testing.egg-info/entry_points.txt
+writing requirements to ../build/testing/testing.egg-info/requires.txt
+writing top-level names to ../build/testing/testing.egg-info/top_level.txt
+writing manifest file '../build/testing/testing.egg-info/SOURCES.txt'
+reading manifest file '../build/testing/testing.egg-info/SOURCES.txt'
+writing manifest file '../build/testing/testing.egg-info/SOURCES.txt'
+running build
+running build_py
+creating /home/robobin/robobin/robobin_main/src/build/testing/build
+creating /home/robobin/robobin/robobin_main/src/build/testing/build/lib
+creating /home/robobin/robobin/robobin_main/src/build/testing/build/lib/testing
+copying testing/encoder.py -> /home/robobin/robobin/robobin_main/src/build/testing/build/lib/testing
+copying testing/motor_control_node.py -> /home/robobin/robobin/robobin_main/src/build/testing/build/lib/testing
+copying testing/__init__.py -> /home/robobin/robobin/robobin_main/src/build/testing/build/lib/testing
+copying testing/imu_node.py -> /home/robobin/robobin/robobin_main/src/build/testing/build/lib/testing
+copying testing/route_filtered.py -> /home/robobin/robobin/robobin_main/src/build/testing/build/lib/testing
+copying testing/control_feedback.py -> /home/robobin/robobin/robobin_main/src/build/testing/build/lib/testing
+copying testing/route.py -> /home/robobin/robobin/robobin_main/src/build/testing/build/lib/testing
+running install
+running install_lib
+creating /home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages/testing
+copying /home/robobin/robobin/robobin_main/src/build/testing/build/lib/testing/encoder.py -> /home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages/testing
+copying /home/robobin/robobin/robobin_main/src/build/testing/build/lib/testing/motor_control_node.py -> /home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages/testing
+copying /home/robobin/robobin/robobin_main/src/build/testing/build/lib/testing/__init__.py -> /home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages/testing
+copying /home/robobin/robobin/robobin_main/src/build/testing/build/lib/testing/imu_node.py -> /home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages/testing
+copying /home/robobin/robobin/robobin_main/src/build/testing/build/lib/testing/route_filtered.py -> /home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages/testing
+copying /home/robobin/robobin/robobin_main/src/build/testing/build/lib/testing/control_feedback.py -> /home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages/testing
+copying /home/robobin/robobin/robobin_main/src/build/testing/build/lib/testing/route.py -> /home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages/testing
+byte-compiling /home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages/testing/encoder.py to encoder.cpython-312.pyc
+byte-compiling /home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages/testing/motor_control_node.py to motor_control_node.cpython-312.pyc
+byte-compiling /home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages/testing/__init__.py to __init__.cpython-312.pyc
+byte-compiling /home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages/testing/imu_node.py to imu_node.cpython-312.pyc
+byte-compiling /home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages/testing/route_filtered.py to route_filtered.cpython-312.pyc
+byte-compiling /home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages/testing/control_feedback.py to control_feedback.cpython-312.pyc
+byte-compiling /home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages/testing/route.py to route.cpython-312.pyc
+running install_data
+creating /home/robobin/robobin/robobin_main/src/install/testing/share/ament_index
+creating /home/robobin/robobin/robobin_main/src/install/testing/share/ament_index/resource_index
+creating /home/robobin/robobin/robobin_main/src/install/testing/share/ament_index/resource_index/packages
+copying resource/testing -> /home/robobin/robobin/robobin_main/src/install/testing/share/ament_index/resource_index/packages
+copying package.xml -> /home/robobin/robobin/robobin_main/src/install/testing/share/testing
+running install_egg_info
+Copying ../build/testing/testing.egg-info to /home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages/testing-0.0.0-py3.12.egg-info
+running install_scripts
+Installing test_control_feedback script to /home/robobin/robobin/robobin_main/src/install/testing/lib/testing
+Installing test_encoder_node script to /home/robobin/robobin/robobin_main/src/install/testing/lib/testing
+Installing test_imu_node script to /home/robobin/robobin/robobin_main/src/install/testing/lib/testing
+Installing test_motor_node script to /home/robobin/robobin/robobin_main/src/install/testing/lib/testing
+Installing test_route script to /home/robobin/robobin/robobin_main/src/install/testing/lib/testing
+Installing test_route_filter script to /home/robobin/robobin/robobin_main/src/install/testing/lib/testing
+writing list of installed files to '/home/robobin/robobin/robobin_main/src/build/testing/install.log'
diff --git a/robobin_main/src/log/build_2024-12-16_13-49-41/testing/stdout_stderr.log b/robobin_main/src/log/build_2024-12-16_13-49-41/testing/stdout_stderr.log
new file mode 100644
index 00000000..c36f1c47
--- /dev/null
+++ b/robobin_main/src/log/build_2024-12-16_13-49-41/testing/stdout_stderr.log
@@ -0,0 +1,55 @@
+running egg_info
+creating ../build/testing/testing.egg-info
+writing ../build/testing/testing.egg-info/PKG-INFO
+writing dependency_links to ../build/testing/testing.egg-info/dependency_links.txt
+writing entry points to ../build/testing/testing.egg-info/entry_points.txt
+writing requirements to ../build/testing/testing.egg-info/requires.txt
+writing top-level names to ../build/testing/testing.egg-info/top_level.txt
+writing manifest file '../build/testing/testing.egg-info/SOURCES.txt'
+reading manifest file '../build/testing/testing.egg-info/SOURCES.txt'
+writing manifest file '../build/testing/testing.egg-info/SOURCES.txt'
+running build
+running build_py
+creating /home/robobin/robobin/robobin_main/src/build/testing/build
+creating /home/robobin/robobin/robobin_main/src/build/testing/build/lib
+creating /home/robobin/robobin/robobin_main/src/build/testing/build/lib/testing
+copying testing/encoder.py -> /home/robobin/robobin/robobin_main/src/build/testing/build/lib/testing
+copying testing/motor_control_node.py -> /home/robobin/robobin/robobin_main/src/build/testing/build/lib/testing
+copying testing/__init__.py -> /home/robobin/robobin/robobin_main/src/build/testing/build/lib/testing
+copying testing/imu_node.py -> /home/robobin/robobin/robobin_main/src/build/testing/build/lib/testing
+copying testing/route_filtered.py -> /home/robobin/robobin/robobin_main/src/build/testing/build/lib/testing
+copying testing/control_feedback.py -> /home/robobin/robobin/robobin_main/src/build/testing/build/lib/testing
+copying testing/route.py -> /home/robobin/robobin/robobin_main/src/build/testing/build/lib/testing
+running install
+running install_lib
+creating /home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages/testing
+copying /home/robobin/robobin/robobin_main/src/build/testing/build/lib/testing/encoder.py -> /home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages/testing
+copying /home/robobin/robobin/robobin_main/src/build/testing/build/lib/testing/motor_control_node.py -> /home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages/testing
+copying /home/robobin/robobin/robobin_main/src/build/testing/build/lib/testing/__init__.py -> /home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages/testing
+copying /home/robobin/robobin/robobin_main/src/build/testing/build/lib/testing/imu_node.py -> /home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages/testing
+copying /home/robobin/robobin/robobin_main/src/build/testing/build/lib/testing/route_filtered.py -> /home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages/testing
+copying /home/robobin/robobin/robobin_main/src/build/testing/build/lib/testing/control_feedback.py -> /home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages/testing
+copying /home/robobin/robobin/robobin_main/src/build/testing/build/lib/testing/route.py -> /home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages/testing
+byte-compiling /home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages/testing/encoder.py to encoder.cpython-312.pyc
+byte-compiling /home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages/testing/motor_control_node.py to motor_control_node.cpython-312.pyc
+byte-compiling /home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages/testing/__init__.py to __init__.cpython-312.pyc
+byte-compiling /home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages/testing/imu_node.py to imu_node.cpython-312.pyc
+byte-compiling /home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages/testing/route_filtered.py to route_filtered.cpython-312.pyc
+byte-compiling /home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages/testing/control_feedback.py to control_feedback.cpython-312.pyc
+byte-compiling /home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages/testing/route.py to route.cpython-312.pyc
+running install_data
+creating /home/robobin/robobin/robobin_main/src/install/testing/share/ament_index
+creating /home/robobin/robobin/robobin_main/src/install/testing/share/ament_index/resource_index
+creating /home/robobin/robobin/robobin_main/src/install/testing/share/ament_index/resource_index/packages
+copying resource/testing -> /home/robobin/robobin/robobin_main/src/install/testing/share/ament_index/resource_index/packages
+copying package.xml -> /home/robobin/robobin/robobin_main/src/install/testing/share/testing
+running install_egg_info
+Copying ../build/testing/testing.egg-info to /home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages/testing-0.0.0-py3.12.egg-info
+running install_scripts
+Installing test_control_feedback script to /home/robobin/robobin/robobin_main/src/install/testing/lib/testing
+Installing test_encoder_node script to /home/robobin/robobin/robobin_main/src/install/testing/lib/testing
+Installing test_imu_node script to /home/robobin/robobin/robobin_main/src/install/testing/lib/testing
+Installing test_motor_node script to /home/robobin/robobin/robobin_main/src/install/testing/lib/testing
+Installing test_route script to /home/robobin/robobin/robobin_main/src/install/testing/lib/testing
+Installing test_route_filter script to /home/robobin/robobin/robobin_main/src/install/testing/lib/testing
+writing list of installed files to '/home/robobin/robobin/robobin_main/src/build/testing/install.log'
diff --git a/robobin_main/src/log/build_2024-12-16_13-49-41/testing/streams.log b/robobin_main/src/log/build_2024-12-16_13-49-41/testing/streams.log
new file mode 100644
index 00000000..3ec2c6ba
--- /dev/null
+++ b/robobin_main/src/log/build_2024-12-16_13-49-41/testing/streams.log
@@ -0,0 +1,57 @@
+[3.241s] Invoking command in '/home/robobin/robobin/robobin_main/src/testing': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/robobin_main/src/build/testing/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../build/testing build --build-base /home/robobin/robobin/robobin_main/src/build/testing/build install --record /home/robobin/robobin/robobin_main/src/build/testing/install.log --single-version-externally-managed install_data
+[3.754s] running egg_info
+[3.755s] creating ../build/testing/testing.egg-info
+[3.785s] writing ../build/testing/testing.egg-info/PKG-INFO
+[3.785s] writing dependency_links to ../build/testing/testing.egg-info/dependency_links.txt
+[3.789s] writing entry points to ../build/testing/testing.egg-info/entry_points.txt
+[3.789s] writing requirements to ../build/testing/testing.egg-info/requires.txt
+[3.789s] writing top-level names to ../build/testing/testing.egg-info/top_level.txt
+[3.789s] writing manifest file '../build/testing/testing.egg-info/SOURCES.txt'
+[3.849s] reading manifest file '../build/testing/testing.egg-info/SOURCES.txt'
+[3.851s] writing manifest file '../build/testing/testing.egg-info/SOURCES.txt'
+[3.851s] running build
+[3.851s] running build_py
+[3.852s] creating /home/robobin/robobin/robobin_main/src/build/testing/build
+[3.853s] creating /home/robobin/robobin/robobin_main/src/build/testing/build/lib
+[3.853s] creating /home/robobin/robobin/robobin_main/src/build/testing/build/lib/testing
+[3.853s] copying testing/encoder.py -> /home/robobin/robobin/robobin_main/src/build/testing/build/lib/testing
+[3.855s] copying testing/motor_control_node.py -> /home/robobin/robobin/robobin_main/src/build/testing/build/lib/testing
+[3.855s] copying testing/__init__.py -> /home/robobin/robobin/robobin_main/src/build/testing/build/lib/testing
+[3.855s] copying testing/imu_node.py -> /home/robobin/robobin/robobin_main/src/build/testing/build/lib/testing
+[3.856s] copying testing/route_filtered.py -> /home/robobin/robobin/robobin_main/src/build/testing/build/lib/testing
+[3.857s] copying testing/control_feedback.py -> /home/robobin/robobin/robobin_main/src/build/testing/build/lib/testing
+[3.858s] copying testing/route.py -> /home/robobin/robobin/robobin_main/src/build/testing/build/lib/testing
+[3.860s] running install
+[3.870s] running install_lib
+[3.906s] creating /home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages/testing
+[3.907s] copying /home/robobin/robobin/robobin_main/src/build/testing/build/lib/testing/encoder.py -> /home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages/testing
+[3.907s] copying /home/robobin/robobin/robobin_main/src/build/testing/build/lib/testing/motor_control_node.py -> /home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages/testing
+[3.907s] copying /home/robobin/robobin/robobin_main/src/build/testing/build/lib/testing/__init__.py -> /home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages/testing
+[3.907s] copying /home/robobin/robobin/robobin_main/src/build/testing/build/lib/testing/imu_node.py -> /home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages/testing
+[3.907s] copying /home/robobin/robobin/robobin_main/src/build/testing/build/lib/testing/route_filtered.py -> /home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages/testing
+[3.907s] copying /home/robobin/robobin/robobin_main/src/build/testing/build/lib/testing/control_feedback.py -> /home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages/testing
+[3.908s] copying /home/robobin/robobin/robobin_main/src/build/testing/build/lib/testing/route.py -> /home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages/testing
+[3.911s] byte-compiling /home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages/testing/encoder.py to encoder.cpython-312.pyc
+[3.913s] byte-compiling /home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages/testing/motor_control_node.py to motor_control_node.cpython-312.pyc
+[3.913s] byte-compiling /home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages/testing/__init__.py to __init__.cpython-312.pyc
+[3.913s] byte-compiling /home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages/testing/imu_node.py to imu_node.cpython-312.pyc
+[3.914s] byte-compiling /home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages/testing/route_filtered.py to route_filtered.cpython-312.pyc
+[3.917s] byte-compiling /home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages/testing/control_feedback.py to control_feedback.cpython-312.pyc
+[3.926s] byte-compiling /home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages/testing/route.py to route.cpython-312.pyc
+[3.927s] running install_data
+[3.927s] creating /home/robobin/robobin/robobin_main/src/install/testing/share/ament_index
+[3.927s] creating /home/robobin/robobin/robobin_main/src/install/testing/share/ament_index/resource_index
+[3.927s] creating /home/robobin/robobin/robobin_main/src/install/testing/share/ament_index/resource_index/packages
+[3.928s] copying resource/testing -> /home/robobin/robobin/robobin_main/src/install/testing/share/ament_index/resource_index/packages
+[3.928s] copying package.xml -> /home/robobin/robobin/robobin_main/src/install/testing/share/testing
+[3.928s] running install_egg_info
+[3.956s] Copying ../build/testing/testing.egg-info to /home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages/testing-0.0.0-py3.12.egg-info
+[3.958s] running install_scripts
+[4.195s] Installing test_control_feedback script to /home/robobin/robobin/robobin_main/src/install/testing/lib/testing
+[4.196s] Installing test_encoder_node script to /home/robobin/robobin/robobin_main/src/install/testing/lib/testing
+[4.196s] Installing test_imu_node script to /home/robobin/robobin/robobin_main/src/install/testing/lib/testing
+[4.196s] Installing test_motor_node script to /home/robobin/robobin/robobin_main/src/install/testing/lib/testing
+[4.197s] Installing test_route script to /home/robobin/robobin/robobin_main/src/install/testing/lib/testing
+[4.198s] Installing test_route_filter script to /home/robobin/robobin/robobin_main/src/install/testing/lib/testing
+[4.199s] writing list of installed files to '/home/robobin/robobin/robobin_main/src/build/testing/install.log'
+[4.394s] Invoked command in '/home/robobin/robobin/robobin_main/src/testing' returned '0': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/robobin_main/src/build/testing/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../build/testing build --build-base /home/robobin/robobin/robobin_main/src/build/testing/build install --record /home/robobin/robobin/robobin_main/src/build/testing/install.log --single-version-externally-managed install_data
diff --git a/robobin_main/src/log/build_2024-12-16_15-45-02/events.log b/robobin_main/src/log/build_2024-12-16_15-45-02/events.log
new file mode 100644
index 00000000..05d50ba5
--- /dev/null
+++ b/robobin_main/src/log/build_2024-12-16_15-45-02/events.log
@@ -0,0 +1,152 @@
+[0.000000] (-) TimerEvent: {}
+[0.000656] (odometry_publisher) JobQueued: {'identifier': 'odometry_publisher', 'dependencies': OrderedDict()}
+[0.000710] (robot_description) JobQueued: {'identifier': 'robot_description', 'dependencies': OrderedDict()}
+[0.000734] (robot_localization_ekf) JobQueued: {'identifier': 'robot_localization_ekf', 'dependencies': OrderedDict()}
+[0.000755] (testing) JobQueued: {'identifier': 'testing', 'dependencies': OrderedDict()}
+[0.001259] (odometry_publisher) JobStarted: {'identifier': 'odometry_publisher'}
+[0.030553] (robot_description) JobStarted: {'identifier': 'robot_description'}
+[0.053515] (robot_localization_ekf) JobStarted: {'identifier': 'robot_localization_ekf'}
+[0.075293] (testing) JobStarted: {'identifier': 'testing'}
+[0.099354] (-) TimerEvent: {}
+[0.199845] (-) TimerEvent: {}
+[0.300177] (-) TimerEvent: {}
+[0.400492] (-) TimerEvent: {}
+[0.500865] (-) TimerEvent: {}
+[0.601222] (-) TimerEvent: {}
+[0.701554] (-) TimerEvent: {}
+[0.801968] (-) TimerEvent: {}
+[0.902690] (-) TimerEvent: {}
+[1.003346] (-) TimerEvent: {}
+[1.103966] (-) TimerEvent: {}
+[1.204329] (-) TimerEvent: {}
+[1.304684] (-) TimerEvent: {}
+[1.405072] (-) TimerEvent: {}
+[1.505408] (-) TimerEvent: {}
+[1.605733] (-) TimerEvent: {}
+[1.706052] (-) TimerEvent: {}
+[1.806377] (-) TimerEvent: {}
+[1.908944] (-) TimerEvent: {}
+[2.009558] (-) TimerEvent: {}
+[2.112210] (-) TimerEvent: {}
+[2.214945] (-) TimerEvent: {}
+[2.315598] (-) TimerEvent: {}
+[2.416025] (-) TimerEvent: {}
+[2.516423] (-) TimerEvent: {}
+[2.616864] (-) TimerEvent: {}
+[2.717226] (-) TimerEvent: {}
+[2.818056] (-) TimerEvent: {}
+[2.921366] (-) TimerEvent: {}
+[3.022079] (-) TimerEvent: {}
+[3.122785] (-) TimerEvent: {}
+[3.224890] (-) TimerEvent: {}
+[3.327930] (-) TimerEvent: {}
+[3.428541] (-) TimerEvent: {}
+[3.529231] (-) TimerEvent: {}
+[3.566362] (odometry_publisher) Command: {'cmd': ['/usr/bin/python3', '-W', 'ignore:setup.py install is deprecated', '-W', 'ignore:easy_install command is deprecated', 'setup.py', 'egg_info', '--egg-base', '../build/odometry_publisher', 'build', '--build-base', '/home/robobin/robobin/robobin_main/src/build/odometry_publisher/build', 'install', '--record', '/home/robobin/robobin/robobin_main/src/build/odometry_publisher/install.log', '--single-version-externally-managed', 'install_data'], 'cwd': '/home/robobin/robobin/robobin_main/src/odometry_publisher', 'env': {'LESSOPEN': '| /usr/bin/lesspipe %s', 'USER': 'robobin', 'GZ_CONFIG_PATH': '/opt/ros/jazzy/opt/sdformat_vendor/share/gz', 'XDG_SESSION_TYPE': 'wayland', 'SHLVL': '1', 'LD_LIBRARY_PATH': '/opt/ros/jazzy/opt/sdformat_vendor/lib:/opt/ros/jazzy/opt/rviz_ogre_vendor/lib:/opt/ros/jazzy/lib/aarch64-linux-gnu:/opt/ros/jazzy/opt/gz_math_vendor/lib:/opt/ros/jazzy/opt/gz_utils_vendor/lib:/opt/ros/jazzy/opt/gz_tools_vendor/lib:/opt/ros/jazzy/opt/gz_cmake_vendor/lib:/opt/ros/jazzy/lib', 'HOME': '/home/robobin', 'OLDPWD': '/home/robobin/robobin/robobin_main', 'DESKTOP_SESSION': 'ubuntu', 'ROS_PYTHON_VERSION': '3', 'GNOME_SHELL_SESSION_MODE': 'ubuntu', 'GTK_MODULES': 'gail:atk-bridge', 'SYSTEMD_EXEC_PID': '1626', 'GSM_SKIP_SSH_AGENT_WORKAROUND': 'true', 'DBUS_SESSION_BUS_ADDRESS': 'unix:path=/run/user/1002/bus', 'COLORTERM': 'truecolor', 'DEBUGINFOD_URLS': 'https://debuginfod.ubuntu.com', 'IM_CONFIG_PHASE': '1', 'WAYLAND_DISPLAY': 'wayland-0', 'COLCON_PREFIX_PATH': '/home/robobin/robobin/ros2/install:/home/robobin/Robobin_Project/ros2/robobin_main/install', 'ROS_DISTRO': 'jazzy', 'LOGNAME': 'robobin', '_': '/usr/bin/colcon', 'ROS_VERSION': '2', 'MEMORY_PRESSURE_WATCH': '/sys/fs/cgroup/user.slice/user-1002.slice/user@1002.service/session.slice/org.gnome.Shell@wayland.service/memory.pressure', 'XDG_SESSION_CLASS': 'user', 'USERNAME': 'robobin', 'TERM': 'xterm-256color', 'GNOME_DESKTOP_SESSION_ID': 'this-is-deprecated', 'PATH': '/opt/ros/jazzy/opt/gz_tools_vendor/bin:/opt/ros/jazzy/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/snap/bin', 'SESSION_MANAGER': 'local/robobin-desktop:@/tmp/.ICE-unix/1593,unix/robobin-desktop:/tmp/.ICE-unix/1593', 'XDG_MENU_PREFIX': 'gnome-', 'GNOME_TERMINAL_SCREEN': '/org/gnome/Terminal/screen/7b90321a_ecc9_49c1_97ef_e4cec503a50b', 'GNOME_SETUP_DISPLAY': ':1', 'XDG_RUNTIME_DIR': '/run/user/1002', 'DISPLAY': ':0', 'LANG': 'en_US.UTF-8', 'XDG_CURRENT_DESKTOP': 'ubuntu:GNOME', 'XMODIFIERS': '@im=ibus', 'XDG_SESSION_DESKTOP': 'ubuntu', 'XAUTHORITY': '/run/user/1002/.mutter-Xwaylandauth.OOYBZ2', 'LS_COLORS': 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'GNOME_TERMINAL_SERVICE': ':1.110', 'SSH_AUTH_SOCK': '/run/user/1002/keyring/ssh', 'ROS_DOMAIN_ID': '3', 'AMENT_PREFIX_PATH': '/home/robobin/robobin/ros2/install/robobin:/home/robobin/Robobin_Project/ros2/robobin_main/install/testing:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_localization_ekf:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_description:/home/robobin/Robobin_Project/ros2/robobin_main/install/odometry_publisher:/opt/ros/jazzy', 'SHELL': '/bin/bash', 'QT_ACCESSIBILITY': '1', 'GDMSESSION': 'ubuntu', 'LESSCLOSE': '/usr/bin/lesspipe %s %s', 'ROS_AUTOMATIC_DISCOVERY_RANGE': 'SUBNET', 'QT_IM_MODULE': 'ibus', 'PWD': '/home/robobin/robobin/robobin_main/src/build/odometry_publisher', 'LC_ALL': 'en_US.UTF-8', 'XDG_CONFIG_DIRS': '/etc/xdg/xdg-ubuntu:/etc/xdg', 'XDG_DATA_DIRS': '/usr/share/ubuntu:/usr/share/gnome:/usr/local/share/:/usr/share/:/var/lib/snapd/desktop', 'PYTHONPATH': '/home/robobin/robobin/robobin_main/src/build/odometry_publisher/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages:/home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages:/home/robobin/Robobin_Project/ros2/robobin_main/build/testing:/home/robobin/Robobin_Project/ros2/robobin_main/install/testing/lib/python3.12/site-packages:/home/robobin/Robobin_Project/ros2/robobin_main/build/robot_localization_ekf:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_localization_ekf/lib/python3.12/site-packages:/home/robobin/Robobin_Project/ros2/robobin_main/build/robot_description:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_description/lib/python3.12/site-packages:/home/robobin/Robobin_Project/ros2/robobin_main/build/odometry_publisher:/home/robobin/Robobin_Project/ros2/robobin_main/install/odometry_publisher/lib/python3.12/site-packages:/opt/ros/jazzy/lib/python3.12/site-packages', 'COLCON': '1', 'MEMORY_PRESSURE_WRITE': 'c29tZSAyMDAwMDAgMjAwMDAwMAA=', 'VTE_VERSION': '7600', 'CMAKE_PREFIX_PATH': '/opt/ros/jazzy/opt/sdformat_vendor:/opt/ros/jazzy/opt/gz_math_vendor:/opt/ros/jazzy/opt/gz_utils_vendor:/opt/ros/jazzy/opt/gz_tools_vendor:/opt/ros/jazzy/opt/gz_cmake_vendor'}, 'shell': False}
+[3.595735] (testing) Command: {'cmd': ['/usr/bin/python3', '-W', 'ignore:setup.py install is deprecated', '-W', 'ignore:easy_install command is deprecated', 'setup.py', 'egg_info', '--egg-base', '../build/testing', 'build', '--build-base', '/home/robobin/robobin/robobin_main/src/build/testing/build', 'install', '--record', '/home/robobin/robobin/robobin_main/src/build/testing/install.log', '--single-version-externally-managed', 'install_data'], 'cwd': '/home/robobin/robobin/robobin_main/src/testing', 'env': {'LESSOPEN': '| /usr/bin/lesspipe %s', 'USER': 'robobin', 'GZ_CONFIG_PATH': '/opt/ros/jazzy/opt/sdformat_vendor/share/gz', 'XDG_SESSION_TYPE': 'wayland', 'SHLVL': '1', 'LD_LIBRARY_PATH': '/opt/ros/jazzy/opt/sdformat_vendor/lib:/opt/ros/jazzy/opt/rviz_ogre_vendor/lib:/opt/ros/jazzy/lib/aarch64-linux-gnu:/opt/ros/jazzy/opt/gz_math_vendor/lib:/opt/ros/jazzy/opt/gz_utils_vendor/lib:/opt/ros/jazzy/opt/gz_tools_vendor/lib:/opt/ros/jazzy/opt/gz_cmake_vendor/lib:/opt/ros/jazzy/lib', 'HOME': '/home/robobin', 'OLDPWD': '/home/robobin/robobin/robobin_main', 'DESKTOP_SESSION': 'ubuntu', 'ROS_PYTHON_VERSION': '3', 'GNOME_SHELL_SESSION_MODE': 'ubuntu', 'GTK_MODULES': 'gail:atk-bridge', 'SYSTEMD_EXEC_PID': '1626', 'GSM_SKIP_SSH_AGENT_WORKAROUND': 'true', 'DBUS_SESSION_BUS_ADDRESS': 'unix:path=/run/user/1002/bus', 'COLORTERM': 'truecolor', 'DEBUGINFOD_URLS': 'https://debuginfod.ubuntu.com', 'IM_CONFIG_PHASE': '1', 'WAYLAND_DISPLAY': 'wayland-0', 'COLCON_PREFIX_PATH': '/home/robobin/robobin/ros2/install:/home/robobin/Robobin_Project/ros2/robobin_main/install', 'ROS_DISTRO': 'jazzy', 'LOGNAME': 'robobin', '_': '/usr/bin/colcon', 'ROS_VERSION': '2', 'MEMORY_PRESSURE_WATCH': '/sys/fs/cgroup/user.slice/user-1002.slice/user@1002.service/session.slice/org.gnome.Shell@wayland.service/memory.pressure', 'XDG_SESSION_CLASS': 'user', 'USERNAME': 'robobin', 'TERM': 'xterm-256color', 'GNOME_DESKTOP_SESSION_ID': 'this-is-deprecated', 'PATH': '/opt/ros/jazzy/opt/gz_tools_vendor/bin:/opt/ros/jazzy/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/snap/bin', 'SESSION_MANAGER': 'local/robobin-desktop:@/tmp/.ICE-unix/1593,unix/robobin-desktop:/tmp/.ICE-unix/1593', 'XDG_MENU_PREFIX': 'gnome-', 'GNOME_TERMINAL_SCREEN': '/org/gnome/Terminal/screen/7b90321a_ecc9_49c1_97ef_e4cec503a50b', 'GNOME_SETUP_DISPLAY': ':1', 'XDG_RUNTIME_DIR': '/run/user/1002', 'DISPLAY': ':0', 'LANG': 'en_US.UTF-8', 'XDG_CURRENT_DESKTOP': 'ubuntu:GNOME', 'XMODIFIERS': '@im=ibus', 'XDG_SESSION_DESKTOP': 'ubuntu', 'XAUTHORITY': '/run/user/1002/.mutter-Xwaylandauth.OOYBZ2', 'LS_COLORS': 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'GNOME_TERMINAL_SERVICE': ':1.110', 'SSH_AUTH_SOCK': '/run/user/1002/keyring/ssh', 'ROS_DOMAIN_ID': '3', 'AMENT_PREFIX_PATH': '/home/robobin/robobin/ros2/install/robobin:/home/robobin/Robobin_Project/ros2/robobin_main/install/testing:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_localization_ekf:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_description:/home/robobin/Robobin_Project/ros2/robobin_main/install/odometry_publisher:/opt/ros/jazzy', 'SHELL': '/bin/bash', 'QT_ACCESSIBILITY': '1', 'GDMSESSION': 'ubuntu', 'LESSCLOSE': '/usr/bin/lesspipe %s %s', 'ROS_AUTOMATIC_DISCOVERY_RANGE': 'SUBNET', 'QT_IM_MODULE': 'ibus', 'PWD': '/home/robobin/robobin/robobin_main/src/build/testing', 'LC_ALL': 'en_US.UTF-8', 'XDG_CONFIG_DIRS': '/etc/xdg/xdg-ubuntu:/etc/xdg', 'XDG_DATA_DIRS': '/usr/share/ubuntu:/usr/share/gnome:/usr/local/share/:/usr/share/:/var/lib/snapd/desktop', 'PYTHONPATH': '/home/robobin/robobin/robobin_main/src/build/testing/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages:/home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages:/home/robobin/Robobin_Project/ros2/robobin_main/build/testing:/home/robobin/Robobin_Project/ros2/robobin_main/install/testing/lib/python3.12/site-packages:/home/robobin/Robobin_Project/ros2/robobin_main/build/robot_localization_ekf:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_localization_ekf/lib/python3.12/site-packages:/home/robobin/Robobin_Project/ros2/robobin_main/build/robot_description:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_description/lib/python3.12/site-packages:/home/robobin/Robobin_Project/ros2/robobin_main/build/odometry_publisher:/home/robobin/Robobin_Project/ros2/robobin_main/install/odometry_publisher/lib/python3.12/site-packages:/opt/ros/jazzy/lib/python3.12/site-packages', 'COLCON': '1', 'MEMORY_PRESSURE_WRITE': 'c29tZSAyMDAwMDAgMjAwMDAwMAA=', 'VTE_VERSION': '7600', 'CMAKE_PREFIX_PATH': '/opt/ros/jazzy/opt/sdformat_vendor:/opt/ros/jazzy/opt/gz_math_vendor:/opt/ros/jazzy/opt/gz_utils_vendor:/opt/ros/jazzy/opt/gz_tools_vendor:/opt/ros/jazzy/opt/gz_cmake_vendor'}, 'shell': False}
+[3.627900] (robot_description) Command: {'cmd': ['/usr/bin/python3', '-W', 'ignore:setup.py install is deprecated', '-W', 'ignore:easy_install command is deprecated', 'setup.py', 'egg_info', '--egg-base', '../build/robot_description', 'build', '--build-base', '/home/robobin/robobin/robobin_main/src/build/robot_description/build', 'install', '--record', '/home/robobin/robobin/robobin_main/src/build/robot_description/install.log', '--single-version-externally-managed', 'install_data'], 'cwd': '/home/robobin/robobin/robobin_main/src/robot_description', 'env': {'LESSOPEN': '| /usr/bin/lesspipe %s', 'USER': 'robobin', 'GZ_CONFIG_PATH': '/opt/ros/jazzy/opt/sdformat_vendor/share/gz', 'XDG_SESSION_TYPE': 'wayland', 'SHLVL': '1', 'LD_LIBRARY_PATH': 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+[4.574674] (odometry_publisher) StdoutLine: {'line': b"removing '/home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages/odometry_publisher-0.0.0-py3.12.egg-info' (and everything under it)\n"}
+[4.575036] (odometry_publisher) StdoutLine: {'line': b'Copying ../build/odometry_publisher/odometry_publisher.egg-info to /home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages/odometry_publisher-0.0.0-py3.12.egg-info\n'}
+[4.576722] (odometry_publisher) StdoutLine: {'line': b'running install_scripts\n'}
+[4.601429] (robot_description) StdoutLine: {'line': b"removing '/home/robobin/robobin/robobin_main/src/install/robot_description/lib/python3.12/site-packages/robot_description-0.0.0-py3.12.egg-info' (and everything under it)\n"}
+[4.603544] (robot_description) StdoutLine: {'line': b'Copying ../build/robot_description/robot_description.egg-info to /home/robobin/robobin/robobin_main/src/install/robot_description/lib/python3.12/site-packages/robot_description-0.0.0-py3.12.egg-info\n'}
+[4.604089] (testing) StdoutLine: {'line': b"removing '/home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages/testing-0.0.0-py3.12.egg-info' (and everything under it)\n"}
+[4.605276] (testing) StdoutLine: {'line': b'Copying ../build/testing/testing.egg-info to /home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages/testing-0.0.0-py3.12.egg-info\n'}
+[4.605504] (robot_description) StdoutLine: {'line': b'running install_scripts\n'}
+[4.606059] (robot_localization_ekf) StdoutLine: {'line': b'running install_data\n'}
+[4.606577] (testing) StdoutLine: {'line': b'running install_scripts\n'}
+[4.610855] (robot_localization_ekf) StdoutLine: {'line': b'running install_egg_info\n'}
+[4.643862] (robot_localization_ekf) StdoutLine: {'line': b"removing '/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/lib/python3.12/site-packages/robot_localization_ekf-0.0.0-py3.12.egg-info' (and everything under it)\n"}
+[4.644164] (-) TimerEvent: {}
+[4.645403] (robot_localization_ekf) StdoutLine: {'line': b'Copying ../build/robot_localization_ekf/robot_localization_ekf.egg-info to /home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/lib/python3.12/site-packages/robot_localization_ekf-0.0.0-py3.12.egg-info\n'}
+[4.651898] (robot_localization_ekf) StdoutLine: {'line': b'running install_scripts\n'}
+[4.744303] (-) TimerEvent: {}
+[4.819907] (odometry_publisher) StdoutLine: {'line': b'Installing odometry_node script to /home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/odometry_publisher\n'}
+[4.820527] (odometry_publisher) StdoutLine: {'line': b"writing list of installed files to '/home/robobin/robobin/robobin_main/src/build/odometry_publisher/install.log'\n"}
+[4.844438] (-) TimerEvent: {}
+[4.937044] (testing) StdoutLine: {'line': b'Installing test_control_feedback script to /home/robobin/robobin/robobin_main/src/install/testing/lib/testing\n'}
+[4.944634] (-) TimerEvent: {}
+[4.966024] (testing) StdoutLine: {'line': b'Installing test_encoder_node script to /home/robobin/robobin/robobin_main/src/install/testing/lib/testing\n'}
+[4.970186] (testing) StdoutLine: {'line': b'Installing test_imu_node script to /home/robobin/robobin/robobin_main/src/install/testing/lib/testing\n'}
+[4.970723] (testing) StdoutLine: {'line': b'Installing test_motor_node script to /home/robobin/robobin/robobin_main/src/install/testing/lib/testing\n'}
+[4.972455] (testing) StdoutLine: {'line': b'Installing test_route script to /home/robobin/robobin/robobin_main/src/install/testing/lib/testing\n'}
+[4.972995] (testing) StdoutLine: {'line': b'Installing test_route_filter script to /home/robobin/robobin/robobin_main/src/install/testing/lib/testing\n'}
+[4.974457] (testing) StdoutLine: {'line': b"writing list of installed files to '/home/robobin/robobin/robobin_main/src/build/testing/install.log'\n"}
+[5.020504] (robot_description) StdoutLine: {'line': b"writing list of installed files to '/home/robobin/robobin/robobin_main/src/build/robot_description/install.log'\n"}
+[5.044851] (-) TimerEvent: {}
+[5.066081] (odometry_publisher) CommandEnded: {'returncode': 0}
+[5.113997] (robot_localization_ekf) StdoutLine: {'line': b"writing list of installed files to '/home/robobin/robobin/robobin_main/src/build/robot_localization_ekf/install.log'\n"}
+[5.119966] (odometry_publisher) JobEnded: {'identifier': 'odometry_publisher', 'rc': 0}
+[5.148659] (-) TimerEvent: {}
+[5.221563] (testing) CommandEnded: {'returncode': 0}
+[5.245651] (testing) JobEnded: {'identifier': 'testing', 'rc': 0}
+[5.248972] (-) TimerEvent: {}
+[5.322001] (robot_description) CommandEnded: {'returncode': 0}
+[5.342324] (robot_description) JobEnded: {'identifier': 'robot_description', 'rc': 0}
+[5.349377] (-) TimerEvent: {}
+[5.373991] (robot_localization_ekf) CommandEnded: {'returncode': 0}
+[5.394660] (robot_localization_ekf) JobEnded: {'identifier': 'robot_localization_ekf', 'rc': 0}
+[5.397377] (-) EventReactorShutdown: {}
diff --git a/robobin_main/src/log/build_2024-12-16_15-45-02/logger_all.log b/robobin_main/src/log/build_2024-12-16_15-45-02/logger_all.log
new file mode 100644
index 00000000..64c0e90c
--- /dev/null
+++ b/robobin_main/src/log/build_2024-12-16_15-45-02/logger_all.log
@@ -0,0 +1,264 @@
+[0.153s] DEBUG:colcon:Command line arguments: ['/usr/bin/colcon', 'build']
+[0.153s] DEBUG:colcon:Parsed command line arguments: Namespace(log_base=None, log_level=None, verb_name='build', build_base='build', install_base='install', merge_install=False, symlink_install=False, test_result_base=None, continue_on_error=False, executor='parallel', parallel_workers=4, event_handlers=None, ignore_user_meta=False, metas=['./colcon.meta'], base_paths=['.'], packages_ignore=None, packages_ignore_regex=None, paths=None, packages_up_to=None, packages_up_to_regex=None, packages_above=None, packages_above_and_dependencies=None, packages_above_depth=None, packages_select_by_dep=None, packages_skip_by_dep=None, packages_skip_up_to=None, packages_select_build_failed=False, packages_skip_build_finished=False, packages_select_test_failures=False, packages_skip_test_passed=False, packages_select=None, packages_skip=None, packages_select_regex=None, packages_skip_regex=None, packages_start=None, packages_end=None, allow_overriding=[], cmake_args=None, cmake_target=None, cmake_target_skip_unavailable=False, cmake_clean_cache=False, cmake_clean_first=False, cmake_force_configure=False, ament_cmake_args=None, catkin_cmake_args=None, catkin_skip_building_tests=False, mixin_files=None, mixin=None, verb_parser=<colcon_mixin.mixin.mixin_argument.MixinArgumentDecorator object at 0xffff95f9d7f0>, verb_extension=<colcon_core.verb.build.BuildVerb object at 0xffff95f9d520>, main=<bound method BuildVerb.main of <colcon_core.verb.build.BuildVerb object at 0xffff95f9d520>>, mixin_verb=('build',))
+[0.212s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) check parameters
+[0.212s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) check parameters
+[0.212s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) check parameters
+[0.212s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) check parameters
+[0.212s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) discover
+[0.212s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) discover
+[0.212s] INFO:colcon.colcon_core.package_discovery:Crawling recursively for packages in '/home/robobin/robobin/robobin_main/src'
+[0.212s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ignore', 'ignore_ament_install']
+[0.212s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore'
+[0.212s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore_ament_install'
+[0.213s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_pkg']
+[0.213s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_pkg'
+[0.213s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_meta']
+[0.213s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_meta'
+[0.213s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ros']
+[0.213s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ros'
+[0.260s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['cmake', 'python']
+[0.260s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'cmake'
+[0.260s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'python'
+[0.260s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['python_setup_py']
+[0.261s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'python_setup_py'
+[0.261s] Level 1:colcon.colcon_core.package_identification:_identify(build) by extensions ['ignore', 'ignore_ament_install']
+[0.261s] Level 1:colcon.colcon_core.package_identification:_identify(build) by extension 'ignore'
+[0.261s] Level 1:colcon.colcon_core.package_identification:_identify(build) ignored
+[0.261s] Level 1:colcon.colcon_core.package_identification:_identify(install) by extensions ['ignore', 'ignore_ament_install']
+[0.261s] Level 1:colcon.colcon_core.package_identification:_identify(install) by extension 'ignore'
+[0.261s] Level 1:colcon.colcon_core.package_identification:_identify(install) ignored
+[0.261s] Level 1:colcon.colcon_core.package_identification:_identify(log) by extensions ['ignore', 'ignore_ament_install']
+[0.262s] Level 1:colcon.colcon_core.package_identification:_identify(log) by extension 'ignore'
+[0.262s] Level 1:colcon.colcon_core.package_identification:_identify(log) ignored
+[0.262s] Level 1:colcon.colcon_core.package_identification:_identify(odometry_publisher) by extensions ['ignore', 'ignore_ament_install']
+[0.262s] Level 1:colcon.colcon_core.package_identification:_identify(odometry_publisher) by extension 'ignore'
+[0.262s] Level 1:colcon.colcon_core.package_identification:_identify(odometry_publisher) by extension 'ignore_ament_install'
+[0.262s] Level 1:colcon.colcon_core.package_identification:_identify(odometry_publisher) by extensions ['colcon_pkg']
+[0.262s] Level 1:colcon.colcon_core.package_identification:_identify(odometry_publisher) by extension 'colcon_pkg'
+[0.262s] Level 1:colcon.colcon_core.package_identification:_identify(odometry_publisher) by extensions ['colcon_meta']
+[0.262s] Level 1:colcon.colcon_core.package_identification:_identify(odometry_publisher) by extension 'colcon_meta'
+[0.262s] Level 1:colcon.colcon_core.package_identification:_identify(odometry_publisher) by extensions ['ros']
+[0.262s] Level 1:colcon.colcon_core.package_identification:_identify(odometry_publisher) by extension 'ros'
+[0.270s] DEBUG:colcon.colcon_core.package_identification:Package 'odometry_publisher' with type 'ros.ament_python' and name 'odometry_publisher'
+[0.270s] Level 1:colcon.colcon_core.package_identification:_identify(robot_description) by extensions ['ignore', 'ignore_ament_install']
+[0.270s] Level 1:colcon.colcon_core.package_identification:_identify(robot_description) by extension 'ignore'
+[0.271s] Level 1:colcon.colcon_core.package_identification:_identify(robot_description) by extension 'ignore_ament_install'
+[0.271s] Level 1:colcon.colcon_core.package_identification:_identify(robot_description) by extensions ['colcon_pkg']
+[0.271s] Level 1:colcon.colcon_core.package_identification:_identify(robot_description) by extension 'colcon_pkg'
+[0.271s] Level 1:colcon.colcon_core.package_identification:_identify(robot_description) by extensions ['colcon_meta']
+[0.271s] Level 1:colcon.colcon_core.package_identification:_identify(robot_description) by extension 'colcon_meta'
+[0.271s] Level 1:colcon.colcon_core.package_identification:_identify(robot_description) by extensions ['ros']
+[0.271s] Level 1:colcon.colcon_core.package_identification:_identify(robot_description) by extension 'ros'
+[0.273s] DEBUG:colcon.colcon_core.package_identification:Package 'robot_description' with type 'ros.ament_python' and name 'robot_description'
+[0.274s] Level 1:colcon.colcon_core.package_identification:_identify(robot_localization_ekf) by extensions ['ignore', 'ignore_ament_install']
+[0.274s] Level 1:colcon.colcon_core.package_identification:_identify(robot_localization_ekf) by extension 'ignore'
+[0.274s] Level 1:colcon.colcon_core.package_identification:_identify(robot_localization_ekf) by extension 'ignore_ament_install'
+[0.274s] Level 1:colcon.colcon_core.package_identification:_identify(robot_localization_ekf) by extensions ['colcon_pkg']
+[0.274s] Level 1:colcon.colcon_core.package_identification:_identify(robot_localization_ekf) by extension 'colcon_pkg'
+[0.274s] Level 1:colcon.colcon_core.package_identification:_identify(robot_localization_ekf) by extensions ['colcon_meta']
+[0.274s] Level 1:colcon.colcon_core.package_identification:_identify(robot_localization_ekf) by extension 'colcon_meta'
+[0.274s] Level 1:colcon.colcon_core.package_identification:_identify(robot_localization_ekf) by extensions ['ros']
+[0.275s] Level 1:colcon.colcon_core.package_identification:_identify(robot_localization_ekf) by extension 'ros'
+[0.276s] DEBUG:colcon.colcon_core.package_identification:Package 'robot_localization_ekf' with type 'ros.ament_python' and name 'robot_localization_ekf'
+[0.276s] Level 1:colcon.colcon_core.package_identification:_identify(testing) by extensions ['ignore', 'ignore_ament_install']
+[0.276s] Level 1:colcon.colcon_core.package_identification:_identify(testing) by extension 'ignore'
+[0.277s] Level 1:colcon.colcon_core.package_identification:_identify(testing) by extension 'ignore_ament_install'
+[0.277s] Level 1:colcon.colcon_core.package_identification:_identify(testing) by extensions ['colcon_pkg']
+[0.277s] Level 1:colcon.colcon_core.package_identification:_identify(testing) by extension 'colcon_pkg'
+[0.277s] Level 1:colcon.colcon_core.package_identification:_identify(testing) by extensions ['colcon_meta']
+[0.277s] Level 1:colcon.colcon_core.package_identification:_identify(testing) by extension 'colcon_meta'
+[0.277s] Level 1:colcon.colcon_core.package_identification:_identify(testing) by extensions ['ros']
+[0.277s] Level 1:colcon.colcon_core.package_identification:_identify(testing) by extension 'ros'
+[0.280s] DEBUG:colcon.colcon_core.package_identification:Package 'testing' with type 'ros.ament_python' and name 'testing'
+[0.280s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) using defaults
+[0.280s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) discover
+[0.280s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) using defaults
+[0.280s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) discover
+[0.280s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) using defaults
+[0.328s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) check parameters
+[0.329s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) discover
+[0.333s] DEBUG:colcon.colcon_installed_package_information.package_discovery:Found 1 installed packages in /home/robobin/robobin/ros2/install
+[0.334s] DEBUG:colcon.colcon_installed_package_information.package_discovery:Found 4 installed packages in /home/robobin/Robobin_Project/ros2/robobin_main/install
+[0.337s] DEBUG:colcon.colcon_installed_package_information.package_discovery:Found 335 installed packages in /opt/ros/jazzy
+[0.342s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) using defaults
+[0.425s] Level 5:colcon.colcon_core.verb:set package 'odometry_publisher' build argument 'cmake_args' from command line to 'None'
+[0.425s] Level 5:colcon.colcon_core.verb:set package 'odometry_publisher' build argument 'cmake_target' from command line to 'None'
+[0.425s] Level 5:colcon.colcon_core.verb:set package 'odometry_publisher' build argument 'cmake_target_skip_unavailable' from command line to 'False'
+[0.425s] Level 5:colcon.colcon_core.verb:set package 'odometry_publisher' build argument 'cmake_clean_cache' from command line to 'False'
+[0.425s] Level 5:colcon.colcon_core.verb:set package 'odometry_publisher' build argument 'cmake_clean_first' from command line to 'False'
+[0.425s] Level 5:colcon.colcon_core.verb:set package 'odometry_publisher' build argument 'cmake_force_configure' from command line to 'False'
+[0.425s] Level 5:colcon.colcon_core.verb:set package 'odometry_publisher' build argument 'ament_cmake_args' from command line to 'None'
+[0.425s] Level 5:colcon.colcon_core.verb:set package 'odometry_publisher' build argument 'catkin_cmake_args' from command line to 'None'
+[0.425s] Level 5:colcon.colcon_core.verb:set package 'odometry_publisher' build argument 'catkin_skip_building_tests' from command line to 'False'
+[0.425s] DEBUG:colcon.colcon_core.verb:Building package 'odometry_publisher' with the following arguments: {'ament_cmake_args': None, 'build_base': '/home/robobin/robobin/robobin_main/src/build/odometry_publisher', 'catkin_cmake_args': None, 'catkin_skip_building_tests': False, 'cmake_args': None, 'cmake_clean_cache': False, 'cmake_clean_first': False, 'cmake_force_configure': False, 'cmake_target': None, 'cmake_target_skip_unavailable': False, 'install_base': '/home/robobin/robobin/robobin_main/src/install/odometry_publisher', 'merge_install': False, 'path': '/home/robobin/robobin/robobin_main/src/odometry_publisher', 'symlink_install': False, 'test_result_base': None}
+[0.426s] Level 5:colcon.colcon_core.verb:set package 'robot_description' build argument 'cmake_args' from command line to 'None'
+[0.426s] Level 5:colcon.colcon_core.verb:set package 'robot_description' build argument 'cmake_target' from command line to 'None'
+[0.426s] Level 5:colcon.colcon_core.verb:set package 'robot_description' build argument 'cmake_target_skip_unavailable' from command line to 'False'
+[0.426s] Level 5:colcon.colcon_core.verb:set package 'robot_description' build argument 'cmake_clean_cache' from command line to 'False'
+[0.426s] Level 5:colcon.colcon_core.verb:set package 'robot_description' build argument 'cmake_clean_first' from command line to 'False'
+[0.426s] Level 5:colcon.colcon_core.verb:set package 'robot_description' build argument 'cmake_force_configure' from command line to 'False'
+[0.426s] Level 5:colcon.colcon_core.verb:set package 'robot_description' build argument 'ament_cmake_args' from command line to 'None'
+[0.426s] Level 5:colcon.colcon_core.verb:set package 'robot_description' build argument 'catkin_cmake_args' from command line to 'None'
+[0.426s] Level 5:colcon.colcon_core.verb:set package 'robot_description' build argument 'catkin_skip_building_tests' from command line to 'False'
+[0.426s] DEBUG:colcon.colcon_core.verb:Building package 'robot_description' with the following arguments: {'ament_cmake_args': None, 'build_base': '/home/robobin/robobin/robobin_main/src/build/robot_description', 'catkin_cmake_args': None, 'catkin_skip_building_tests': False, 'cmake_args': None, 'cmake_clean_cache': False, 'cmake_clean_first': False, 'cmake_force_configure': False, 'cmake_target': None, 'cmake_target_skip_unavailable': False, 'install_base': '/home/robobin/robobin/robobin_main/src/install/robot_description', 'merge_install': False, 'path': '/home/robobin/robobin/robobin_main/src/robot_description', 'symlink_install': False, 'test_result_base': None}
+[0.426s] Level 5:colcon.colcon_core.verb:set package 'robot_localization_ekf' build argument 'cmake_args' from command line to 'None'
+[0.427s] Level 5:colcon.colcon_core.verb:set package 'robot_localization_ekf' build argument 'cmake_target' from command line to 'None'
+[0.427s] Level 5:colcon.colcon_core.verb:set package 'robot_localization_ekf' build argument 'cmake_target_skip_unavailable' from command line to 'False'
+[0.427s] Level 5:colcon.colcon_core.verb:set package 'robot_localization_ekf' build argument 'cmake_clean_cache' from command line to 'False'
+[0.427s] Level 5:colcon.colcon_core.verb:set package 'robot_localization_ekf' build argument 'cmake_clean_first' from command line to 'False'
+[0.427s] Level 5:colcon.colcon_core.verb:set package 'robot_localization_ekf' build argument 'cmake_force_configure' from command line to 'False'
+[0.427s] Level 5:colcon.colcon_core.verb:set package 'robot_localization_ekf' build argument 'ament_cmake_args' from command line to 'None'
+[0.427s] Level 5:colcon.colcon_core.verb:set package 'robot_localization_ekf' build argument 'catkin_cmake_args' from command line to 'None'
+[0.427s] Level 5:colcon.colcon_core.verb:set package 'robot_localization_ekf' build argument 'catkin_skip_building_tests' from command line to 'False'
+[0.427s] DEBUG:colcon.colcon_core.verb:Building package 'robot_localization_ekf' with the following arguments: {'ament_cmake_args': None, 'build_base': '/home/robobin/robobin/robobin_main/src/build/robot_localization_ekf', 'catkin_cmake_args': None, 'catkin_skip_building_tests': False, 'cmake_args': None, 'cmake_clean_cache': False, 'cmake_clean_first': False, 'cmake_force_configure': False, 'cmake_target': None, 'cmake_target_skip_unavailable': False, 'install_base': '/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf', 'merge_install': False, 'path': '/home/robobin/robobin/robobin_main/src/robot_localization_ekf', 'symlink_install': False, 'test_result_base': None}
+[0.427s] Level 5:colcon.colcon_core.verb:set package 'testing' build argument 'cmake_args' from command line to 'None'
+[0.427s] Level 5:colcon.colcon_core.verb:set package 'testing' build argument 'cmake_target' from command line to 'None'
+[0.427s] Level 5:colcon.colcon_core.verb:set package 'testing' build argument 'cmake_target_skip_unavailable' from command line to 'False'
+[0.427s] Level 5:colcon.colcon_core.verb:set package 'testing' build argument 'cmake_clean_cache' from command line to 'False'
+[0.427s] Level 5:colcon.colcon_core.verb:set package 'testing' build argument 'cmake_clean_first' from command line to 'False'
+[0.427s] Level 5:colcon.colcon_core.verb:set package 'testing' build argument 'cmake_force_configure' from command line to 'False'
+[0.427s] Level 5:colcon.colcon_core.verb:set package 'testing' build argument 'ament_cmake_args' from command line to 'None'
+[0.427s] Level 5:colcon.colcon_core.verb:set package 'testing' build argument 'catkin_cmake_args' from command line to 'None'
+[0.427s] Level 5:colcon.colcon_core.verb:set package 'testing' build argument 'catkin_skip_building_tests' from command line to 'False'
+[0.427s] DEBUG:colcon.colcon_core.verb:Building package 'testing' with the following arguments: {'ament_cmake_args': None, 'build_base': '/home/robobin/robobin/robobin_main/src/build/testing', 'catkin_cmake_args': None, 'catkin_skip_building_tests': False, 'cmake_args': None, 'cmake_clean_cache': False, 'cmake_clean_first': False, 'cmake_force_configure': False, 'cmake_target': None, 'cmake_target_skip_unavailable': False, 'install_base': '/home/robobin/robobin/robobin_main/src/install/testing', 'merge_install': False, 'path': '/home/robobin/robobin/robobin_main/src/testing', 'symlink_install': False, 'test_result_base': None}
+[0.428s] INFO:colcon.colcon_core.executor:Executing jobs using 'parallel' executor
+[0.430s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete
+[0.431s] INFO:colcon.colcon_ros.task.ament_python.build:Building ROS package in '/home/robobin/robobin/robobin_main/src/odometry_publisher' with build type 'ament_python'
+[0.431s] Level 1:colcon.colcon_core.shell:create_environment_hook('odometry_publisher', 'ament_prefix_path')
+[0.439s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_core.shell.bat': Not used on non-Windows systems
+[0.440s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/robobin/robobin/robobin_main/src/install/odometry_publisher/share/odometry_publisher/hook/ament_prefix_path.ps1'
+[0.444s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/robobin/robobin/robobin_main/src/install/odometry_publisher/share/odometry_publisher/hook/ament_prefix_path.dsv'
+[0.446s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/robobin/robobin/robobin_main/src/install/odometry_publisher/share/odometry_publisher/hook/ament_prefix_path.sh'
+[0.447s] INFO:colcon.colcon_core.shell:Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell
+[0.448s] DEBUG:colcon.colcon_core.shell:Skip shell extension 'dsv' for command environment
+[0.460s] INFO:colcon.colcon_ros.task.ament_python.build:Building ROS package in '/home/robobin/robobin/robobin_main/src/robot_description' with build type 'ament_python'
+[0.461s] Level 1:colcon.colcon_core.shell:create_environment_hook('robot_description', 'ament_prefix_path')
+[0.463s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/robobin/robobin/robobin_main/src/install/robot_description/share/robot_description/hook/ament_prefix_path.ps1'
+[0.468s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/robobin/robobin/robobin_main/src/install/robot_description/share/robot_description/hook/ament_prefix_path.dsv'
+[0.469s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/robobin/robobin/robobin_main/src/install/robot_description/share/robot_description/hook/ament_prefix_path.sh'
+[0.470s] INFO:colcon.colcon_core.shell:Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell
+[0.471s] DEBUG:colcon.colcon_core.shell:Skip shell extension 'dsv' for command environment
+[0.483s] INFO:colcon.colcon_ros.task.ament_python.build:Building ROS package in '/home/robobin/robobin/robobin_main/src/robot_localization_ekf' with build type 'ament_python'
+[0.484s] Level 1:colcon.colcon_core.shell:create_environment_hook('robot_localization_ekf', 'ament_prefix_path')
+[0.485s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/share/robot_localization_ekf/hook/ament_prefix_path.ps1'
+[0.488s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/share/robot_localization_ekf/hook/ament_prefix_path.dsv'
+[0.490s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/share/robot_localization_ekf/hook/ament_prefix_path.sh'
+[0.492s] INFO:colcon.colcon_core.shell:Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell
+[0.492s] DEBUG:colcon.colcon_core.shell:Skip shell extension 'dsv' for command environment
+[0.505s] INFO:colcon.colcon_ros.task.ament_python.build:Building ROS package in '/home/robobin/robobin/robobin_main/src/testing' with build type 'ament_python'
+[0.505s] Level 1:colcon.colcon_core.shell:create_environment_hook('testing', 'ament_prefix_path')
+[0.507s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/robobin/robobin/robobin_main/src/install/testing/share/testing/hook/ament_prefix_path.ps1'
+[0.513s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/robobin/robobin/robobin_main/src/install/testing/share/testing/hook/ament_prefix_path.dsv'
+[0.514s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/robobin/robobin/robobin_main/src/install/testing/share/testing/hook/ament_prefix_path.sh'
+[0.517s] INFO:colcon.colcon_core.shell:Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell
+[0.517s] DEBUG:colcon.colcon_core.shell:Skip shell extension 'dsv' for command environment
+[0.906s] INFO:colcon.colcon_core.task.python.build:Building Python package in '/home/robobin/robobin/robobin_main/src/odometry_publisher'
+[0.906s] INFO:colcon.colcon_core.shell:Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell
+[0.906s] DEBUG:colcon.colcon_core.shell:Skip shell extension 'dsv' for command environment
+[1.314s] INFO:colcon.colcon_core.task.python.build:Building Python package in '/home/robobin/robobin/robobin_main/src/robot_description'
+[1.315s] INFO:colcon.colcon_core.shell:Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell
+[1.315s] DEBUG:colcon.colcon_core.shell:Skip shell extension 'dsv' for command environment
+[1.762s] INFO:colcon.colcon_core.task.python.build:Building Python package in '/home/robobin/robobin/robobin_main/src/robot_localization_ekf'
+[1.763s] INFO:colcon.colcon_core.shell:Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell
+[1.763s] DEBUG:colcon.colcon_core.shell:Skip shell extension 'dsv' for command environment
+[2.127s] INFO:colcon.colcon_core.task.python.build:Building Python package in '/home/robobin/robobin/robobin_main/src/testing'
+[2.128s] INFO:colcon.colcon_core.shell:Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell
+[2.128s] DEBUG:colcon.colcon_core.shell:Skip shell extension 'dsv' for command environment
+[4.003s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoking command in '/home/robobin/robobin/robobin_main/src/odometry_publisher': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/robobin_main/src/build/odometry_publisher/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../build/odometry_publisher build --build-base /home/robobin/robobin/robobin_main/src/build/odometry_publisher/build install --record /home/robobin/robobin/robobin_main/src/build/odometry_publisher/install.log --single-version-externally-managed install_data
+[4.027s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoking command in '/home/robobin/robobin/robobin_main/src/testing': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/robobin_main/src/build/testing/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../build/testing build --build-base /home/robobin/robobin/robobin_main/src/build/testing/build install --record /home/robobin/robobin/robobin_main/src/build/testing/install.log --single-version-externally-managed install_data
+[4.062s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoking command in '/home/robobin/robobin/robobin_main/src/robot_description': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/robobin_main/src/build/robot_description/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/robobin_main/src/install/robot_description/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../build/robot_description build --build-base /home/robobin/robobin/robobin_main/src/build/robot_description/build install --record /home/robobin/robobin/robobin_main/src/build/robot_description/install.log --single-version-externally-managed install_data
+[4.129s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoking command in '/home/robobin/robobin/robobin_main/src/robot_localization_ekf': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/robobin_main/src/build/robot_localization_ekf/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../build/robot_localization_ekf build --build-base /home/robobin/robobin/robobin_main/src/build/robot_localization_ekf/build install --record /home/robobin/robobin/robobin_main/src/build/robot_localization_ekf/install.log --single-version-externally-managed install_data
+[5.496s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoked command in '/home/robobin/robobin/robobin_main/src/odometry_publisher' returned '0': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/robobin_main/src/build/odometry_publisher/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../build/odometry_publisher build --build-base /home/robobin/robobin/robobin_main/src/build/odometry_publisher/build install --record /home/robobin/robobin/robobin_main/src/build/odometry_publisher/install.log --single-version-externally-managed install_data
+[5.509s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/robobin_main/src/install/odometry_publisher' for CMake module files
+[5.511s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/robobin_main/src/install/odometry_publisher' for CMake config files
+[5.515s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib'
+[5.516s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/robobin_main/src/install/odometry_publisher/bin'
+[5.516s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/pkgconfig/odometry_publisher.pc'
+[5.517s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages'
+[5.518s] Level 1:colcon.colcon_core.shell:create_environment_hook('odometry_publisher', 'pythonpath')
+[5.519s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/robobin/robobin/robobin_main/src/install/odometry_publisher/share/odometry_publisher/hook/pythonpath.ps1'
+[5.520s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/robobin/robobin/robobin_main/src/install/odometry_publisher/share/odometry_publisher/hook/pythonpath.dsv'
+[5.522s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/robobin/robobin/robobin_main/src/install/odometry_publisher/share/odometry_publisher/hook/pythonpath.sh'
+[5.525s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/robobin_main/src/install/odometry_publisher/bin'
+[5.525s] Level 1:colcon.colcon_core.environment:create_environment_scripts_only(odometry_publisher)
+[5.526s] INFO:colcon.colcon_core.shell:Creating package script '/home/robobin/robobin/robobin_main/src/install/odometry_publisher/share/odometry_publisher/package.ps1'
+[5.529s] INFO:colcon.colcon_core.shell:Creating package descriptor '/home/robobin/robobin/robobin_main/src/install/odometry_publisher/share/odometry_publisher/package.dsv'
+[5.531s] INFO:colcon.colcon_core.shell:Creating package script '/home/robobin/robobin/robobin_main/src/install/odometry_publisher/share/odometry_publisher/package.sh'
+[5.534s] INFO:colcon.colcon_core.shell:Creating package script '/home/robobin/robobin/robobin_main/src/install/odometry_publisher/share/odometry_publisher/package.bash'
+[5.540s] INFO:colcon.colcon_core.shell:Creating package script '/home/robobin/robobin/robobin_main/src/install/odometry_publisher/share/odometry_publisher/package.zsh'
+[5.546s] Level 1:colcon.colcon_core.environment:create_file_with_runtime_dependencies(/home/robobin/robobin/robobin_main/src/install/odometry_publisher/share/colcon-core/packages/odometry_publisher)
+[5.651s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/robobin_main/src/install/testing' for CMake module files
+[5.652s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoked command in '/home/robobin/robobin/robobin_main/src/testing' returned '0': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/robobin_main/src/build/testing/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../build/testing build --build-base /home/robobin/robobin/robobin_main/src/build/testing/build install --record /home/robobin/robobin/robobin_main/src/build/testing/install.log --single-version-externally-managed install_data
+[5.654s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/robobin_main/src/install/testing' for CMake config files
+[5.657s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/robobin_main/src/install/testing/lib'
+[5.658s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/robobin_main/src/install/testing/bin'
+[5.658s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/robobin_main/src/install/testing/lib/pkgconfig/testing.pc'
+[5.658s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages'
+[5.659s] Level 1:colcon.colcon_core.shell:create_environment_hook('testing', 'pythonpath')
+[5.659s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/robobin/robobin/robobin_main/src/install/testing/share/testing/hook/pythonpath.ps1'
+[5.661s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/robobin/robobin/robobin_main/src/install/testing/share/testing/hook/pythonpath.dsv'
+[5.662s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/robobin/robobin/robobin_main/src/install/testing/share/testing/hook/pythonpath.sh'
+[5.664s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/robobin_main/src/install/testing/bin'
+[5.664s] Level 1:colcon.colcon_core.environment:create_environment_scripts_only(testing)
+[5.665s] INFO:colcon.colcon_core.shell:Creating package script '/home/robobin/robobin/robobin_main/src/install/testing/share/testing/package.ps1'
+[5.667s] INFO:colcon.colcon_core.shell:Creating package descriptor '/home/robobin/robobin/robobin_main/src/install/testing/share/testing/package.dsv'
+[5.669s] INFO:colcon.colcon_core.shell:Creating package script '/home/robobin/robobin/robobin_main/src/install/testing/share/testing/package.sh'
+[5.671s] INFO:colcon.colcon_core.shell:Creating package script '/home/robobin/robobin/robobin_main/src/install/testing/share/testing/package.bash'
+[5.673s] INFO:colcon.colcon_core.shell:Creating package script '/home/robobin/robobin/robobin_main/src/install/testing/share/testing/package.zsh'
+[5.674s] Level 1:colcon.colcon_core.environment:create_file_with_runtime_dependencies(/home/robobin/robobin/robobin_main/src/install/testing/share/colcon-core/packages/testing)
+[5.751s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/robobin_main/src/install/robot_description' for CMake module files
+[5.753s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoked command in '/home/robobin/robobin/robobin_main/src/robot_description' returned '0': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/robobin_main/src/build/robot_description/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/robobin_main/src/install/robot_description/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../build/robot_description build --build-base /home/robobin/robobin/robobin_main/src/build/robot_description/build install --record /home/robobin/robobin/robobin_main/src/build/robot_description/install.log --single-version-externally-managed install_data
+[5.753s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/robobin_main/src/install/robot_description' for CMake config files
+[5.756s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/robobin_main/src/install/robot_description/lib'
+[5.756s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/robobin_main/src/install/robot_description/bin'
+[5.756s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/robobin_main/src/install/robot_description/lib/pkgconfig/robot_description.pc'
+[5.757s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/robobin_main/src/install/robot_description/lib/python3.12/site-packages'
+[5.757s] Level 1:colcon.colcon_core.shell:create_environment_hook('robot_description', 'pythonpath')
+[5.757s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/robobin/robobin/robobin_main/src/install/robot_description/share/robot_description/hook/pythonpath.ps1'
+[5.759s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/robobin/robobin/robobin_main/src/install/robot_description/share/robot_description/hook/pythonpath.dsv'
+[5.760s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/robobin/robobin/robobin_main/src/install/robot_description/share/robot_description/hook/pythonpath.sh'
+[5.761s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/robobin_main/src/install/robot_description/bin'
+[5.761s] Level 1:colcon.colcon_core.environment:create_environment_scripts_only(robot_description)
+[5.762s] INFO:colcon.colcon_core.shell:Creating package script '/home/robobin/robobin/robobin_main/src/install/robot_description/share/robot_description/package.ps1'
+[5.764s] INFO:colcon.colcon_core.shell:Creating package descriptor '/home/robobin/robobin/robobin_main/src/install/robot_description/share/robot_description/package.dsv'
+[5.766s] INFO:colcon.colcon_core.shell:Creating package script '/home/robobin/robobin/robobin_main/src/install/robot_description/share/robot_description/package.sh'
+[5.767s] INFO:colcon.colcon_core.shell:Creating package script '/home/robobin/robobin/robobin_main/src/install/robot_description/share/robot_description/package.bash'
+[5.769s] INFO:colcon.colcon_core.shell:Creating package script '/home/robobin/robobin/robobin_main/src/install/robot_description/share/robot_description/package.zsh'
+[5.770s] Level 1:colcon.colcon_core.environment:create_file_with_runtime_dependencies(/home/robobin/robobin/robobin_main/src/install/robot_description/share/colcon-core/packages/robot_description)
+[5.803s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf' for CMake module files
+[5.806s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoked command in '/home/robobin/robobin/robobin_main/src/robot_localization_ekf' returned '0': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/robobin_main/src/build/robot_localization_ekf/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../build/robot_localization_ekf build --build-base /home/robobin/robobin/robobin_main/src/build/robot_localization_ekf/build install --record /home/robobin/robobin/robobin_main/src/build/robot_localization_ekf/install.log --single-version-externally-managed install_data
+[5.808s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf' for CMake config files
+[5.810s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/lib'
+[5.811s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/bin'
+[5.811s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/lib/pkgconfig/robot_localization_ekf.pc'
+[5.811s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/lib/python3.12/site-packages'
+[5.811s] Level 1:colcon.colcon_core.shell:create_environment_hook('robot_localization_ekf', 'pythonpath')
+[5.812s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/share/robot_localization_ekf/hook/pythonpath.ps1'
+[5.813s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/share/robot_localization_ekf/hook/pythonpath.dsv'
+[5.814s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/share/robot_localization_ekf/hook/pythonpath.sh'
+[5.816s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/bin'
+[5.816s] Level 1:colcon.colcon_core.environment:create_environment_scripts_only(robot_localization_ekf)
+[5.817s] INFO:colcon.colcon_core.shell:Creating package script '/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/share/robot_localization_ekf/package.ps1'
+[5.818s] INFO:colcon.colcon_core.shell:Creating package descriptor '/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/share/robot_localization_ekf/package.dsv'
+[5.819s] INFO:colcon.colcon_core.shell:Creating package script '/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/share/robot_localization_ekf/package.sh'
+[5.820s] INFO:colcon.colcon_core.shell:Creating package script '/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/share/robot_localization_ekf/package.bash'
+[5.822s] INFO:colcon.colcon_core.shell:Creating package script '/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/share/robot_localization_ekf/package.zsh'
+[5.823s] Level 1:colcon.colcon_core.environment:create_file_with_runtime_dependencies(/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/share/colcon-core/packages/robot_localization_ekf)
+[5.824s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:closing loop
+[5.825s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:loop closed
+[5.825s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete finished with '0'
+[5.825s] DEBUG:colcon.colcon_core.event_reactor:joining thread
+[5.841s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.terminal_notifier': Not used on non-Darwin systems
+[5.842s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.win32': Not used on non-Windows systems
+[5.842s] INFO:colcon.colcon_notification.desktop_notification:Sending desktop notification using 'notify2'
+[5.886s] DEBUG:colcon.colcon_core.event_reactor:joined thread
+[5.887s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/robobin/robobin/robobin_main/src/install/local_setup.ps1'
+[5.913s] INFO:colcon.colcon_core.shell:Creating prefix util module '/home/robobin/robobin/robobin_main/src/install/_local_setup_util_ps1.py'
+[5.915s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/robobin/robobin/robobin_main/src/install/setup.ps1'
+[5.917s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/robobin/robobin/robobin_main/src/install/local_setup.sh'
+[5.918s] INFO:colcon.colcon_core.shell:Creating prefix util module '/home/robobin/robobin/robobin_main/src/install/_local_setup_util_sh.py'
+[5.919s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/robobin/robobin/robobin_main/src/install/setup.sh'
+[5.920s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/robobin/robobin/robobin_main/src/install/local_setup.bash'
+[5.921s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/robobin/robobin/robobin_main/src/install/setup.bash'
+[5.922s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/robobin/robobin/robobin_main/src/install/local_setup.zsh'
+[5.924s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/robobin/robobin/robobin_main/src/install/setup.zsh'
diff --git a/robobin_main/src/log/build_2024-12-16_15-45-02/odometry_publisher/command.log b/robobin_main/src/log/build_2024-12-16_15-45-02/odometry_publisher/command.log
new file mode 100644
index 00000000..6787a59c
--- /dev/null
+++ b/robobin_main/src/log/build_2024-12-16_15-45-02/odometry_publisher/command.log
@@ -0,0 +1,2 @@
+Invoking command in '/home/robobin/robobin/robobin_main/src/odometry_publisher': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/robobin_main/src/build/odometry_publisher/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../build/odometry_publisher build --build-base /home/robobin/robobin/robobin_main/src/build/odometry_publisher/build install --record /home/robobin/robobin/robobin_main/src/build/odometry_publisher/install.log --single-version-externally-managed install_data
+Invoked command in '/home/robobin/robobin/robobin_main/src/odometry_publisher' returned '0': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/robobin_main/src/build/odometry_publisher/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../build/odometry_publisher build --build-base /home/robobin/robobin/robobin_main/src/build/odometry_publisher/build install --record /home/robobin/robobin/robobin_main/src/build/odometry_publisher/install.log --single-version-externally-managed install_data
diff --git a/robobin_main/src/log/build_2024-12-16_15-45-02/odometry_publisher/stderr.log b/robobin_main/src/log/build_2024-12-16_15-45-02/odometry_publisher/stderr.log
new file mode 100644
index 00000000..e69de29b
diff --git a/robobin_main/src/log/build_2024-12-16_15-45-02/odometry_publisher/stdout.log b/robobin_main/src/log/build_2024-12-16_15-45-02/odometry_publisher/stdout.log
new file mode 100644
index 00000000..04c37a57
--- /dev/null
+++ b/robobin_main/src/log/build_2024-12-16_15-45-02/odometry_publisher/stdout.log
@@ -0,0 +1,19 @@
+running egg_info
+writing ../build/odometry_publisher/odometry_publisher.egg-info/PKG-INFO
+writing dependency_links to ../build/odometry_publisher/odometry_publisher.egg-info/dependency_links.txt
+writing entry points to ../build/odometry_publisher/odometry_publisher.egg-info/entry_points.txt
+writing requirements to ../build/odometry_publisher/odometry_publisher.egg-info/requires.txt
+writing top-level names to ../build/odometry_publisher/odometry_publisher.egg-info/top_level.txt
+reading manifest file '../build/odometry_publisher/odometry_publisher.egg-info/SOURCES.txt'
+writing manifest file '../build/odometry_publisher/odometry_publisher.egg-info/SOURCES.txt'
+running build
+running build_py
+running install
+running install_lib
+running install_data
+running install_egg_info
+removing '/home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages/odometry_publisher-0.0.0-py3.12.egg-info' (and everything under it)
+Copying ../build/odometry_publisher/odometry_publisher.egg-info to /home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages/odometry_publisher-0.0.0-py3.12.egg-info
+running install_scripts
+Installing odometry_node script to /home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/odometry_publisher
+writing list of installed files to '/home/robobin/robobin/robobin_main/src/build/odometry_publisher/install.log'
diff --git a/robobin_main/src/log/build_2024-12-16_15-45-02/odometry_publisher/stdout_stderr.log b/robobin_main/src/log/build_2024-12-16_15-45-02/odometry_publisher/stdout_stderr.log
new file mode 100644
index 00000000..04c37a57
--- /dev/null
+++ b/robobin_main/src/log/build_2024-12-16_15-45-02/odometry_publisher/stdout_stderr.log
@@ -0,0 +1,19 @@
+running egg_info
+writing ../build/odometry_publisher/odometry_publisher.egg-info/PKG-INFO
+writing dependency_links to ../build/odometry_publisher/odometry_publisher.egg-info/dependency_links.txt
+writing entry points to ../build/odometry_publisher/odometry_publisher.egg-info/entry_points.txt
+writing requirements to ../build/odometry_publisher/odometry_publisher.egg-info/requires.txt
+writing top-level names to ../build/odometry_publisher/odometry_publisher.egg-info/top_level.txt
+reading manifest file '../build/odometry_publisher/odometry_publisher.egg-info/SOURCES.txt'
+writing manifest file '../build/odometry_publisher/odometry_publisher.egg-info/SOURCES.txt'
+running build
+running build_py
+running install
+running install_lib
+running install_data
+running install_egg_info
+removing '/home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages/odometry_publisher-0.0.0-py3.12.egg-info' (and everything under it)
+Copying ../build/odometry_publisher/odometry_publisher.egg-info to /home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages/odometry_publisher-0.0.0-py3.12.egg-info
+running install_scripts
+Installing odometry_node script to /home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/odometry_publisher
+writing list of installed files to '/home/robobin/robobin/robobin_main/src/build/odometry_publisher/install.log'
diff --git a/robobin_main/src/log/build_2024-12-16_15-45-02/odometry_publisher/streams.log b/robobin_main/src/log/build_2024-12-16_15-45-02/odometry_publisher/streams.log
new file mode 100644
index 00000000..cd41fccd
--- /dev/null
+++ b/robobin_main/src/log/build_2024-12-16_15-45-02/odometry_publisher/streams.log
@@ -0,0 +1,21 @@
+[3.570s] Invoking command in '/home/robobin/robobin/robobin_main/src/odometry_publisher': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/robobin_main/src/build/odometry_publisher/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../build/odometry_publisher build --build-base /home/robobin/robobin/robobin_main/src/build/odometry_publisher/build install --record /home/robobin/robobin/robobin_main/src/build/odometry_publisher/install.log --single-version-externally-managed install_data
+[4.343s] running egg_info
+[4.377s] writing ../build/odometry_publisher/odometry_publisher.egg-info/PKG-INFO
+[4.378s] writing dependency_links to ../build/odometry_publisher/odometry_publisher.egg-info/dependency_links.txt
+[4.379s] writing entry points to ../build/odometry_publisher/odometry_publisher.egg-info/entry_points.txt
+[4.380s] writing requirements to ../build/odometry_publisher/odometry_publisher.egg-info/requires.txt
+[4.381s] writing top-level names to ../build/odometry_publisher/odometry_publisher.egg-info/top_level.txt
+[4.443s] reading manifest file '../build/odometry_publisher/odometry_publisher.egg-info/SOURCES.txt'
+[4.460s] writing manifest file '../build/odometry_publisher/odometry_publisher.egg-info/SOURCES.txt'
+[4.460s] running build
+[4.460s] running build_py
+[4.471s] running install
+[4.491s] running install_lib
+[4.530s] running install_data
+[4.531s] running install_egg_info
+[4.572s] removing '/home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages/odometry_publisher-0.0.0-py3.12.egg-info' (and everything under it)
+[4.572s] Copying ../build/odometry_publisher/odometry_publisher.egg-info to /home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages/odometry_publisher-0.0.0-py3.12.egg-info
+[4.574s] running install_scripts
+[4.817s] Installing odometry_node script to /home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/odometry_publisher
+[4.818s] writing list of installed files to '/home/robobin/robobin/robobin_main/src/build/odometry_publisher/install.log'
+[5.064s] Invoked command in '/home/robobin/robobin/robobin_main/src/odometry_publisher' returned '0': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/robobin_main/src/build/odometry_publisher/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../build/odometry_publisher build --build-base /home/robobin/robobin/robobin_main/src/build/odometry_publisher/build install --record /home/robobin/robobin/robobin_main/src/build/odometry_publisher/install.log --single-version-externally-managed install_data
diff --git a/robobin_main/src/log/build_2024-12-16_15-45-02/robot_description/command.log b/robobin_main/src/log/build_2024-12-16_15-45-02/robot_description/command.log
new file mode 100644
index 00000000..78d3e3b0
--- /dev/null
+++ b/robobin_main/src/log/build_2024-12-16_15-45-02/robot_description/command.log
@@ -0,0 +1,2 @@
+Invoking command in '/home/robobin/robobin/robobin_main/src/robot_description': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/robobin_main/src/build/robot_description/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/robobin_main/src/install/robot_description/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../build/robot_description build --build-base /home/robobin/robobin/robobin_main/src/build/robot_description/build install --record /home/robobin/robobin/robobin_main/src/build/robot_description/install.log --single-version-externally-managed install_data
+Invoked command in '/home/robobin/robobin/robobin_main/src/robot_description' returned '0': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/robobin_main/src/build/robot_description/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/robobin_main/src/install/robot_description/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../build/robot_description build --build-base /home/robobin/robobin/robobin_main/src/build/robot_description/build install --record /home/robobin/robobin/robobin_main/src/build/robot_description/install.log --single-version-externally-managed install_data
diff --git a/robobin_main/src/log/build_2024-12-16_15-45-02/robot_description/stderr.log b/robobin_main/src/log/build_2024-12-16_15-45-02/robot_description/stderr.log
new file mode 100644
index 00000000..e69de29b
diff --git a/robobin_main/src/log/build_2024-12-16_15-45-02/robot_description/stdout.log b/robobin_main/src/log/build_2024-12-16_15-45-02/robot_description/stdout.log
new file mode 100644
index 00000000..60365698
--- /dev/null
+++ b/robobin_main/src/log/build_2024-12-16_15-45-02/robot_description/stdout.log
@@ -0,0 +1,17 @@
+running egg_info
+writing ../build/robot_description/robot_description.egg-info/PKG-INFO
+writing dependency_links to ../build/robot_description/robot_description.egg-info/dependency_links.txt
+writing requirements to ../build/robot_description/robot_description.egg-info/requires.txt
+writing top-level names to ../build/robot_description/robot_description.egg-info/top_level.txt
+reading manifest file '../build/robot_description/robot_description.egg-info/SOURCES.txt'
+writing manifest file '../build/robot_description/robot_description.egg-info/SOURCES.txt'
+running build
+running build_py
+running install
+running install_lib
+running install_data
+running install_egg_info
+removing '/home/robobin/robobin/robobin_main/src/install/robot_description/lib/python3.12/site-packages/robot_description-0.0.0-py3.12.egg-info' (and everything under it)
+Copying ../build/robot_description/robot_description.egg-info to /home/robobin/robobin/robobin_main/src/install/robot_description/lib/python3.12/site-packages/robot_description-0.0.0-py3.12.egg-info
+running install_scripts
+writing list of installed files to '/home/robobin/robobin/robobin_main/src/build/robot_description/install.log'
diff --git a/robobin_main/src/log/build_2024-12-16_15-45-02/robot_description/stdout_stderr.log b/robobin_main/src/log/build_2024-12-16_15-45-02/robot_description/stdout_stderr.log
new file mode 100644
index 00000000..60365698
--- /dev/null
+++ b/robobin_main/src/log/build_2024-12-16_15-45-02/robot_description/stdout_stderr.log
@@ -0,0 +1,17 @@
+running egg_info
+writing ../build/robot_description/robot_description.egg-info/PKG-INFO
+writing dependency_links to ../build/robot_description/robot_description.egg-info/dependency_links.txt
+writing requirements to ../build/robot_description/robot_description.egg-info/requires.txt
+writing top-level names to ../build/robot_description/robot_description.egg-info/top_level.txt
+reading manifest file '../build/robot_description/robot_description.egg-info/SOURCES.txt'
+writing manifest file '../build/robot_description/robot_description.egg-info/SOURCES.txt'
+running build
+running build_py
+running install
+running install_lib
+running install_data
+running install_egg_info
+removing '/home/robobin/robobin/robobin_main/src/install/robot_description/lib/python3.12/site-packages/robot_description-0.0.0-py3.12.egg-info' (and everything under it)
+Copying ../build/robot_description/robot_description.egg-info to /home/robobin/robobin/robobin_main/src/install/robot_description/lib/python3.12/site-packages/robot_description-0.0.0-py3.12.egg-info
+running install_scripts
+writing list of installed files to '/home/robobin/robobin/robobin_main/src/build/robot_description/install.log'
diff --git a/robobin_main/src/log/build_2024-12-16_15-45-02/robot_description/streams.log b/robobin_main/src/log/build_2024-12-16_15-45-02/robot_description/streams.log
new file mode 100644
index 00000000..7983694a
--- /dev/null
+++ b/robobin_main/src/log/build_2024-12-16_15-45-02/robot_description/streams.log
@@ -0,0 +1,19 @@
+[3.597s] Invoking command in '/home/robobin/robobin/robobin_main/src/robot_description': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/robobin_main/src/build/robot_description/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/robobin_main/src/install/robot_description/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../build/robot_description build --build-base /home/robobin/robobin/robobin_main/src/build/robot_description/build install --record /home/robobin/robobin/robobin_main/src/build/robot_description/install.log --single-version-externally-managed install_data
+[4.343s] running egg_info
+[4.381s] writing ../build/robot_description/robot_description.egg-info/PKG-INFO
+[4.382s] writing dependency_links to ../build/robot_description/robot_description.egg-info/dependency_links.txt
+[4.383s] writing requirements to ../build/robot_description/robot_description.egg-info/requires.txt
+[4.384s] writing top-level names to ../build/robot_description/robot_description.egg-info/top_level.txt
+[4.464s] reading manifest file '../build/robot_description/robot_description.egg-info/SOURCES.txt'
+[4.469s] writing manifest file '../build/robot_description/robot_description.egg-info/SOURCES.txt'
+[4.470s] running build
+[4.470s] running build_py
+[4.472s] running install
+[4.484s] running install_lib
+[4.530s] running install_data
+[4.533s] running install_egg_info
+[4.567s] removing '/home/robobin/robobin/robobin_main/src/install/robot_description/lib/python3.12/site-packages/robot_description-0.0.0-py3.12.egg-info' (and everything under it)
+[4.569s] Copying ../build/robot_description/robot_description.egg-info to /home/robobin/robobin/robobin_main/src/install/robot_description/lib/python3.12/site-packages/robot_description-0.0.0-py3.12.egg-info
+[4.571s] running install_scripts
+[4.987s] writing list of installed files to '/home/robobin/robobin/robobin_main/src/build/robot_description/install.log'
+[5.288s] Invoked command in '/home/robobin/robobin/robobin_main/src/robot_description' returned '0': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/robobin_main/src/build/robot_description/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/robobin_main/src/install/robot_description/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../build/robot_description build --build-base /home/robobin/robobin/robobin_main/src/build/robot_description/build install --record /home/robobin/robobin/robobin_main/src/build/robot_description/install.log --single-version-externally-managed install_data
diff --git a/robobin_main/src/log/build_2024-12-16_15-45-02/robot_localization_ekf/command.log b/robobin_main/src/log/build_2024-12-16_15-45-02/robot_localization_ekf/command.log
new file mode 100644
index 00000000..28b0d8dd
--- /dev/null
+++ b/robobin_main/src/log/build_2024-12-16_15-45-02/robot_localization_ekf/command.log
@@ -0,0 +1,2 @@
+Invoking command in '/home/robobin/robobin/robobin_main/src/robot_localization_ekf': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/robobin_main/src/build/robot_localization_ekf/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../build/robot_localization_ekf build --build-base /home/robobin/robobin/robobin_main/src/build/robot_localization_ekf/build install --record /home/robobin/robobin/robobin_main/src/build/robot_localization_ekf/install.log --single-version-externally-managed install_data
+Invoked command in '/home/robobin/robobin/robobin_main/src/robot_localization_ekf' returned '0': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/robobin_main/src/build/robot_localization_ekf/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../build/robot_localization_ekf build --build-base /home/robobin/robobin/robobin_main/src/build/robot_localization_ekf/build install --record /home/robobin/robobin/robobin_main/src/build/robot_localization_ekf/install.log --single-version-externally-managed install_data
diff --git a/robobin_main/src/log/build_2024-12-16_15-45-02/robot_localization_ekf/stderr.log b/robobin_main/src/log/build_2024-12-16_15-45-02/robot_localization_ekf/stderr.log
new file mode 100644
index 00000000..e69de29b
diff --git a/robobin_main/src/log/build_2024-12-16_15-45-02/robot_localization_ekf/stdout.log b/robobin_main/src/log/build_2024-12-16_15-45-02/robot_localization_ekf/stdout.log
new file mode 100644
index 00000000..5ab049aa
--- /dev/null
+++ b/robobin_main/src/log/build_2024-12-16_15-45-02/robot_localization_ekf/stdout.log
@@ -0,0 +1,17 @@
+running egg_info
+writing ../build/robot_localization_ekf/robot_localization_ekf.egg-info/PKG-INFO
+writing dependency_links to ../build/robot_localization_ekf/robot_localization_ekf.egg-info/dependency_links.txt
+writing requirements to ../build/robot_localization_ekf/robot_localization_ekf.egg-info/requires.txt
+writing top-level names to ../build/robot_localization_ekf/robot_localization_ekf.egg-info/top_level.txt
+reading manifest file '../build/robot_localization_ekf/robot_localization_ekf.egg-info/SOURCES.txt'
+writing manifest file '../build/robot_localization_ekf/robot_localization_ekf.egg-info/SOURCES.txt'
+running build
+running build_py
+running install
+running install_lib
+running install_data
+running install_egg_info
+removing '/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/lib/python3.12/site-packages/robot_localization_ekf-0.0.0-py3.12.egg-info' (and everything under it)
+Copying ../build/robot_localization_ekf/robot_localization_ekf.egg-info to /home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/lib/python3.12/site-packages/robot_localization_ekf-0.0.0-py3.12.egg-info
+running install_scripts
+writing list of installed files to '/home/robobin/robobin/robobin_main/src/build/robot_localization_ekf/install.log'
diff --git a/robobin_main/src/log/build_2024-12-16_15-45-02/robot_localization_ekf/stdout_stderr.log b/robobin_main/src/log/build_2024-12-16_15-45-02/robot_localization_ekf/stdout_stderr.log
new file mode 100644
index 00000000..5ab049aa
--- /dev/null
+++ b/robobin_main/src/log/build_2024-12-16_15-45-02/robot_localization_ekf/stdout_stderr.log
@@ -0,0 +1,17 @@
+running egg_info
+writing ../build/robot_localization_ekf/robot_localization_ekf.egg-info/PKG-INFO
+writing dependency_links to ../build/robot_localization_ekf/robot_localization_ekf.egg-info/dependency_links.txt
+writing requirements to ../build/robot_localization_ekf/robot_localization_ekf.egg-info/requires.txt
+writing top-level names to ../build/robot_localization_ekf/robot_localization_ekf.egg-info/top_level.txt
+reading manifest file '../build/robot_localization_ekf/robot_localization_ekf.egg-info/SOURCES.txt'
+writing manifest file '../build/robot_localization_ekf/robot_localization_ekf.egg-info/SOURCES.txt'
+running build
+running build_py
+running install
+running install_lib
+running install_data
+running install_egg_info
+removing '/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/lib/python3.12/site-packages/robot_localization_ekf-0.0.0-py3.12.egg-info' (and everything under it)
+Copying ../build/robot_localization_ekf/robot_localization_ekf.egg-info to /home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/lib/python3.12/site-packages/robot_localization_ekf-0.0.0-py3.12.egg-info
+running install_scripts
+writing list of installed files to '/home/robobin/robobin/robobin_main/src/build/robot_localization_ekf/install.log'
diff --git a/robobin_main/src/log/build_2024-12-16_15-45-02/robot_localization_ekf/streams.log b/robobin_main/src/log/build_2024-12-16_15-45-02/robot_localization_ekf/streams.log
new file mode 100644
index 00000000..dd0c99e1
--- /dev/null
+++ b/robobin_main/src/log/build_2024-12-16_15-45-02/robot_localization_ekf/streams.log
@@ -0,0 +1,19 @@
+[3.645s] Invoking command in '/home/robobin/robobin/robobin_main/src/robot_localization_ekf': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/robobin_main/src/build/robot_localization_ekf/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../build/robot_localization_ekf build --build-base /home/robobin/robobin/robobin_main/src/build/robot_localization_ekf/build install --record /home/robobin/robobin/robobin_main/src/build/robot_localization_ekf/install.log --single-version-externally-managed install_data
+[4.389s] running egg_info
+[4.422s] writing ../build/robot_localization_ekf/robot_localization_ekf.egg-info/PKG-INFO
+[4.426s] writing dependency_links to ../build/robot_localization_ekf/robot_localization_ekf.egg-info/dependency_links.txt
+[4.426s] writing requirements to ../build/robot_localization_ekf/robot_localization_ekf.egg-info/requires.txt
+[4.427s] writing top-level names to ../build/robot_localization_ekf/robot_localization_ekf.egg-info/top_level.txt
+[4.499s] reading manifest file '../build/robot_localization_ekf/robot_localization_ekf.egg-info/SOURCES.txt'
+[4.505s] writing manifest file '../build/robot_localization_ekf/robot_localization_ekf.egg-info/SOURCES.txt'
+[4.505s] running build
+[4.507s] running build_py
+[4.510s] running install
+[4.521s] running install_lib
+[4.552s] running install_data
+[4.557s] running install_egg_info
+[4.590s] removing '/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/lib/python3.12/site-packages/robot_localization_ekf-0.0.0-py3.12.egg-info' (and everything under it)
+[4.592s] Copying ../build/robot_localization_ekf/robot_localization_ekf.egg-info to /home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/lib/python3.12/site-packages/robot_localization_ekf-0.0.0-py3.12.egg-info
+[4.598s] running install_scripts
+[5.061s] writing list of installed files to '/home/robobin/robobin/robobin_main/src/build/robot_localization_ekf/install.log'
+[5.322s] Invoked command in '/home/robobin/robobin/robobin_main/src/robot_localization_ekf' returned '0': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/robobin_main/src/build/robot_localization_ekf/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../build/robot_localization_ekf build --build-base /home/robobin/robobin/robobin_main/src/build/robot_localization_ekf/build install --record /home/robobin/robobin/robobin_main/src/build/robot_localization_ekf/install.log --single-version-externally-managed install_data
diff --git a/robobin_main/src/log/build_2024-12-16_15-45-02/testing/command.log b/robobin_main/src/log/build_2024-12-16_15-45-02/testing/command.log
new file mode 100644
index 00000000..dc9b85d6
--- /dev/null
+++ b/robobin_main/src/log/build_2024-12-16_15-45-02/testing/command.log
@@ -0,0 +1,2 @@
+Invoking command in '/home/robobin/robobin/robobin_main/src/testing': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/robobin_main/src/build/testing/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../build/testing build --build-base /home/robobin/robobin/robobin_main/src/build/testing/build install --record /home/robobin/robobin/robobin_main/src/build/testing/install.log --single-version-externally-managed install_data
+Invoked command in '/home/robobin/robobin/robobin_main/src/testing' returned '0': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/robobin_main/src/build/testing/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../build/testing build --build-base /home/robobin/robobin/robobin_main/src/build/testing/build install --record /home/robobin/robobin/robobin_main/src/build/testing/install.log --single-version-externally-managed install_data
diff --git a/robobin_main/src/log/build_2024-12-16_15-45-02/testing/stderr.log b/robobin_main/src/log/build_2024-12-16_15-45-02/testing/stderr.log
new file mode 100644
index 00000000..e69de29b
diff --git a/robobin_main/src/log/build_2024-12-16_15-45-02/testing/stdout.log b/robobin_main/src/log/build_2024-12-16_15-45-02/testing/stdout.log
new file mode 100644
index 00000000..129507a4
--- /dev/null
+++ b/robobin_main/src/log/build_2024-12-16_15-45-02/testing/stdout.log
@@ -0,0 +1,24 @@
+running egg_info
+writing ../build/testing/testing.egg-info/PKG-INFO
+writing dependency_links to ../build/testing/testing.egg-info/dependency_links.txt
+writing entry points to ../build/testing/testing.egg-info/entry_points.txt
+writing requirements to ../build/testing/testing.egg-info/requires.txt
+writing top-level names to ../build/testing/testing.egg-info/top_level.txt
+reading manifest file '../build/testing/testing.egg-info/SOURCES.txt'
+writing manifest file '../build/testing/testing.egg-info/SOURCES.txt'
+running build
+running build_py
+running install
+running install_lib
+running install_data
+running install_egg_info
+removing '/home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages/testing-0.0.0-py3.12.egg-info' (and everything under it)
+Copying ../build/testing/testing.egg-info to /home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages/testing-0.0.0-py3.12.egg-info
+running install_scripts
+Installing test_control_feedback script to /home/robobin/robobin/robobin_main/src/install/testing/lib/testing
+Installing test_encoder_node script to /home/robobin/robobin/robobin_main/src/install/testing/lib/testing
+Installing test_imu_node script to /home/robobin/robobin/robobin_main/src/install/testing/lib/testing
+Installing test_motor_node script to /home/robobin/robobin/robobin_main/src/install/testing/lib/testing
+Installing test_route script to /home/robobin/robobin/robobin_main/src/install/testing/lib/testing
+Installing test_route_filter script to /home/robobin/robobin/robobin_main/src/install/testing/lib/testing
+writing list of installed files to '/home/robobin/robobin/robobin_main/src/build/testing/install.log'
diff --git a/robobin_main/src/log/build_2024-12-16_15-45-02/testing/stdout_stderr.log b/robobin_main/src/log/build_2024-12-16_15-45-02/testing/stdout_stderr.log
new file mode 100644
index 00000000..129507a4
--- /dev/null
+++ b/robobin_main/src/log/build_2024-12-16_15-45-02/testing/stdout_stderr.log
@@ -0,0 +1,24 @@
+running egg_info
+writing ../build/testing/testing.egg-info/PKG-INFO
+writing dependency_links to ../build/testing/testing.egg-info/dependency_links.txt
+writing entry points to ../build/testing/testing.egg-info/entry_points.txt
+writing requirements to ../build/testing/testing.egg-info/requires.txt
+writing top-level names to ../build/testing/testing.egg-info/top_level.txt
+reading manifest file '../build/testing/testing.egg-info/SOURCES.txt'
+writing manifest file '../build/testing/testing.egg-info/SOURCES.txt'
+running build
+running build_py
+running install
+running install_lib
+running install_data
+running install_egg_info
+removing '/home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages/testing-0.0.0-py3.12.egg-info' (and everything under it)
+Copying ../build/testing/testing.egg-info to /home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages/testing-0.0.0-py3.12.egg-info
+running install_scripts
+Installing test_control_feedback script to /home/robobin/robobin/robobin_main/src/install/testing/lib/testing
+Installing test_encoder_node script to /home/robobin/robobin/robobin_main/src/install/testing/lib/testing
+Installing test_imu_node script to /home/robobin/robobin/robobin_main/src/install/testing/lib/testing
+Installing test_motor_node script to /home/robobin/robobin/robobin_main/src/install/testing/lib/testing
+Installing test_route script to /home/robobin/robobin/robobin_main/src/install/testing/lib/testing
+Installing test_route_filter script to /home/robobin/robobin/robobin_main/src/install/testing/lib/testing
+writing list of installed files to '/home/robobin/robobin/robobin_main/src/build/testing/install.log'
diff --git a/robobin_main/src/log/build_2024-12-16_15-45-02/testing/streams.log b/robobin_main/src/log/build_2024-12-16_15-45-02/testing/streams.log
new file mode 100644
index 00000000..75958276
--- /dev/null
+++ b/robobin_main/src/log/build_2024-12-16_15-45-02/testing/streams.log
@@ -0,0 +1,26 @@
+[3.521s] Invoking command in '/home/robobin/robobin/robobin_main/src/testing': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/robobin_main/src/build/testing/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../build/testing build --build-base /home/robobin/robobin/robobin_main/src/build/testing/build install --record /home/robobin/robobin/robobin_main/src/build/testing/install.log --single-version-externally-managed install_data
+[4.310s] running egg_info
+[4.349s] writing ../build/testing/testing.egg-info/PKG-INFO
+[4.350s] writing dependency_links to ../build/testing/testing.egg-info/dependency_links.txt
+[4.351s] writing entry points to ../build/testing/testing.egg-info/entry_points.txt
+[4.352s] writing requirements to ../build/testing/testing.egg-info/requires.txt
+[4.352s] writing top-level names to ../build/testing/testing.egg-info/top_level.txt
+[4.429s] reading manifest file '../build/testing/testing.egg-info/SOURCES.txt'
+[4.432s] writing manifest file '../build/testing/testing.egg-info/SOURCES.txt'
+[4.432s] running build
+[4.433s] running build_py
+[4.437s] running install
+[4.450s] running install_lib
+[4.495s] running install_data
+[4.498s] running install_egg_info
+[4.528s] removing '/home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages/testing-0.0.0-py3.12.egg-info' (and everything under it)
+[4.529s] Copying ../build/testing/testing.egg-info to /home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages/testing-0.0.0-py3.12.egg-info
+[4.531s] running install_scripts
+[4.861s] Installing test_control_feedback script to /home/robobin/robobin/robobin_main/src/install/testing/lib/testing
+[4.890s] Installing test_encoder_node script to /home/robobin/robobin/robobin_main/src/install/testing/lib/testing
+[4.895s] Installing test_imu_node script to /home/robobin/robobin/robobin_main/src/install/testing/lib/testing
+[4.895s] Installing test_motor_node script to /home/robobin/robobin/robobin_main/src/install/testing/lib/testing
+[4.897s] Installing test_route script to /home/robobin/robobin/robobin_main/src/install/testing/lib/testing
+[4.898s] Installing test_route_filter script to /home/robobin/robobin/robobin_main/src/install/testing/lib/testing
+[4.899s] writing list of installed files to '/home/robobin/robobin/robobin_main/src/build/testing/install.log'
+[5.146s] Invoked command in '/home/robobin/robobin/robobin_main/src/testing' returned '0': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/robobin_main/src/build/testing/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../build/testing build --build-base /home/robobin/robobin/robobin_main/src/build/testing/build install --record /home/robobin/robobin/robobin_main/src/build/testing/install.log --single-version-externally-managed install_data
diff --git a/robobin_main/src/log/build_2024-12-16_15-51-48/events.log b/robobin_main/src/log/build_2024-12-16_15-51-48/events.log
new file mode 100644
index 00000000..55c46f2b
--- /dev/null
+++ b/robobin_main/src/log/build_2024-12-16_15-51-48/events.log
@@ -0,0 +1,143 @@
+[0.000000] (-) TimerEvent: {}
+[0.000250] (odometry_publisher) JobQueued: {'identifier': 'odometry_publisher', 'dependencies': OrderedDict()}
+[0.000297] (robot_description) JobQueued: {'identifier': 'robot_description', 'dependencies': OrderedDict()}
+[0.000320] (robot_localization_ekf) JobQueued: {'identifier': 'robot_localization_ekf', 'dependencies': OrderedDict()}
+[0.000339] (testing) JobQueued: {'identifier': 'testing', 'dependencies': OrderedDict()}
+[0.001533] (odometry_publisher) JobStarted: {'identifier': 'odometry_publisher'}
+[0.031122] (robot_description) JobStarted: {'identifier': 'robot_description'}
+[0.046038] (robot_localization_ekf) JobStarted: {'identifier': 'robot_localization_ekf'}
+[0.066835] (testing) JobStarted: {'identifier': 'testing'}
+[0.099706] (-) TimerEvent: {}
+[0.200208] (-) TimerEvent: {}
+[0.300590] (-) TimerEvent: {}
+[0.400973] (-) TimerEvent: {}
+[0.501405] (-) TimerEvent: {}
+[0.601778] (-) TimerEvent: {}
+[0.702132] (-) TimerEvent: {}
+[0.802510] (-) TimerEvent: {}
+[0.902957] (-) TimerEvent: {}
+[1.003322] (-) TimerEvent: {}
+[1.103664] (-) TimerEvent: {}
+[1.203984] (-) TimerEvent: {}
+[1.304346] (-) TimerEvent: {}
+[1.404689] (-) TimerEvent: {}
+[1.505055] (-) TimerEvent: {}
+[1.607490] (-) TimerEvent: {}
+[1.707975] (-) TimerEvent: {}
+[1.808365] (-) TimerEvent: {}
+[1.908720] (-) TimerEvent: {}
+[2.009064] (-) TimerEvent: {}
+[2.109432] (-) TimerEvent: {}
+[2.209799] (-) TimerEvent: {}
+[2.310164] (-) TimerEvent: {}
+[2.411174] (-) TimerEvent: {}
+[2.514459] (-) TimerEvent: {}
+[2.614797] (-) TimerEvent: {}
+[2.716450] (-) TimerEvent: {}
+[2.816827] (-) TimerEvent: {}
+[2.917226] (-) TimerEvent: {}
+[3.020560] (-) TimerEvent: {}
+[3.121454] (-) TimerEvent: {}
+[3.225844] (-) TimerEvent: {}
+[3.262798] (robot_localization_ekf) Command: {'cmd': ['/usr/bin/python3', '-W', 'ignore:setup.py install is deprecated', '-W', 'ignore:easy_install command is deprecated', 'setup.py', 'egg_info', '--egg-base', '../build/robot_localization_ekf', 'build', '--build-base', '/home/robobin/robobin/robobin_main/src/build/robot_localization_ekf/build', 'install', '--record', '/home/robobin/robobin/robobin_main/src/build/robot_localization_ekf/install.log', '--single-version-externally-managed', 'install_data'], 'cwd': '/home/robobin/robobin/robobin_main/src/robot_localization_ekf', 'env': {'LESSOPEN': '| /usr/bin/lesspipe %s', 'USER': 'robobin', 'GZ_CONFIG_PATH': '/opt/ros/jazzy/opt/sdformat_vendor/share/gz', 'XDG_SESSION_TYPE': 'wayland', 'SHLVL': '1', 'LD_LIBRARY_PATH': '/opt/ros/jazzy/opt/sdformat_vendor/lib:/opt/ros/jazzy/opt/rviz_ogre_vendor/lib:/opt/ros/jazzy/lib/aarch64-linux-gnu:/opt/ros/jazzy/opt/gz_math_vendor/lib:/opt/ros/jazzy/opt/gz_utils_vendor/lib:/opt/ros/jazzy/opt/gz_tools_vendor/lib:/opt/ros/jazzy/opt/gz_cmake_vendor/lib:/opt/ros/jazzy/lib', 'HOME': '/home/robobin', 'OLDPWD': '/home/robobin/robobin/robobin_main', 'DESKTOP_SESSION': 'ubuntu', 'ROS_PYTHON_VERSION': '3', 'GNOME_SHELL_SESSION_MODE': 'ubuntu', 'GTK_MODULES': 'gail:atk-bridge', 'SYSTEMD_EXEC_PID': '1633', 'GSM_SKIP_SSH_AGENT_WORKAROUND': 'true', 'DBUS_SESSION_BUS_ADDRESS': 'unix:path=/run/user/1002/bus', 'COLORTERM': 'truecolor', 'DEBUGINFOD_URLS': 'https://debuginfod.ubuntu.com', 'IM_CONFIG_PHASE': '1', 'WAYLAND_DISPLAY': 'wayland-0', 'COLCON_PREFIX_PATH': '/home/robobin/Robobin_Project/ros2/robobin_main/install', 'ROS_DISTRO': 'jazzy', 'LOGNAME': 'robobin', '_': '/usr/bin/colcon', 'ROS_VERSION': '2', 'MEMORY_PRESSURE_WATCH': '/sys/fs/cgroup/user.slice/user-1002.slice/user@1002.service/session.slice/org.gnome.Shell@wayland.service/memory.pressure', 'XDG_SESSION_CLASS': 'user', 'USERNAME': 'robobin', 'TERM': 'xterm-256color', 'GNOME_DESKTOP_SESSION_ID': 'this-is-deprecated', 'PATH': '/opt/ros/jazzy/opt/gz_tools_vendor/bin:/opt/ros/jazzy/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/snap/bin', 'SESSION_MANAGER': 'local/robobin-desktop:@/tmp/.ICE-unix/1594,unix/robobin-desktop:/tmp/.ICE-unix/1594', 'XDG_MENU_PREFIX': 'gnome-', 'GNOME_TERMINAL_SCREEN': '/org/gnome/Terminal/screen/7862307c_49e8_4e82_a5e8_e2b0cc08d1e3', 'GNOME_SETUP_DISPLAY': ':1', 'XDG_RUNTIME_DIR': '/run/user/1002', 'DISPLAY': ':0', 'LANG': 'en_US.UTF-8', 'XDG_CURRENT_DESKTOP': 'ubuntu:GNOME', 'XMODIFIERS': '@im=ibus', 'XDG_SESSION_DESKTOP': 'ubuntu', 'XAUTHORITY': '/run/user/1002/.mutter-Xwaylandauth.XGQ7Y2', 'LS_COLORS': 'rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=00:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.zst=01;31:*.tzst=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.avif=01;35:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.webp=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:*~=00;90:*#=00;90:*.bak=00;90:*.crdownload=00;90:*.dpkg-dist=00;90:*.dpkg-new=00;90:*.dpkg-old=00;90:*.dpkg-tmp=00;90:*.old=00;90:*.orig=00;90:*.part=00;90:*.rej=00;90:*.rpmnew=00;90:*.rpmorig=00;90:*.rpmsave=00;90:*.swp=00;90:*.tmp=00;90:*.ucf-dist=00;90:*.ucf-new=00;90:*.ucf-old=00;90:', 'GNOME_TERMINAL_SERVICE': ':1.102', 'SSH_AUTH_SOCK': '/run/user/1002/keyring/ssh', 'ROS_DOMAIN_ID': '3', 'AMENT_PREFIX_PATH': '/home/robobin/Robobin_Project/ros2/robobin_main/install/testing:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_localization_ekf:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_description:/home/robobin/Robobin_Project/ros2/robobin_main/install/odometry_publisher:/opt/ros/jazzy', 'SHELL': '/bin/bash', 'QT_ACCESSIBILITY': '1', 'GDMSESSION': 'ubuntu', 'LESSCLOSE': '/usr/bin/lesspipe %s %s', 'ROS_AUTOMATIC_DISCOVERY_RANGE': 'SUBNET', 'QT_IM_MODULE': 'ibus', 'PWD': '/home/robobin/robobin/robobin_main/src/build/robot_localization_ekf', 'LC_ALL': 'en_US.UTF-8', 'XDG_CONFIG_DIRS': '/etc/xdg/xdg-ubuntu:/etc/xdg', 'XDG_DATA_DIRS': '/usr/share/ubuntu:/usr/share/gnome:/usr/local/share/:/usr/share/:/var/lib/snapd/desktop', 'PYTHONPATH': '/home/robobin/robobin/robobin_main/src/build/robot_localization_ekf/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/lib/python3.12/site-packages:/home/robobin/Robobin_Project/ros2/robobin_main/build/testing:/home/robobin/Robobin_Project/ros2/robobin_main/install/testing/lib/python3.12/site-packages:/home/robobin/Robobin_Project/ros2/robobin_main/build/robot_localization_ekf:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_localization_ekf/lib/python3.12/site-packages:/home/robobin/Robobin_Project/ros2/robobin_main/build/robot_description:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_description/lib/python3.12/site-packages:/home/robobin/Robobin_Project/ros2/robobin_main/build/odometry_publisher:/home/robobin/Robobin_Project/ros2/robobin_main/install/odometry_publisher/lib/python3.12/site-packages:/opt/ros/jazzy/lib/python3.12/site-packages', 'COLCON': '1', 'MEMORY_PRESSURE_WRITE': 'c29tZSAyMDAwMDAgMjAwMDAwMAA=', 'VTE_VERSION': '7600', 'CMAKE_PREFIX_PATH': '/opt/ros/jazzy/opt/sdformat_vendor:/opt/ros/jazzy/opt/gz_math_vendor:/opt/ros/jazzy/opt/gz_utils_vendor:/opt/ros/jazzy/opt/gz_tools_vendor:/opt/ros/jazzy/opt/gz_cmake_vendor'}, 'shell': False}
+[3.277274] (testing) Command: {'cmd': ['/usr/bin/python3', '-W', 'ignore:setup.py install is deprecated', '-W', 'ignore:easy_install command is deprecated', 'setup.py', 'egg_info', '--egg-base', '../build/testing', 'build', '--build-base', '/home/robobin/robobin/robobin_main/src/build/testing/build', 'install', '--record', '/home/robobin/robobin/robobin_main/src/build/testing/install.log', '--single-version-externally-managed', 'install_data'], 'cwd': '/home/robobin/robobin/robobin_main/src/testing', 'env': {'LESSOPEN': '| /usr/bin/lesspipe %s', 'USER': 'robobin', 'GZ_CONFIG_PATH': '/opt/ros/jazzy/opt/sdformat_vendor/share/gz', 'XDG_SESSION_TYPE': 'wayland', 'SHLVL': '1', 'LD_LIBRARY_PATH': '/opt/ros/jazzy/opt/sdformat_vendor/lib:/opt/ros/jazzy/opt/rviz_ogre_vendor/lib:/opt/ros/jazzy/lib/aarch64-linux-gnu:/opt/ros/jazzy/opt/gz_math_vendor/lib:/opt/ros/jazzy/opt/gz_utils_vendor/lib:/opt/ros/jazzy/opt/gz_tools_vendor/lib:/opt/ros/jazzy/opt/gz_cmake_vendor/lib:/opt/ros/jazzy/lib', 'HOME': '/home/robobin', 'OLDPWD': '/home/robobin/robobin/robobin_main', 'DESKTOP_SESSION': 'ubuntu', 'ROS_PYTHON_VERSION': '3', 'GNOME_SHELL_SESSION_MODE': 'ubuntu', 'GTK_MODULES': 'gail:atk-bridge', 'SYSTEMD_EXEC_PID': '1633', 'GSM_SKIP_SSH_AGENT_WORKAROUND': 'true', 'DBUS_SESSION_BUS_ADDRESS': 'unix:path=/run/user/1002/bus', 'COLORTERM': 'truecolor', 'DEBUGINFOD_URLS': 'https://debuginfod.ubuntu.com', 'IM_CONFIG_PHASE': '1', 'WAYLAND_DISPLAY': 'wayland-0', 'COLCON_PREFIX_PATH': '/home/robobin/Robobin_Project/ros2/robobin_main/install', 'ROS_DISTRO': 'jazzy', 'LOGNAME': 'robobin', '_': '/usr/bin/colcon', 'ROS_VERSION': '2', 'MEMORY_PRESSURE_WATCH': '/sys/fs/cgroup/user.slice/user-1002.slice/user@1002.service/session.slice/org.gnome.Shell@wayland.service/memory.pressure', 'XDG_SESSION_CLASS': 'user', 'USERNAME': 'robobin', 'TERM': 'xterm-256color', 'GNOME_DESKTOP_SESSION_ID': 'this-is-deprecated', 'PATH': '/opt/ros/jazzy/opt/gz_tools_vendor/bin:/opt/ros/jazzy/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/snap/bin', 'SESSION_MANAGER': 'local/robobin-desktop:@/tmp/.ICE-unix/1594,unix/robobin-desktop:/tmp/.ICE-unix/1594', 'XDG_MENU_PREFIX': 'gnome-', 'GNOME_TERMINAL_SCREEN': '/org/gnome/Terminal/screen/7862307c_49e8_4e82_a5e8_e2b0cc08d1e3', 'GNOME_SETUP_DISPLAY': ':1', 'XDG_RUNTIME_DIR': '/run/user/1002', 'DISPLAY': ':0', 'LANG': 'en_US.UTF-8', 'XDG_CURRENT_DESKTOP': 'ubuntu:GNOME', 'XMODIFIERS': '@im=ibus', 'XDG_SESSION_DESKTOP': 'ubuntu', 'XAUTHORITY': '/run/user/1002/.mutter-Xwaylandauth.XGQ7Y2', 'LS_COLORS': 'rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=00:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.zst=01;31:*.tzst=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.avif=01;35:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.webp=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:*~=00;90:*#=00;90:*.bak=00;90:*.crdownload=00;90:*.dpkg-dist=00;90:*.dpkg-new=00;90:*.dpkg-old=00;90:*.dpkg-tmp=00;90:*.old=00;90:*.orig=00;90:*.part=00;90:*.rej=00;90:*.rpmnew=00;90:*.rpmorig=00;90:*.rpmsave=00;90:*.swp=00;90:*.tmp=00;90:*.ucf-dist=00;90:*.ucf-new=00;90:*.ucf-old=00;90:', 'GNOME_TERMINAL_SERVICE': ':1.102', 'SSH_AUTH_SOCK': '/run/user/1002/keyring/ssh', 'ROS_DOMAIN_ID': '3', 'AMENT_PREFIX_PATH': '/home/robobin/Robobin_Project/ros2/robobin_main/install/testing:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_localization_ekf:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_description:/home/robobin/Robobin_Project/ros2/robobin_main/install/odometry_publisher:/opt/ros/jazzy', 'SHELL': '/bin/bash', 'QT_ACCESSIBILITY': '1', 'GDMSESSION': 'ubuntu', 'LESSCLOSE': '/usr/bin/lesspipe %s %s', 'ROS_AUTOMATIC_DISCOVERY_RANGE': 'SUBNET', 'QT_IM_MODULE': 'ibus', 'PWD': '/home/robobin/robobin/robobin_main/src/build/testing', 'LC_ALL': 'en_US.UTF-8', 'XDG_CONFIG_DIRS': '/etc/xdg/xdg-ubuntu:/etc/xdg', 'XDG_DATA_DIRS': '/usr/share/ubuntu:/usr/share/gnome:/usr/local/share/:/usr/share/:/var/lib/snapd/desktop', 'PYTHONPATH': '/home/robobin/robobin/robobin_main/src/build/testing/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages:/home/robobin/Robobin_Project/ros2/robobin_main/build/testing:/home/robobin/Robobin_Project/ros2/robobin_main/install/testing/lib/python3.12/site-packages:/home/robobin/Robobin_Project/ros2/robobin_main/build/robot_localization_ekf:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_localization_ekf/lib/python3.12/site-packages:/home/robobin/Robobin_Project/ros2/robobin_main/build/robot_description:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_description/lib/python3.12/site-packages:/home/robobin/Robobin_Project/ros2/robobin_main/build/odometry_publisher:/home/robobin/Robobin_Project/ros2/robobin_main/install/odometry_publisher/lib/python3.12/site-packages:/opt/ros/jazzy/lib/python3.12/site-packages', 'COLCON': '1', 'MEMORY_PRESSURE_WRITE': 'c29tZSAyMDAwMDAgMjAwMDAwMAA=', 'VTE_VERSION': '7600', 'CMAKE_PREFIX_PATH': '/opt/ros/jazzy/opt/sdformat_vendor:/opt/ros/jazzy/opt/gz_math_vendor:/opt/ros/jazzy/opt/gz_utils_vendor:/opt/ros/jazzy/opt/gz_tools_vendor:/opt/ros/jazzy/opt/gz_cmake_vendor'}, 'shell': False}
+[3.282040] (robot_description) Command: {'cmd': ['/usr/bin/python3', '-W', 'ignore:setup.py install is deprecated', '-W', 'ignore:easy_install command is deprecated', 'setup.py', 'egg_info', '--egg-base', '../build/robot_description', 'build', '--build-base', '/home/robobin/robobin/robobin_main/src/build/robot_description/build', 'install', '--record', '/home/robobin/robobin/robobin_main/src/build/robot_description/install.log', '--single-version-externally-managed', 'install_data'], 'cwd': '/home/robobin/robobin/robobin_main/src/robot_description', 'env': {'LESSOPEN': '| /usr/bin/lesspipe %s', 'USER': 'robobin', 'GZ_CONFIG_PATH': '/opt/ros/jazzy/opt/sdformat_vendor/share/gz', 'XDG_SESSION_TYPE': 'wayland', 'SHLVL': '1', 'LD_LIBRARY_PATH': 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'/home/robobin/robobin/robobin_main/src/build/robot_description/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/robobin_main/src/install/robot_description/lib/python3.12/site-packages:/home/robobin/Robobin_Project/ros2/robobin_main/build/testing:/home/robobin/Robobin_Project/ros2/robobin_main/install/testing/lib/python3.12/site-packages:/home/robobin/Robobin_Project/ros2/robobin_main/build/robot_localization_ekf:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_localization_ekf/lib/python3.12/site-packages:/home/robobin/Robobin_Project/ros2/robobin_main/build/robot_description:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_description/lib/python3.12/site-packages:/home/robobin/Robobin_Project/ros2/robobin_main/build/odometry_publisher:/home/robobin/Robobin_Project/ros2/robobin_main/install/odometry_publisher/lib/python3.12/site-packages:/opt/ros/jazzy/lib/python3.12/site-packages', 'COLCON': '1', 'MEMORY_PRESSURE_WRITE': 'c29tZSAyMDAwMDAgMjAwMDAwMAA=', 'VTE_VERSION': '7600', 'CMAKE_PREFIX_PATH': '/opt/ros/jazzy/opt/sdformat_vendor:/opt/ros/jazzy/opt/gz_math_vendor:/opt/ros/jazzy/opt/gz_utils_vendor:/opt/ros/jazzy/opt/gz_tools_vendor:/opt/ros/jazzy/opt/gz_cmake_vendor'}, 'shell': False}
+[3.287641] (odometry_publisher) Command: {'cmd': ['/usr/bin/python3', '-W', 'ignore:setup.py install is deprecated', '-W', 'ignore:easy_install command is deprecated', 'setup.py', 'egg_info', '--egg-base', '../build/odometry_publisher', 'build', '--build-base', '/home/robobin/robobin/robobin_main/src/build/odometry_publisher/build', 'install', '--record', '/home/robobin/robobin/robobin_main/src/build/odometry_publisher/install.log', '--single-version-externally-managed', 'install_data'], 'cwd': '/home/robobin/robobin/robobin_main/src/odometry_publisher', 'env': {'LESSOPEN': '| /usr/bin/lesspipe %s', 'USER': 'robobin', 'GZ_CONFIG_PATH': '/opt/ros/jazzy/opt/sdformat_vendor/share/gz', 'XDG_SESSION_TYPE': 'wayland', 'SHLVL': '1', 'LD_LIBRARY_PATH': 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'/sys/fs/cgroup/user.slice/user-1002.slice/user@1002.service/session.slice/org.gnome.Shell@wayland.service/memory.pressure', 'XDG_SESSION_CLASS': 'user', 'USERNAME': 'robobin', 'TERM': 'xterm-256color', 'GNOME_DESKTOP_SESSION_ID': 'this-is-deprecated', 'PATH': '/opt/ros/jazzy/opt/gz_tools_vendor/bin:/opt/ros/jazzy/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/snap/bin', 'SESSION_MANAGER': 'local/robobin-desktop:@/tmp/.ICE-unix/1594,unix/robobin-desktop:/tmp/.ICE-unix/1594', 'XDG_MENU_PREFIX': 'gnome-', 'GNOME_TERMINAL_SCREEN': '/org/gnome/Terminal/screen/7862307c_49e8_4e82_a5e8_e2b0cc08d1e3', 'GNOME_SETUP_DISPLAY': ':1', 'XDG_RUNTIME_DIR': '/run/user/1002', 'DISPLAY': ':0', 'LANG': 'en_US.UTF-8', 'XDG_CURRENT_DESKTOP': 'ubuntu:GNOME', 'XMODIFIERS': '@im=ibus', 'XDG_SESSION_DESKTOP': 'ubuntu', 'XAUTHORITY': '/run/user/1002/.mutter-Xwaylandauth.XGQ7Y2', 'LS_COLORS': 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'COLCON': '1', 'MEMORY_PRESSURE_WRITE': 'c29tZSAyMDAwMDAgMjAwMDAwMAA=', 'VTE_VERSION': '7600', 'CMAKE_PREFIX_PATH': '/opt/ros/jazzy/opt/sdformat_vendor:/opt/ros/jazzy/opt/gz_math_vendor:/opt/ros/jazzy/opt/gz_utils_vendor:/opt/ros/jazzy/opt/gz_tools_vendor:/opt/ros/jazzy/opt/gz_cmake_vendor'}, 'shell': False}
+[3.328571] (-) TimerEvent: {}
+[3.429207] (-) TimerEvent: {}
+[3.529630] (-) TimerEvent: {}
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+[3.734929] (-) TimerEvent: {}
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+[3.890304] (testing) StdoutLine: {'line': b"reading manifest file '../build/testing/testing.egg-info/SOURCES.txt'\n"}
+[3.891602] (robot_localization_ekf) StdoutLine: {'line': b'running install\n'}
+[3.892917] (testing) StdoutLine: {'line': b"writing manifest file '../build/testing/testing.egg-info/SOURCES.txt'\n"}
+[3.893190] (testing) StdoutLine: {'line': b'running build\n'}
+[3.893294] (testing) StdoutLine: {'line': b'running build_py\n'}
+[3.895482] (robot_description) StdoutLine: {'line': b'running install_lib\n'}
+[3.899446] (testing) StdoutLine: {'line': b'running install\n'}
+[3.902238] (odometry_publisher) StdoutLine: {'line': b"reading manifest file '../build/odometry_publisher/odometry_publisher.egg-info/SOURCES.txt'\n"}
+[3.902586] (robot_localization_ekf) StdoutLine: {'line': b'running install_lib\n'}
+[3.904141] (odometry_publisher) StdoutLine: {'line': b"writing manifest file '../build/odometry_publisher/odometry_publisher.egg-info/SOURCES.txt'\n"}
+[3.904739] (odometry_publisher) StdoutLine: {'line': b'running build\n'}
+[3.905071] (odometry_publisher) StdoutLine: {'line': b'running build_py\n'}
+[3.907640] (odometry_publisher) StdoutLine: {'line': b'running install\n'}
+[3.910513] (testing) StdoutLine: {'line': b'running install_lib\n'}
+[3.919459] (odometry_publisher) StdoutLine: {'line': b'running install_lib\n'}
+[3.925909] (robot_description) StdoutLine: {'line': b'running install_data\n'}
+[3.928653] (robot_description) StdoutLine: {'line': b'running install_egg_info\n'}
+[3.934216] (robot_localization_ekf) StdoutLine: {'line': b'running install_data\n'}
+[3.935442] (-) TimerEvent: {}
+[3.940499] (robot_localization_ekf) StdoutLine: {'line': b'running install_egg_info\n'}
+[3.947151] (testing) StdoutLine: {'line': b'running install_data\n'}
+[3.948366] (testing) StdoutLine: {'line': b'running install_egg_info\n'}
+[3.956791] (odometry_publisher) StdoutLine: {'line': b'running install_data\n'}
+[3.959694] (odometry_publisher) StdoutLine: {'line': b'running install_egg_info\n'}
+[3.964407] (robot_description) StdoutLine: {'line': b"removing '/home/robobin/robobin/robobin_main/src/install/robot_description/lib/python3.12/site-packages/robot_description-0.0.0-py3.12.egg-info' (and everything under it)\n"}
+[3.964905] (robot_description) StdoutLine: {'line': b'Copying ../build/robot_description/robot_description.egg-info to /home/robobin/robobin/robobin_main/src/install/robot_description/lib/python3.12/site-packages/robot_description-0.0.0-py3.12.egg-info\n'}
+[3.966978] (robot_description) StdoutLine: {'line': b'running install_scripts\n'}
+[3.974399] (robot_localization_ekf) StdoutLine: {'line': b"removing '/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/lib/python3.12/site-packages/robot_localization_ekf-0.0.0-py3.12.egg-info' (and everything under it)\n"}
+[3.974900] (robot_localization_ekf) StdoutLine: {'line': b'Copying ../build/robot_localization_ekf/robot_localization_ekf.egg-info to /home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/lib/python3.12/site-packages/robot_localization_ekf-0.0.0-py3.12.egg-info\n'}
+[3.976620] (robot_localization_ekf) StdoutLine: {'line': b'running install_scripts\n'}
+[3.980254] (testing) StdoutLine: {'line': b"removing '/home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages/testing-0.0.0-py3.12.egg-info' (and everything under it)\n"}
+[3.981430] (testing) StdoutLine: {'line': b'Copying ../build/testing/testing.egg-info to /home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages/testing-0.0.0-py3.12.egg-info\n'}
+[3.985154] (testing) StdoutLine: {'line': b'running install_scripts\n'}
+[3.995497] (odometry_publisher) StdoutLine: {'line': b"removing '/home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages/odometry_publisher-0.0.0-py3.12.egg-info' (and everything under it)\n"}
+[3.996430] (odometry_publisher) StdoutLine: {'line': b'Copying ../build/odometry_publisher/odometry_publisher.egg-info to /home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages/odometry_publisher-0.0.0-py3.12.egg-info\n'}
+[3.998246] (odometry_publisher) StdoutLine: {'line': b'running install_scripts\n'}
+[4.036474] (-) TimerEvent: {}
+[4.136863] (-) TimerEvent: {}
+[4.206430] (robot_description) StdoutLine: {'line': b"writing list of installed files to '/home/robobin/robobin/robobin_main/src/build/robot_description/install.log'\n"}
+[4.215023] (robot_localization_ekf) StdoutLine: {'line': b"writing list of installed files to '/home/robobin/robobin/robobin_main/src/build/robot_localization_ekf/install.log'\n"}
+[4.235929] (testing) StdoutLine: {'line': b'Installing test_control_feedback script to /home/robobin/robobin/robobin_main/src/install/testing/lib/testing\n'}
+[4.237326] (testing) StdoutLine: {'line': b'Installing test_encoder_node script to /home/robobin/robobin/robobin_main/src/install/testing/lib/testing\n'}
+[4.238508] (-) TimerEvent: {}
+[4.242651] (testing) StdoutLine: {'line': b'Installing test_imu_node script to /home/robobin/robobin/robobin_main/src/install/testing/lib/testing\n'}
+[4.243688] (testing) StdoutLine: {'line': b'Installing test_motor_node script to /home/robobin/robobin/robobin_main/src/install/testing/lib/testing\n'}
+[4.244252] (testing) StdoutLine: {'line': b'Installing test_route script to /home/robobin/robobin/robobin_main/src/install/testing/lib/testing\n'}
+[4.249655] (testing) StdoutLine: {'line': b'Installing test_route_filter script to /home/robobin/robobin/robobin_main/src/install/testing/lib/testing\n'}
+[4.253728] (testing) StdoutLine: {'line': b"writing list of installed files to '/home/robobin/robobin/robobin_main/src/build/testing/install.log'\n"}
+[4.262949] (odometry_publisher) StdoutLine: {'line': b'Installing odometry_node script to /home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/odometry_publisher\n'}
+[4.271346] (odometry_publisher) StdoutLine: {'line': b"writing list of installed files to '/home/robobin/robobin/robobin_main/src/build/odometry_publisher/install.log'\n"}
+[4.341519] (-) TimerEvent: {}
+[4.409014] (robot_localization_ekf) CommandEnded: {'returncode': 0}
+[4.441620] (-) TimerEvent: {}
+[4.454812] (robot_localization_ekf) JobEnded: {'identifier': 'robot_localization_ekf', 'rc': 0}
+[4.456914] (robot_description) CommandEnded: {'returncode': 0}
+[4.474872] (robot_description) JobEnded: {'identifier': 'robot_description', 'rc': 0}
+[4.476667] (odometry_publisher) CommandEnded: {'returncode': 0}
+[4.488050] (odometry_publisher) JobEnded: {'identifier': 'odometry_publisher', 'rc': 0}
+[4.489051] (testing) CommandEnded: {'returncode': 0}
+[4.505922] (testing) JobEnded: {'identifier': 'testing', 'rc': 0}
+[4.507571] (-) EventReactorShutdown: {}
diff --git a/robobin_main/src/log/build_2024-12-16_15-51-48/logger_all.log b/robobin_main/src/log/build_2024-12-16_15-51-48/logger_all.log
new file mode 100644
index 00000000..ca2eccff
--- /dev/null
+++ b/robobin_main/src/log/build_2024-12-16_15-51-48/logger_all.log
@@ -0,0 +1,263 @@
+[0.587s] DEBUG:colcon:Command line arguments: ['/usr/bin/colcon', 'build']
+[0.587s] DEBUG:colcon:Parsed command line arguments: Namespace(log_base=None, log_level=None, verb_name='build', build_base='build', install_base='install', merge_install=False, symlink_install=False, test_result_base=None, continue_on_error=False, executor='parallel', parallel_workers=4, event_handlers=None, ignore_user_meta=False, metas=['./colcon.meta'], base_paths=['.'], packages_ignore=None, packages_ignore_regex=None, paths=None, packages_up_to=None, packages_up_to_regex=None, packages_above=None, packages_above_and_dependencies=None, packages_above_depth=None, packages_select_by_dep=None, packages_skip_by_dep=None, packages_skip_up_to=None, packages_select_build_failed=False, packages_skip_build_finished=False, packages_select_test_failures=False, packages_skip_test_passed=False, packages_select=None, packages_skip=None, packages_select_regex=None, packages_skip_regex=None, packages_start=None, packages_end=None, allow_overriding=[], cmake_args=None, cmake_target=None, cmake_target_skip_unavailable=False, cmake_clean_cache=False, cmake_clean_first=False, cmake_force_configure=False, ament_cmake_args=None, catkin_cmake_args=None, catkin_skip_building_tests=False, mixin_files=None, mixin=None, verb_parser=<colcon_mixin.mixin.mixin_argument.MixinArgumentDecorator object at 0xffffb1ee1610>, verb_extension=<colcon_core.verb.build.BuildVerb object at 0xffffb1ee13a0>, main=<bound method BuildVerb.main of <colcon_core.verb.build.BuildVerb object at 0xffffb1ee13a0>>, mixin_verb=('build',))
+[0.707s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) check parameters
+[0.707s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) check parameters
+[0.707s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) check parameters
+[0.707s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) check parameters
+[0.707s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) discover
+[0.707s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) discover
+[0.707s] INFO:colcon.colcon_core.package_discovery:Crawling recursively for packages in '/home/robobin/robobin/robobin_main/src'
+[0.708s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ignore', 'ignore_ament_install']
+[0.708s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore'
+[0.708s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore_ament_install'
+[0.708s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_pkg']
+[0.708s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_pkg'
+[0.708s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_meta']
+[0.708s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_meta'
+[0.708s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ros']
+[0.708s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ros'
+[0.766s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['cmake', 'python']
+[0.766s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'cmake'
+[0.766s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'python'
+[0.766s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['python_setup_py']
+[0.766s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'python_setup_py'
+[0.766s] Level 1:colcon.colcon_core.package_identification:_identify(build) by extensions ['ignore', 'ignore_ament_install']
+[0.766s] Level 1:colcon.colcon_core.package_identification:_identify(build) by extension 'ignore'
+[0.766s] Level 1:colcon.colcon_core.package_identification:_identify(build) ignored
+[0.767s] Level 1:colcon.colcon_core.package_identification:_identify(install) by extensions ['ignore', 'ignore_ament_install']
+[0.767s] Level 1:colcon.colcon_core.package_identification:_identify(install) by extension 'ignore'
+[0.767s] Level 1:colcon.colcon_core.package_identification:_identify(install) ignored
+[0.767s] Level 1:colcon.colcon_core.package_identification:_identify(log) by extensions ['ignore', 'ignore_ament_install']
+[0.767s] Level 1:colcon.colcon_core.package_identification:_identify(log) by extension 'ignore'
+[0.767s] Level 1:colcon.colcon_core.package_identification:_identify(log) ignored
+[0.768s] Level 1:colcon.colcon_core.package_identification:_identify(odometry_publisher) by extensions ['ignore', 'ignore_ament_install']
+[0.768s] Level 1:colcon.colcon_core.package_identification:_identify(odometry_publisher) by extension 'ignore'
+[0.768s] Level 1:colcon.colcon_core.package_identification:_identify(odometry_publisher) by extension 'ignore_ament_install'
+[0.768s] Level 1:colcon.colcon_core.package_identification:_identify(odometry_publisher) by extensions ['colcon_pkg']
+[0.768s] Level 1:colcon.colcon_core.package_identification:_identify(odometry_publisher) by extension 'colcon_pkg'
+[0.768s] Level 1:colcon.colcon_core.package_identification:_identify(odometry_publisher) by extensions ['colcon_meta']
+[0.768s] Level 1:colcon.colcon_core.package_identification:_identify(odometry_publisher) by extension 'colcon_meta'
+[0.768s] Level 1:colcon.colcon_core.package_identification:_identify(odometry_publisher) by extensions ['ros']
+[0.768s] Level 1:colcon.colcon_core.package_identification:_identify(odometry_publisher) by extension 'ros'
+[0.774s] DEBUG:colcon.colcon_core.package_identification:Package 'odometry_publisher' with type 'ros.ament_python' and name 'odometry_publisher'
+[0.774s] Level 1:colcon.colcon_core.package_identification:_identify(robot_description) by extensions ['ignore', 'ignore_ament_install']
+[0.774s] Level 1:colcon.colcon_core.package_identification:_identify(robot_description) by extension 'ignore'
+[0.774s] Level 1:colcon.colcon_core.package_identification:_identify(robot_description) by extension 'ignore_ament_install'
+[0.775s] Level 1:colcon.colcon_core.package_identification:_identify(robot_description) by extensions ['colcon_pkg']
+[0.775s] Level 1:colcon.colcon_core.package_identification:_identify(robot_description) by extension 'colcon_pkg'
+[0.775s] Level 1:colcon.colcon_core.package_identification:_identify(robot_description) by extensions ['colcon_meta']
+[0.775s] Level 1:colcon.colcon_core.package_identification:_identify(robot_description) by extension 'colcon_meta'
+[0.775s] Level 1:colcon.colcon_core.package_identification:_identify(robot_description) by extensions ['ros']
+[0.775s] Level 1:colcon.colcon_core.package_identification:_identify(robot_description) by extension 'ros'
+[0.776s] DEBUG:colcon.colcon_core.package_identification:Package 'robot_description' with type 'ros.ament_python' and name 'robot_description'
+[0.776s] Level 1:colcon.colcon_core.package_identification:_identify(robot_localization_ekf) by extensions ['ignore', 'ignore_ament_install']
+[0.776s] Level 1:colcon.colcon_core.package_identification:_identify(robot_localization_ekf) by extension 'ignore'
+[0.776s] Level 1:colcon.colcon_core.package_identification:_identify(robot_localization_ekf) by extension 'ignore_ament_install'
+[0.776s] Level 1:colcon.colcon_core.package_identification:_identify(robot_localization_ekf) by extensions ['colcon_pkg']
+[0.776s] Level 1:colcon.colcon_core.package_identification:_identify(robot_localization_ekf) by extension 'colcon_pkg'
+[0.777s] Level 1:colcon.colcon_core.package_identification:_identify(robot_localization_ekf) by extensions ['colcon_meta']
+[0.777s] Level 1:colcon.colcon_core.package_identification:_identify(robot_localization_ekf) by extension 'colcon_meta'
+[0.777s] Level 1:colcon.colcon_core.package_identification:_identify(robot_localization_ekf) by extensions ['ros']
+[0.777s] Level 1:colcon.colcon_core.package_identification:_identify(robot_localization_ekf) by extension 'ros'
+[0.778s] DEBUG:colcon.colcon_core.package_identification:Package 'robot_localization_ekf' with type 'ros.ament_python' and name 'robot_localization_ekf'
+[0.778s] Level 1:colcon.colcon_core.package_identification:_identify(testing) by extensions ['ignore', 'ignore_ament_install']
+[0.778s] Level 1:colcon.colcon_core.package_identification:_identify(testing) by extension 'ignore'
+[0.778s] Level 1:colcon.colcon_core.package_identification:_identify(testing) by extension 'ignore_ament_install'
+[0.778s] Level 1:colcon.colcon_core.package_identification:_identify(testing) by extensions ['colcon_pkg']
+[0.778s] Level 1:colcon.colcon_core.package_identification:_identify(testing) by extension 'colcon_pkg'
+[0.778s] Level 1:colcon.colcon_core.package_identification:_identify(testing) by extensions ['colcon_meta']
+[0.778s] Level 1:colcon.colcon_core.package_identification:_identify(testing) by extension 'colcon_meta'
+[0.778s] Level 1:colcon.colcon_core.package_identification:_identify(testing) by extensions ['ros']
+[0.778s] Level 1:colcon.colcon_core.package_identification:_identify(testing) by extension 'ros'
+[0.780s] DEBUG:colcon.colcon_core.package_identification:Package 'testing' with type 'ros.ament_python' and name 'testing'
+[0.780s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) using defaults
+[0.780s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) discover
+[0.780s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) using defaults
+[0.780s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) discover
+[0.780s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) using defaults
+[0.831s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) check parameters
+[0.831s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) discover
+[0.837s] DEBUG:colcon.colcon_installed_package_information.package_discovery:Found 4 installed packages in /home/robobin/Robobin_Project/ros2/robobin_main/install
+[0.840s] DEBUG:colcon.colcon_installed_package_information.package_discovery:Found 335 installed packages in /opt/ros/jazzy
+[0.843s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) using defaults
+[0.918s] Level 5:colcon.colcon_core.verb:set package 'odometry_publisher' build argument 'cmake_args' from command line to 'None'
+[0.918s] Level 5:colcon.colcon_core.verb:set package 'odometry_publisher' build argument 'cmake_target' from command line to 'None'
+[0.918s] Level 5:colcon.colcon_core.verb:set package 'odometry_publisher' build argument 'cmake_target_skip_unavailable' from command line to 'False'
+[0.918s] Level 5:colcon.colcon_core.verb:set package 'odometry_publisher' build argument 'cmake_clean_cache' from command line to 'False'
+[0.918s] Level 5:colcon.colcon_core.verb:set package 'odometry_publisher' build argument 'cmake_clean_first' from command line to 'False'
+[0.918s] Level 5:colcon.colcon_core.verb:set package 'odometry_publisher' build argument 'cmake_force_configure' from command line to 'False'
+[0.918s] Level 5:colcon.colcon_core.verb:set package 'odometry_publisher' build argument 'ament_cmake_args' from command line to 'None'
+[0.918s] Level 5:colcon.colcon_core.verb:set package 'odometry_publisher' build argument 'catkin_cmake_args' from command line to 'None'
+[0.918s] Level 5:colcon.colcon_core.verb:set package 'odometry_publisher' build argument 'catkin_skip_building_tests' from command line to 'False'
+[0.918s] DEBUG:colcon.colcon_core.verb:Building package 'odometry_publisher' with the following arguments: {'ament_cmake_args': None, 'build_base': '/home/robobin/robobin/robobin_main/src/build/odometry_publisher', 'catkin_cmake_args': None, 'catkin_skip_building_tests': False, 'cmake_args': None, 'cmake_clean_cache': False, 'cmake_clean_first': False, 'cmake_force_configure': False, 'cmake_target': None, 'cmake_target_skip_unavailable': False, 'install_base': '/home/robobin/robobin/robobin_main/src/install/odometry_publisher', 'merge_install': False, 'path': '/home/robobin/robobin/robobin_main/src/odometry_publisher', 'symlink_install': False, 'test_result_base': None}
+[0.918s] Level 5:colcon.colcon_core.verb:set package 'robot_description' build argument 'cmake_args' from command line to 'None'
+[0.919s] Level 5:colcon.colcon_core.verb:set package 'robot_description' build argument 'cmake_target' from command line to 'None'
+[0.919s] Level 5:colcon.colcon_core.verb:set package 'robot_description' build argument 'cmake_target_skip_unavailable' from command line to 'False'
+[0.919s] Level 5:colcon.colcon_core.verb:set package 'robot_description' build argument 'cmake_clean_cache' from command line to 'False'
+[0.919s] Level 5:colcon.colcon_core.verb:set package 'robot_description' build argument 'cmake_clean_first' from command line to 'False'
+[0.919s] Level 5:colcon.colcon_core.verb:set package 'robot_description' build argument 'cmake_force_configure' from command line to 'False'
+[0.919s] Level 5:colcon.colcon_core.verb:set package 'robot_description' build argument 'ament_cmake_args' from command line to 'None'
+[0.919s] Level 5:colcon.colcon_core.verb:set package 'robot_description' build argument 'catkin_cmake_args' from command line to 'None'
+[0.919s] Level 5:colcon.colcon_core.verb:set package 'robot_description' build argument 'catkin_skip_building_tests' from command line to 'False'
+[0.919s] DEBUG:colcon.colcon_core.verb:Building package 'robot_description' with the following arguments: {'ament_cmake_args': None, 'build_base': '/home/robobin/robobin/robobin_main/src/build/robot_description', 'catkin_cmake_args': None, 'catkin_skip_building_tests': False, 'cmake_args': None, 'cmake_clean_cache': False, 'cmake_clean_first': False, 'cmake_force_configure': False, 'cmake_target': None, 'cmake_target_skip_unavailable': False, 'install_base': '/home/robobin/robobin/robobin_main/src/install/robot_description', 'merge_install': False, 'path': '/home/robobin/robobin/robobin_main/src/robot_description', 'symlink_install': False, 'test_result_base': None}
+[0.919s] Level 5:colcon.colcon_core.verb:set package 'robot_localization_ekf' build argument 'cmake_args' from command line to 'None'
+[0.919s] Level 5:colcon.colcon_core.verb:set package 'robot_localization_ekf' build argument 'cmake_target' from command line to 'None'
+[0.919s] Level 5:colcon.colcon_core.verb:set package 'robot_localization_ekf' build argument 'cmake_target_skip_unavailable' from command line to 'False'
+[0.919s] Level 5:colcon.colcon_core.verb:set package 'robot_localization_ekf' build argument 'cmake_clean_cache' from command line to 'False'
+[0.919s] Level 5:colcon.colcon_core.verb:set package 'robot_localization_ekf' build argument 'cmake_clean_first' from command line to 'False'
+[0.919s] Level 5:colcon.colcon_core.verb:set package 'robot_localization_ekf' build argument 'cmake_force_configure' from command line to 'False'
+[0.919s] Level 5:colcon.colcon_core.verb:set package 'robot_localization_ekf' build argument 'ament_cmake_args' from command line to 'None'
+[0.919s] Level 5:colcon.colcon_core.verb:set package 'robot_localization_ekf' build argument 'catkin_cmake_args' from command line to 'None'
+[0.919s] Level 5:colcon.colcon_core.verb:set package 'robot_localization_ekf' build argument 'catkin_skip_building_tests' from command line to 'False'
+[0.919s] DEBUG:colcon.colcon_core.verb:Building package 'robot_localization_ekf' with the following arguments: {'ament_cmake_args': None, 'build_base': '/home/robobin/robobin/robobin_main/src/build/robot_localization_ekf', 'catkin_cmake_args': None, 'catkin_skip_building_tests': False, 'cmake_args': None, 'cmake_clean_cache': False, 'cmake_clean_first': False, 'cmake_force_configure': False, 'cmake_target': None, 'cmake_target_skip_unavailable': False, 'install_base': '/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf', 'merge_install': False, 'path': '/home/robobin/robobin/robobin_main/src/robot_localization_ekf', 'symlink_install': False, 'test_result_base': None}
+[0.920s] Level 5:colcon.colcon_core.verb:set package 'testing' build argument 'cmake_args' from command line to 'None'
+[0.920s] Level 5:colcon.colcon_core.verb:set package 'testing' build argument 'cmake_target' from command line to 'None'
+[0.920s] Level 5:colcon.colcon_core.verb:set package 'testing' build argument 'cmake_target_skip_unavailable' from command line to 'False'
+[0.920s] Level 5:colcon.colcon_core.verb:set package 'testing' build argument 'cmake_clean_cache' from command line to 'False'
+[0.920s] Level 5:colcon.colcon_core.verb:set package 'testing' build argument 'cmake_clean_first' from command line to 'False'
+[0.920s] Level 5:colcon.colcon_core.verb:set package 'testing' build argument 'cmake_force_configure' from command line to 'False'
+[0.920s] Level 5:colcon.colcon_core.verb:set package 'testing' build argument 'ament_cmake_args' from command line to 'None'
+[0.920s] Level 5:colcon.colcon_core.verb:set package 'testing' build argument 'catkin_cmake_args' from command line to 'None'
+[0.920s] Level 5:colcon.colcon_core.verb:set package 'testing' build argument 'catkin_skip_building_tests' from command line to 'False'
+[0.920s] DEBUG:colcon.colcon_core.verb:Building package 'testing' with the following arguments: {'ament_cmake_args': None, 'build_base': '/home/robobin/robobin/robobin_main/src/build/testing', 'catkin_cmake_args': None, 'catkin_skip_building_tests': False, 'cmake_args': None, 'cmake_clean_cache': False, 'cmake_clean_first': False, 'cmake_force_configure': False, 'cmake_target': None, 'cmake_target_skip_unavailable': False, 'install_base': '/home/robobin/robobin/robobin_main/src/install/testing', 'merge_install': False, 'path': '/home/robobin/robobin/robobin_main/src/testing', 'symlink_install': False, 'test_result_base': None}
+[0.920s] INFO:colcon.colcon_core.executor:Executing jobs using 'parallel' executor
+[0.922s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete
+[0.922s] INFO:colcon.colcon_ros.task.ament_python.build:Building ROS package in '/home/robobin/robobin/robobin_main/src/odometry_publisher' with build type 'ament_python'
+[0.923s] Level 1:colcon.colcon_core.shell:create_environment_hook('odometry_publisher', 'ament_prefix_path')
+[0.938s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_core.shell.bat': Not used on non-Windows systems
+[0.938s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/robobin/robobin/robobin_main/src/install/odometry_publisher/share/odometry_publisher/hook/ament_prefix_path.ps1'
+[0.942s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/robobin/robobin/robobin_main/src/install/odometry_publisher/share/odometry_publisher/hook/ament_prefix_path.dsv'
+[0.944s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/robobin/robobin/robobin_main/src/install/odometry_publisher/share/odometry_publisher/hook/ament_prefix_path.sh'
+[0.946s] INFO:colcon.colcon_core.shell:Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell
+[0.946s] DEBUG:colcon.colcon_core.shell:Skip shell extension 'dsv' for command environment
+[0.952s] INFO:colcon.colcon_ros.task.ament_python.build:Building ROS package in '/home/robobin/robobin/robobin_main/src/robot_description' with build type 'ament_python'
+[0.952s] Level 1:colcon.colcon_core.shell:create_environment_hook('robot_description', 'ament_prefix_path')
+[0.953s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/robobin/robobin/robobin_main/src/install/robot_description/share/robot_description/hook/ament_prefix_path.ps1'
+[0.958s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/robobin/robobin/robobin_main/src/install/robot_description/share/robot_description/hook/ament_prefix_path.dsv'
+[0.959s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/robobin/robobin/robobin_main/src/install/robot_description/share/robot_description/hook/ament_prefix_path.sh'
+[0.960s] INFO:colcon.colcon_core.shell:Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell
+[0.960s] DEBUG:colcon.colcon_core.shell:Skip shell extension 'dsv' for command environment
+[0.967s] INFO:colcon.colcon_ros.task.ament_python.build:Building ROS package in '/home/robobin/robobin/robobin_main/src/robot_localization_ekf' with build type 'ament_python'
+[0.967s] Level 1:colcon.colcon_core.shell:create_environment_hook('robot_localization_ekf', 'ament_prefix_path')
+[0.968s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/share/robot_localization_ekf/hook/ament_prefix_path.ps1'
+[0.970s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/share/robot_localization_ekf/hook/ament_prefix_path.dsv'
+[0.972s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/share/robot_localization_ekf/hook/ament_prefix_path.sh'
+[0.976s] INFO:colcon.colcon_core.shell:Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell
+[0.977s] DEBUG:colcon.colcon_core.shell:Skip shell extension 'dsv' for command environment
+[0.988s] INFO:colcon.colcon_ros.task.ament_python.build:Building ROS package in '/home/robobin/robobin/robobin_main/src/testing' with build type 'ament_python'
+[0.988s] Level 1:colcon.colcon_core.shell:create_environment_hook('testing', 'ament_prefix_path')
+[0.989s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/robobin/robobin/robobin_main/src/install/testing/share/testing/hook/ament_prefix_path.ps1'
+[0.992s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/robobin/robobin/robobin_main/src/install/testing/share/testing/hook/ament_prefix_path.dsv'
+[0.994s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/robobin/robobin/robobin_main/src/install/testing/share/testing/hook/ament_prefix_path.sh'
+[0.995s] INFO:colcon.colcon_core.shell:Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell
+[0.996s] DEBUG:colcon.colcon_core.shell:Skip shell extension 'dsv' for command environment
+[1.377s] INFO:colcon.colcon_core.task.python.build:Building Python package in '/home/robobin/robobin/robobin_main/src/odometry_publisher'
+[1.378s] INFO:colcon.colcon_core.shell:Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell
+[1.378s] DEBUG:colcon.colcon_core.shell:Skip shell extension 'dsv' for command environment
+[1.737s] INFO:colcon.colcon_core.task.python.build:Building Python package in '/home/robobin/robobin/robobin_main/src/robot_description'
+[1.738s] INFO:colcon.colcon_core.shell:Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell
+[1.738s] DEBUG:colcon.colcon_core.shell:Skip shell extension 'dsv' for command environment
+[2.089s] INFO:colcon.colcon_core.task.python.build:Building Python package in '/home/robobin/robobin/robobin_main/src/robot_localization_ekf'
+[2.090s] INFO:colcon.colcon_core.shell:Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell
+[2.090s] DEBUG:colcon.colcon_core.shell:Skip shell extension 'dsv' for command environment
+[2.445s] INFO:colcon.colcon_core.task.python.build:Building Python package in '/home/robobin/robobin/robobin_main/src/testing'
+[2.446s] INFO:colcon.colcon_core.shell:Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell
+[2.446s] DEBUG:colcon.colcon_core.shell:Skip shell extension 'dsv' for command environment
+[4.185s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoking command in '/home/robobin/robobin/robobin_main/src/robot_localization_ekf': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/robobin_main/src/build/robot_localization_ekf/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../build/robot_localization_ekf build --build-base /home/robobin/robobin/robobin_main/src/build/robot_localization_ekf/build install --record /home/robobin/robobin/robobin_main/src/build/robot_localization_ekf/install.log --single-version-externally-managed install_data
+[4.200s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoking command in '/home/robobin/robobin/robobin_main/src/testing': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/robobin_main/src/build/testing/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../build/testing build --build-base /home/robobin/robobin/robobin_main/src/build/testing/build install --record /home/robobin/robobin/robobin_main/src/build/testing/install.log --single-version-externally-managed install_data
+[4.205s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoking command in '/home/robobin/robobin/robobin_main/src/robot_description': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/robobin_main/src/build/robot_description/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/robobin_main/src/install/robot_description/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../build/robot_description build --build-base /home/robobin/robobin/robobin_main/src/build/robot_description/build install --record /home/robobin/robobin/robobin_main/src/build/robot_description/install.log --single-version-externally-managed install_data
+[4.210s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoking command in '/home/robobin/robobin/robobin_main/src/odometry_publisher': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/robobin_main/src/build/odometry_publisher/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../build/odometry_publisher build --build-base /home/robobin/robobin/robobin_main/src/build/odometry_publisher/build install --record /home/robobin/robobin/robobin_main/src/build/odometry_publisher/install.log --single-version-externally-managed install_data
+[5.331s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoked command in '/home/robobin/robobin/robobin_main/src/robot_localization_ekf' returned '0': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/robobin_main/src/build/robot_localization_ekf/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../build/robot_localization_ekf build --build-base /home/robobin/robobin/robobin_main/src/build/robot_localization_ekf/build install --record /home/robobin/robobin/robobin_main/src/build/robot_localization_ekf/install.log --single-version-externally-managed install_data
+[5.346s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf' for CMake module files
+[5.348s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf' for CMake config files
+[5.351s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/lib'
+[5.351s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/bin'
+[5.351s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/lib/pkgconfig/robot_localization_ekf.pc'
+[5.352s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/lib/python3.12/site-packages'
+[5.352s] Level 1:colcon.colcon_core.shell:create_environment_hook('robot_localization_ekf', 'pythonpath')
+[5.353s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/share/robot_localization_ekf/hook/pythonpath.ps1'
+[5.354s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/share/robot_localization_ekf/hook/pythonpath.dsv'
+[5.355s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/share/robot_localization_ekf/hook/pythonpath.sh'
+[5.356s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/bin'
+[5.356s] Level 1:colcon.colcon_core.environment:create_environment_scripts_only(robot_localization_ekf)
+[5.357s] INFO:colcon.colcon_core.shell:Creating package script '/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/share/robot_localization_ekf/package.ps1'
+[5.359s] INFO:colcon.colcon_core.shell:Creating package descriptor '/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/share/robot_localization_ekf/package.dsv'
+[5.361s] INFO:colcon.colcon_core.shell:Creating package script '/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/share/robot_localization_ekf/package.sh'
+[5.365s] INFO:colcon.colcon_core.shell:Creating package script '/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/share/robot_localization_ekf/package.bash'
+[5.372s] INFO:colcon.colcon_core.shell:Creating package script '/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/share/robot_localization_ekf/package.zsh'
+[5.374s] Level 1:colcon.colcon_core.environment:create_file_with_runtime_dependencies(/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/share/colcon-core/packages/robot_localization_ekf)
+[5.377s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/robobin_main/src/install/robot_description' for CMake module files
+[5.378s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/robobin_main/src/install/robot_description' for CMake config files
+[5.378s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoked command in '/home/robobin/robobin/robobin_main/src/robot_description' returned '0': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/robobin_main/src/build/robot_description/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/robobin_main/src/install/robot_description/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../build/robot_description build --build-base /home/robobin/robobin/robobin_main/src/build/robot_description/build install --record /home/robobin/robobin/robobin_main/src/build/robot_description/install.log --single-version-externally-managed install_data
+[5.383s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/robobin_main/src/install/robot_description/lib'
+[5.383s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/robobin_main/src/install/robot_description/bin'
+[5.383s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/robobin_main/src/install/robot_description/lib/pkgconfig/robot_description.pc'
+[5.384s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/robobin_main/src/install/robot_description/lib/python3.12/site-packages'
+[5.384s] Level 1:colcon.colcon_core.shell:create_environment_hook('robot_description', 'pythonpath')
+[5.384s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/robobin/robobin/robobin_main/src/install/robot_description/share/robot_description/hook/pythonpath.ps1'
+[5.385s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/robobin/robobin/robobin_main/src/install/robot_description/share/robot_description/hook/pythonpath.dsv'
+[5.386s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/robobin/robobin/robobin_main/src/install/robot_description/share/robot_description/hook/pythonpath.sh'
+[5.387s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/robobin_main/src/install/robot_description/bin'
+[5.388s] Level 1:colcon.colcon_core.environment:create_environment_scripts_only(robot_description)
+[5.389s] INFO:colcon.colcon_core.shell:Creating package script '/home/robobin/robobin/robobin_main/src/install/robot_description/share/robot_description/package.ps1'
+[5.390s] INFO:colcon.colcon_core.shell:Creating package descriptor '/home/robobin/robobin/robobin_main/src/install/robot_description/share/robot_description/package.dsv'
+[5.392s] INFO:colcon.colcon_core.shell:Creating package script '/home/robobin/robobin/robobin_main/src/install/robot_description/share/robot_description/package.sh'
+[5.393s] INFO:colcon.colcon_core.shell:Creating package script '/home/robobin/robobin/robobin_main/src/install/robot_description/share/robot_description/package.bash'
+[5.394s] INFO:colcon.colcon_core.shell:Creating package script '/home/robobin/robobin/robobin_main/src/install/robot_description/share/robot_description/package.zsh'
+[5.395s] Level 1:colcon.colcon_core.environment:create_file_with_runtime_dependencies(/home/robobin/robobin/robobin_main/src/install/robot_description/share/colcon-core/packages/robot_description)
+[5.397s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/robobin_main/src/install/odometry_publisher' for CMake module files
+[5.398s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoked command in '/home/robobin/robobin/robobin_main/src/odometry_publisher' returned '0': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/robobin_main/src/build/odometry_publisher/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../build/odometry_publisher build --build-base /home/robobin/robobin/robobin_main/src/build/odometry_publisher/build install --record /home/robobin/robobin/robobin_main/src/build/odometry_publisher/install.log --single-version-externally-managed install_data
+[5.399s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/robobin_main/src/install/odometry_publisher' for CMake config files
+[5.400s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib'
+[5.400s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/robobin_main/src/install/odometry_publisher/bin'
+[5.400s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/pkgconfig/odometry_publisher.pc'
+[5.401s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages'
+[5.401s] Level 1:colcon.colcon_core.shell:create_environment_hook('odometry_publisher', 'pythonpath')
+[5.401s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/robobin/robobin/robobin_main/src/install/odometry_publisher/share/odometry_publisher/hook/pythonpath.ps1'
+[5.402s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/robobin/robobin/robobin_main/src/install/odometry_publisher/share/odometry_publisher/hook/pythonpath.dsv'
+[5.403s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/robobin/robobin/robobin_main/src/install/odometry_publisher/share/odometry_publisher/hook/pythonpath.sh'
+[5.404s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/robobin_main/src/install/odometry_publisher/bin'
+[5.404s] Level 1:colcon.colcon_core.environment:create_environment_scripts_only(odometry_publisher)
+[5.404s] INFO:colcon.colcon_core.shell:Creating package script '/home/robobin/robobin/robobin_main/src/install/odometry_publisher/share/odometry_publisher/package.ps1'
+[5.405s] INFO:colcon.colcon_core.shell:Creating package descriptor '/home/robobin/robobin/robobin_main/src/install/odometry_publisher/share/odometry_publisher/package.dsv'
+[5.406s] INFO:colcon.colcon_core.shell:Creating package script '/home/robobin/robobin/robobin_main/src/install/odometry_publisher/share/odometry_publisher/package.sh'
+[5.406s] INFO:colcon.colcon_core.shell:Creating package script '/home/robobin/robobin/robobin_main/src/install/odometry_publisher/share/odometry_publisher/package.bash'
+[5.407s] INFO:colcon.colcon_core.shell:Creating package script '/home/robobin/robobin/robobin_main/src/install/odometry_publisher/share/odometry_publisher/package.zsh'
+[5.408s] Level 1:colcon.colcon_core.environment:create_file_with_runtime_dependencies(/home/robobin/robobin/robobin_main/src/install/odometry_publisher/share/colcon-core/packages/odometry_publisher)
+[5.409s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/robobin_main/src/install/testing' for CMake module files
+[5.410s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoked command in '/home/robobin/robobin/robobin_main/src/testing' returned '0': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/robobin_main/src/build/testing/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../build/testing build --build-base /home/robobin/robobin/robobin_main/src/build/testing/build install --record /home/robobin/robobin/robobin_main/src/build/testing/install.log --single-version-externally-managed install_data
+[5.411s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/robobin_main/src/install/testing' for CMake config files
+[5.415s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/robobin_main/src/install/testing/lib'
+[5.415s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/robobin_main/src/install/testing/bin'
+[5.416s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/robobin_main/src/install/testing/lib/pkgconfig/testing.pc'
+[5.416s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages'
+[5.416s] Level 1:colcon.colcon_core.shell:create_environment_hook('testing', 'pythonpath')
+[5.417s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/robobin/robobin/robobin_main/src/install/testing/share/testing/hook/pythonpath.ps1'
+[5.419s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/robobin/robobin/robobin_main/src/install/testing/share/testing/hook/pythonpath.dsv'
+[5.420s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/robobin/robobin/robobin_main/src/install/testing/share/testing/hook/pythonpath.sh'
+[5.421s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/robobin_main/src/install/testing/bin'
+[5.421s] Level 1:colcon.colcon_core.environment:create_environment_scripts_only(testing)
+[5.422s] INFO:colcon.colcon_core.shell:Creating package script '/home/robobin/robobin/robobin_main/src/install/testing/share/testing/package.ps1'
+[5.423s] INFO:colcon.colcon_core.shell:Creating package descriptor '/home/robobin/robobin/robobin_main/src/install/testing/share/testing/package.dsv'
+[5.424s] INFO:colcon.colcon_core.shell:Creating package script '/home/robobin/robobin/robobin_main/src/install/testing/share/testing/package.sh'
+[5.424s] INFO:colcon.colcon_core.shell:Creating package script '/home/robobin/robobin/robobin_main/src/install/testing/share/testing/package.bash'
+[5.425s] INFO:colcon.colcon_core.shell:Creating package script '/home/robobin/robobin/robobin_main/src/install/testing/share/testing/package.zsh'
+[5.426s] Level 1:colcon.colcon_core.environment:create_file_with_runtime_dependencies(/home/robobin/robobin/robobin_main/src/install/testing/share/colcon-core/packages/testing)
+[5.427s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:closing loop
+[5.427s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:loop closed
+[5.428s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete finished with '0'
+[5.428s] DEBUG:colcon.colcon_core.event_reactor:joining thread
+[5.441s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.terminal_notifier': Not used on non-Darwin systems
+[5.441s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.win32': Not used on non-Windows systems
+[5.441s] INFO:colcon.colcon_notification.desktop_notification:Sending desktop notification using 'notify2'
+[5.493s] DEBUG:colcon.colcon_core.event_reactor:joined thread
+[5.494s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/robobin/robobin/robobin_main/src/install/local_setup.ps1'
+[5.496s] INFO:colcon.colcon_core.shell:Creating prefix util module '/home/robobin/robobin/robobin_main/src/install/_local_setup_util_ps1.py'
+[5.499s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/robobin/robobin/robobin_main/src/install/setup.ps1'
+[5.502s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/robobin/robobin/robobin_main/src/install/local_setup.sh'
+[5.503s] INFO:colcon.colcon_core.shell:Creating prefix util module '/home/robobin/robobin/robobin_main/src/install/_local_setup_util_sh.py'
+[5.504s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/robobin/robobin/robobin_main/src/install/setup.sh'
+[5.508s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/robobin/robobin/robobin_main/src/install/local_setup.bash'
+[5.510s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/robobin/robobin/robobin_main/src/install/setup.bash'
+[5.513s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/robobin/robobin/robobin_main/src/install/local_setup.zsh'
+[5.515s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/robobin/robobin/robobin_main/src/install/setup.zsh'
diff --git a/robobin_main/src/log/build_2024-12-16_15-51-48/odometry_publisher/command.log b/robobin_main/src/log/build_2024-12-16_15-51-48/odometry_publisher/command.log
new file mode 100644
index 00000000..6787a59c
--- /dev/null
+++ b/robobin_main/src/log/build_2024-12-16_15-51-48/odometry_publisher/command.log
@@ -0,0 +1,2 @@
+Invoking command in '/home/robobin/robobin/robobin_main/src/odometry_publisher': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/robobin_main/src/build/odometry_publisher/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../build/odometry_publisher build --build-base /home/robobin/robobin/robobin_main/src/build/odometry_publisher/build install --record /home/robobin/robobin/robobin_main/src/build/odometry_publisher/install.log --single-version-externally-managed install_data
+Invoked command in '/home/robobin/robobin/robobin_main/src/odometry_publisher' returned '0': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/robobin_main/src/build/odometry_publisher/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../build/odometry_publisher build --build-base /home/robobin/robobin/robobin_main/src/build/odometry_publisher/build install --record /home/robobin/robobin/robobin_main/src/build/odometry_publisher/install.log --single-version-externally-managed install_data
diff --git a/robobin_main/src/log/build_2024-12-16_15-51-48/odometry_publisher/stderr.log b/robobin_main/src/log/build_2024-12-16_15-51-48/odometry_publisher/stderr.log
new file mode 100644
index 00000000..e69de29b
diff --git a/robobin_main/src/log/build_2024-12-16_15-51-48/odometry_publisher/stdout.log b/robobin_main/src/log/build_2024-12-16_15-51-48/odometry_publisher/stdout.log
new file mode 100644
index 00000000..04c37a57
--- /dev/null
+++ b/robobin_main/src/log/build_2024-12-16_15-51-48/odometry_publisher/stdout.log
@@ -0,0 +1,19 @@
+running egg_info
+writing ../build/odometry_publisher/odometry_publisher.egg-info/PKG-INFO
+writing dependency_links to ../build/odometry_publisher/odometry_publisher.egg-info/dependency_links.txt
+writing entry points to ../build/odometry_publisher/odometry_publisher.egg-info/entry_points.txt
+writing requirements to ../build/odometry_publisher/odometry_publisher.egg-info/requires.txt
+writing top-level names to ../build/odometry_publisher/odometry_publisher.egg-info/top_level.txt
+reading manifest file '../build/odometry_publisher/odometry_publisher.egg-info/SOURCES.txt'
+writing manifest file '../build/odometry_publisher/odometry_publisher.egg-info/SOURCES.txt'
+running build
+running build_py
+running install
+running install_lib
+running install_data
+running install_egg_info
+removing '/home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages/odometry_publisher-0.0.0-py3.12.egg-info' (and everything under it)
+Copying ../build/odometry_publisher/odometry_publisher.egg-info to /home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages/odometry_publisher-0.0.0-py3.12.egg-info
+running install_scripts
+Installing odometry_node script to /home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/odometry_publisher
+writing list of installed files to '/home/robobin/robobin/robobin_main/src/build/odometry_publisher/install.log'
diff --git a/robobin_main/src/log/build_2024-12-16_15-51-48/odometry_publisher/stdout_stderr.log b/robobin_main/src/log/build_2024-12-16_15-51-48/odometry_publisher/stdout_stderr.log
new file mode 100644
index 00000000..04c37a57
--- /dev/null
+++ b/robobin_main/src/log/build_2024-12-16_15-51-48/odometry_publisher/stdout_stderr.log
@@ -0,0 +1,19 @@
+running egg_info
+writing ../build/odometry_publisher/odometry_publisher.egg-info/PKG-INFO
+writing dependency_links to ../build/odometry_publisher/odometry_publisher.egg-info/dependency_links.txt
+writing entry points to ../build/odometry_publisher/odometry_publisher.egg-info/entry_points.txt
+writing requirements to ../build/odometry_publisher/odometry_publisher.egg-info/requires.txt
+writing top-level names to ../build/odometry_publisher/odometry_publisher.egg-info/top_level.txt
+reading manifest file '../build/odometry_publisher/odometry_publisher.egg-info/SOURCES.txt'
+writing manifest file '../build/odometry_publisher/odometry_publisher.egg-info/SOURCES.txt'
+running build
+running build_py
+running install
+running install_lib
+running install_data
+running install_egg_info
+removing '/home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages/odometry_publisher-0.0.0-py3.12.egg-info' (and everything under it)
+Copying ../build/odometry_publisher/odometry_publisher.egg-info to /home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages/odometry_publisher-0.0.0-py3.12.egg-info
+running install_scripts
+Installing odometry_node script to /home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/odometry_publisher
+writing list of installed files to '/home/robobin/robobin/robobin_main/src/build/odometry_publisher/install.log'
diff --git a/robobin_main/src/log/build_2024-12-16_15-51-48/odometry_publisher/streams.log b/robobin_main/src/log/build_2024-12-16_15-51-48/odometry_publisher/streams.log
new file mode 100644
index 00000000..da4fef5b
--- /dev/null
+++ b/robobin_main/src/log/build_2024-12-16_15-51-48/odometry_publisher/streams.log
@@ -0,0 +1,21 @@
+[3.286s] Invoking command in '/home/robobin/robobin/robobin_main/src/odometry_publisher': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/robobin_main/src/build/odometry_publisher/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../build/odometry_publisher build --build-base /home/robobin/robobin/robobin_main/src/build/odometry_publisher/build install --record /home/robobin/robobin/robobin_main/src/build/odometry_publisher/install.log --single-version-externally-managed install_data
+[3.787s] running egg_info
+[3.819s] writing ../build/odometry_publisher/odometry_publisher.egg-info/PKG-INFO
+[3.820s] writing dependency_links to ../build/odometry_publisher/odometry_publisher.egg-info/dependency_links.txt
+[3.822s] writing entry points to ../build/odometry_publisher/odometry_publisher.egg-info/entry_points.txt
+[3.824s] writing requirements to ../build/odometry_publisher/odometry_publisher.egg-info/requires.txt
+[3.827s] writing top-level names to ../build/odometry_publisher/odometry_publisher.egg-info/top_level.txt
+[3.900s] reading manifest file '../build/odometry_publisher/odometry_publisher.egg-info/SOURCES.txt'
+[3.902s] writing manifest file '../build/odometry_publisher/odometry_publisher.egg-info/SOURCES.txt'
+[3.902s] running build
+[3.903s] running build_py
+[3.905s] running install
+[3.917s] running install_lib
+[3.954s] running install_data
+[3.957s] running install_egg_info
+[3.993s] removing '/home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages/odometry_publisher-0.0.0-py3.12.egg-info' (and everything under it)
+[3.994s] Copying ../build/odometry_publisher/odometry_publisher.egg-info to /home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages/odometry_publisher-0.0.0-py3.12.egg-info
+[3.996s] running install_scripts
+[4.261s] Installing odometry_node script to /home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/odometry_publisher
+[4.269s] writing list of installed files to '/home/robobin/robobin/robobin_main/src/build/odometry_publisher/install.log'
+[4.474s] Invoked command in '/home/robobin/robobin/robobin_main/src/odometry_publisher' returned '0': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/robobin_main/src/build/odometry_publisher/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/robobin_main/src/install/odometry_publisher/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../build/odometry_publisher build --build-base /home/robobin/robobin/robobin_main/src/build/odometry_publisher/build install --record /home/robobin/robobin/robobin_main/src/build/odometry_publisher/install.log --single-version-externally-managed install_data
diff --git a/robobin_main/src/log/build_2024-12-16_15-51-48/robot_description/command.log b/robobin_main/src/log/build_2024-12-16_15-51-48/robot_description/command.log
new file mode 100644
index 00000000..78d3e3b0
--- /dev/null
+++ b/robobin_main/src/log/build_2024-12-16_15-51-48/robot_description/command.log
@@ -0,0 +1,2 @@
+Invoking command in '/home/robobin/robobin/robobin_main/src/robot_description': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/robobin_main/src/build/robot_description/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/robobin_main/src/install/robot_description/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../build/robot_description build --build-base /home/robobin/robobin/robobin_main/src/build/robot_description/build install --record /home/robobin/robobin/robobin_main/src/build/robot_description/install.log --single-version-externally-managed install_data
+Invoked command in '/home/robobin/robobin/robobin_main/src/robot_description' returned '0': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/robobin_main/src/build/robot_description/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/robobin_main/src/install/robot_description/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../build/robot_description build --build-base /home/robobin/robobin/robobin_main/src/build/robot_description/build install --record /home/robobin/robobin/robobin_main/src/build/robot_description/install.log --single-version-externally-managed install_data
diff --git a/robobin_main/src/log/build_2024-12-16_15-51-48/robot_description/stderr.log b/robobin_main/src/log/build_2024-12-16_15-51-48/robot_description/stderr.log
new file mode 100644
index 00000000..e69de29b
diff --git a/robobin_main/src/log/build_2024-12-16_15-51-48/robot_description/stdout.log b/robobin_main/src/log/build_2024-12-16_15-51-48/robot_description/stdout.log
new file mode 100644
index 00000000..60365698
--- /dev/null
+++ b/robobin_main/src/log/build_2024-12-16_15-51-48/robot_description/stdout.log
@@ -0,0 +1,17 @@
+running egg_info
+writing ../build/robot_description/robot_description.egg-info/PKG-INFO
+writing dependency_links to ../build/robot_description/robot_description.egg-info/dependency_links.txt
+writing requirements to ../build/robot_description/robot_description.egg-info/requires.txt
+writing top-level names to ../build/robot_description/robot_description.egg-info/top_level.txt
+reading manifest file '../build/robot_description/robot_description.egg-info/SOURCES.txt'
+writing manifest file '../build/robot_description/robot_description.egg-info/SOURCES.txt'
+running build
+running build_py
+running install
+running install_lib
+running install_data
+running install_egg_info
+removing '/home/robobin/robobin/robobin_main/src/install/robot_description/lib/python3.12/site-packages/robot_description-0.0.0-py3.12.egg-info' (and everything under it)
+Copying ../build/robot_description/robot_description.egg-info to /home/robobin/robobin/robobin_main/src/install/robot_description/lib/python3.12/site-packages/robot_description-0.0.0-py3.12.egg-info
+running install_scripts
+writing list of installed files to '/home/robobin/robobin/robobin_main/src/build/robot_description/install.log'
diff --git a/robobin_main/src/log/build_2024-12-16_15-51-48/robot_description/stdout_stderr.log b/robobin_main/src/log/build_2024-12-16_15-51-48/robot_description/stdout_stderr.log
new file mode 100644
index 00000000..60365698
--- /dev/null
+++ b/robobin_main/src/log/build_2024-12-16_15-51-48/robot_description/stdout_stderr.log
@@ -0,0 +1,17 @@
+running egg_info
+writing ../build/robot_description/robot_description.egg-info/PKG-INFO
+writing dependency_links to ../build/robot_description/robot_description.egg-info/dependency_links.txt
+writing requirements to ../build/robot_description/robot_description.egg-info/requires.txt
+writing top-level names to ../build/robot_description/robot_description.egg-info/top_level.txt
+reading manifest file '../build/robot_description/robot_description.egg-info/SOURCES.txt'
+writing manifest file '../build/robot_description/robot_description.egg-info/SOURCES.txt'
+running build
+running build_py
+running install
+running install_lib
+running install_data
+running install_egg_info
+removing '/home/robobin/robobin/robobin_main/src/install/robot_description/lib/python3.12/site-packages/robot_description-0.0.0-py3.12.egg-info' (and everything under it)
+Copying ../build/robot_description/robot_description.egg-info to /home/robobin/robobin/robobin_main/src/install/robot_description/lib/python3.12/site-packages/robot_description-0.0.0-py3.12.egg-info
+running install_scripts
+writing list of installed files to '/home/robobin/robobin/robobin_main/src/build/robot_description/install.log'
diff --git a/robobin_main/src/log/build_2024-12-16_15-51-48/robot_description/streams.log b/robobin_main/src/log/build_2024-12-16_15-51-48/robot_description/streams.log
new file mode 100644
index 00000000..1b14ce1a
--- /dev/null
+++ b/robobin_main/src/log/build_2024-12-16_15-51-48/robot_description/streams.log
@@ -0,0 +1,19 @@
+[3.252s] Invoking command in '/home/robobin/robobin/robobin_main/src/robot_description': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/robobin_main/src/build/robot_description/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/robobin_main/src/install/robot_description/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../build/robot_description build --build-base /home/robobin/robobin/robobin_main/src/build/robot_description/build install --record /home/robobin/robobin/robobin_main/src/build/robot_description/install.log --single-version-externally-managed install_data
+[3.745s] running egg_info
+[3.775s] writing ../build/robot_description/robot_description.egg-info/PKG-INFO
+[3.776s] writing dependency_links to ../build/robot_description/robot_description.egg-info/dependency_links.txt
+[3.778s] writing requirements to ../build/robot_description/robot_description.egg-info/requires.txt
+[3.778s] writing top-level names to ../build/robot_description/robot_description.egg-info/top_level.txt
+[3.846s] reading manifest file '../build/robot_description/robot_description.egg-info/SOURCES.txt'
+[3.847s] writing manifest file '../build/robot_description/robot_description.egg-info/SOURCES.txt'
+[3.848s] running build
+[3.848s] running build_py
+[3.852s] running install
+[3.864s] running install_lib
+[3.894s] running install_data
+[3.897s] running install_egg_info
+[3.933s] removing '/home/robobin/robobin/robobin_main/src/install/robot_description/lib/python3.12/site-packages/robot_description-0.0.0-py3.12.egg-info' (and everything under it)
+[3.933s] Copying ../build/robot_description/robot_description.egg-info to /home/robobin/robobin/robobin_main/src/install/robot_description/lib/python3.12/site-packages/robot_description-0.0.0-py3.12.egg-info
+[3.935s] running install_scripts
+[4.175s] writing list of installed files to '/home/robobin/robobin/robobin_main/src/build/robot_description/install.log'
+[4.425s] Invoked command in '/home/robobin/robobin/robobin_main/src/robot_description' returned '0': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/robobin_main/src/build/robot_description/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/robobin_main/src/install/robot_description/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../build/robot_description build --build-base /home/robobin/robobin/robobin_main/src/build/robot_description/build install --record /home/robobin/robobin/robobin_main/src/build/robot_description/install.log --single-version-externally-managed install_data
diff --git a/robobin_main/src/log/build_2024-12-16_15-51-48/robot_localization_ekf/command.log b/robobin_main/src/log/build_2024-12-16_15-51-48/robot_localization_ekf/command.log
new file mode 100644
index 00000000..28b0d8dd
--- /dev/null
+++ b/robobin_main/src/log/build_2024-12-16_15-51-48/robot_localization_ekf/command.log
@@ -0,0 +1,2 @@
+Invoking command in '/home/robobin/robobin/robobin_main/src/robot_localization_ekf': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/robobin_main/src/build/robot_localization_ekf/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../build/robot_localization_ekf build --build-base /home/robobin/robobin/robobin_main/src/build/robot_localization_ekf/build install --record /home/robobin/robobin/robobin_main/src/build/robot_localization_ekf/install.log --single-version-externally-managed install_data
+Invoked command in '/home/robobin/robobin/robobin_main/src/robot_localization_ekf' returned '0': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/robobin_main/src/build/robot_localization_ekf/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../build/robot_localization_ekf build --build-base /home/robobin/robobin/robobin_main/src/build/robot_localization_ekf/build install --record /home/robobin/robobin/robobin_main/src/build/robot_localization_ekf/install.log --single-version-externally-managed install_data
diff --git a/robobin_main/src/log/build_2024-12-16_15-51-48/robot_localization_ekf/stderr.log b/robobin_main/src/log/build_2024-12-16_15-51-48/robot_localization_ekf/stderr.log
new file mode 100644
index 00000000..e69de29b
diff --git a/robobin_main/src/log/build_2024-12-16_15-51-48/robot_localization_ekf/stdout.log b/robobin_main/src/log/build_2024-12-16_15-51-48/robot_localization_ekf/stdout.log
new file mode 100644
index 00000000..5ab049aa
--- /dev/null
+++ b/robobin_main/src/log/build_2024-12-16_15-51-48/robot_localization_ekf/stdout.log
@@ -0,0 +1,17 @@
+running egg_info
+writing ../build/robot_localization_ekf/robot_localization_ekf.egg-info/PKG-INFO
+writing dependency_links to ../build/robot_localization_ekf/robot_localization_ekf.egg-info/dependency_links.txt
+writing requirements to ../build/robot_localization_ekf/robot_localization_ekf.egg-info/requires.txt
+writing top-level names to ../build/robot_localization_ekf/robot_localization_ekf.egg-info/top_level.txt
+reading manifest file '../build/robot_localization_ekf/robot_localization_ekf.egg-info/SOURCES.txt'
+writing manifest file '../build/robot_localization_ekf/robot_localization_ekf.egg-info/SOURCES.txt'
+running build
+running build_py
+running install
+running install_lib
+running install_data
+running install_egg_info
+removing '/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/lib/python3.12/site-packages/robot_localization_ekf-0.0.0-py3.12.egg-info' (and everything under it)
+Copying ../build/robot_localization_ekf/robot_localization_ekf.egg-info to /home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/lib/python3.12/site-packages/robot_localization_ekf-0.0.0-py3.12.egg-info
+running install_scripts
+writing list of installed files to '/home/robobin/robobin/robobin_main/src/build/robot_localization_ekf/install.log'
diff --git a/robobin_main/src/log/build_2024-12-16_15-51-48/robot_localization_ekf/stdout_stderr.log b/robobin_main/src/log/build_2024-12-16_15-51-48/robot_localization_ekf/stdout_stderr.log
new file mode 100644
index 00000000..5ab049aa
--- /dev/null
+++ b/robobin_main/src/log/build_2024-12-16_15-51-48/robot_localization_ekf/stdout_stderr.log
@@ -0,0 +1,17 @@
+running egg_info
+writing ../build/robot_localization_ekf/robot_localization_ekf.egg-info/PKG-INFO
+writing dependency_links to ../build/robot_localization_ekf/robot_localization_ekf.egg-info/dependency_links.txt
+writing requirements to ../build/robot_localization_ekf/robot_localization_ekf.egg-info/requires.txt
+writing top-level names to ../build/robot_localization_ekf/robot_localization_ekf.egg-info/top_level.txt
+reading manifest file '../build/robot_localization_ekf/robot_localization_ekf.egg-info/SOURCES.txt'
+writing manifest file '../build/robot_localization_ekf/robot_localization_ekf.egg-info/SOURCES.txt'
+running build
+running build_py
+running install
+running install_lib
+running install_data
+running install_egg_info
+removing '/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/lib/python3.12/site-packages/robot_localization_ekf-0.0.0-py3.12.egg-info' (and everything under it)
+Copying ../build/robot_localization_ekf/robot_localization_ekf.egg-info to /home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/lib/python3.12/site-packages/robot_localization_ekf-0.0.0-py3.12.egg-info
+running install_scripts
+writing list of installed files to '/home/robobin/robobin/robobin_main/src/build/robot_localization_ekf/install.log'
diff --git a/robobin_main/src/log/build_2024-12-16_15-51-48/robot_localization_ekf/streams.log b/robobin_main/src/log/build_2024-12-16_15-51-48/robot_localization_ekf/streams.log
new file mode 100644
index 00000000..eca54d7b
--- /dev/null
+++ b/robobin_main/src/log/build_2024-12-16_15-51-48/robot_localization_ekf/streams.log
@@ -0,0 +1,19 @@
+[3.217s] Invoking command in '/home/robobin/robobin/robobin_main/src/robot_localization_ekf': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/robobin_main/src/build/robot_localization_ekf/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../build/robot_localization_ekf build --build-base /home/robobin/robobin/robobin_main/src/build/robot_localization_ekf/build install --record /home/robobin/robobin/robobin_main/src/build/robot_localization_ekf/install.log --single-version-externally-managed install_data
+[3.737s] running egg_info
+[3.763s] writing ../build/robot_localization_ekf/robot_localization_ekf.egg-info/PKG-INFO
+[3.765s] writing dependency_links to ../build/robot_localization_ekf/robot_localization_ekf.egg-info/dependency_links.txt
+[3.766s] writing requirements to ../build/robot_localization_ekf/robot_localization_ekf.egg-info/requires.txt
+[3.766s] writing top-level names to ../build/robot_localization_ekf/robot_localization_ekf.egg-info/top_level.txt
+[3.841s] reading manifest file '../build/robot_localization_ekf/robot_localization_ekf.egg-info/SOURCES.txt'
+[3.843s] writing manifest file '../build/robot_localization_ekf/robot_localization_ekf.egg-info/SOURCES.txt'
+[3.843s] running build
+[3.844s] running build_py
+[3.845s] running install
+[3.856s] running install_lib
+[3.888s] running install_data
+[3.894s] running install_egg_info
+[3.928s] removing '/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/lib/python3.12/site-packages/robot_localization_ekf-0.0.0-py3.12.egg-info' (and everything under it)
+[3.928s] Copying ../build/robot_localization_ekf/robot_localization_ekf.egg-info to /home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/lib/python3.12/site-packages/robot_localization_ekf-0.0.0-py3.12.egg-info
+[3.930s] running install_scripts
+[4.169s] writing list of installed files to '/home/robobin/robobin/robobin_main/src/build/robot_localization_ekf/install.log'
+[4.363s] Invoked command in '/home/robobin/robobin/robobin_main/src/robot_localization_ekf' returned '0': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/robobin_main/src/build/robot_localization_ekf/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/robobin_main/src/install/robot_localization_ekf/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../build/robot_localization_ekf build --build-base /home/robobin/robobin/robobin_main/src/build/robot_localization_ekf/build install --record /home/robobin/robobin/robobin_main/src/build/robot_localization_ekf/install.log --single-version-externally-managed install_data
diff --git a/robobin_main/src/log/build_2024-12-16_15-51-48/testing/command.log b/robobin_main/src/log/build_2024-12-16_15-51-48/testing/command.log
new file mode 100644
index 00000000..dc9b85d6
--- /dev/null
+++ b/robobin_main/src/log/build_2024-12-16_15-51-48/testing/command.log
@@ -0,0 +1,2 @@
+Invoking command in '/home/robobin/robobin/robobin_main/src/testing': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/robobin_main/src/build/testing/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../build/testing build --build-base /home/robobin/robobin/robobin_main/src/build/testing/build install --record /home/robobin/robobin/robobin_main/src/build/testing/install.log --single-version-externally-managed install_data
+Invoked command in '/home/robobin/robobin/robobin_main/src/testing' returned '0': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/robobin_main/src/build/testing/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../build/testing build --build-base /home/robobin/robobin/robobin_main/src/build/testing/build install --record /home/robobin/robobin/robobin_main/src/build/testing/install.log --single-version-externally-managed install_data
diff --git a/robobin_main/src/log/build_2024-12-16_15-51-48/testing/stderr.log b/robobin_main/src/log/build_2024-12-16_15-51-48/testing/stderr.log
new file mode 100644
index 00000000..e69de29b
diff --git a/robobin_main/src/log/build_2024-12-16_15-51-48/testing/stdout.log b/robobin_main/src/log/build_2024-12-16_15-51-48/testing/stdout.log
new file mode 100644
index 00000000..129507a4
--- /dev/null
+++ b/robobin_main/src/log/build_2024-12-16_15-51-48/testing/stdout.log
@@ -0,0 +1,24 @@
+running egg_info
+writing ../build/testing/testing.egg-info/PKG-INFO
+writing dependency_links to ../build/testing/testing.egg-info/dependency_links.txt
+writing entry points to ../build/testing/testing.egg-info/entry_points.txt
+writing requirements to ../build/testing/testing.egg-info/requires.txt
+writing top-level names to ../build/testing/testing.egg-info/top_level.txt
+reading manifest file '../build/testing/testing.egg-info/SOURCES.txt'
+writing manifest file '../build/testing/testing.egg-info/SOURCES.txt'
+running build
+running build_py
+running install
+running install_lib
+running install_data
+running install_egg_info
+removing '/home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages/testing-0.0.0-py3.12.egg-info' (and everything under it)
+Copying ../build/testing/testing.egg-info to /home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages/testing-0.0.0-py3.12.egg-info
+running install_scripts
+Installing test_control_feedback script to /home/robobin/robobin/robobin_main/src/install/testing/lib/testing
+Installing test_encoder_node script to /home/robobin/robobin/robobin_main/src/install/testing/lib/testing
+Installing test_imu_node script to /home/robobin/robobin/robobin_main/src/install/testing/lib/testing
+Installing test_motor_node script to /home/robobin/robobin/robobin_main/src/install/testing/lib/testing
+Installing test_route script to /home/robobin/robobin/robobin_main/src/install/testing/lib/testing
+Installing test_route_filter script to /home/robobin/robobin/robobin_main/src/install/testing/lib/testing
+writing list of installed files to '/home/robobin/robobin/robobin_main/src/build/testing/install.log'
diff --git a/robobin_main/src/log/build_2024-12-16_15-51-48/testing/stdout_stderr.log b/robobin_main/src/log/build_2024-12-16_15-51-48/testing/stdout_stderr.log
new file mode 100644
index 00000000..129507a4
--- /dev/null
+++ b/robobin_main/src/log/build_2024-12-16_15-51-48/testing/stdout_stderr.log
@@ -0,0 +1,24 @@
+running egg_info
+writing ../build/testing/testing.egg-info/PKG-INFO
+writing dependency_links to ../build/testing/testing.egg-info/dependency_links.txt
+writing entry points to ../build/testing/testing.egg-info/entry_points.txt
+writing requirements to ../build/testing/testing.egg-info/requires.txt
+writing top-level names to ../build/testing/testing.egg-info/top_level.txt
+reading manifest file '../build/testing/testing.egg-info/SOURCES.txt'
+writing manifest file '../build/testing/testing.egg-info/SOURCES.txt'
+running build
+running build_py
+running install
+running install_lib
+running install_data
+running install_egg_info
+removing '/home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages/testing-0.0.0-py3.12.egg-info' (and everything under it)
+Copying ../build/testing/testing.egg-info to /home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages/testing-0.0.0-py3.12.egg-info
+running install_scripts
+Installing test_control_feedback script to /home/robobin/robobin/robobin_main/src/install/testing/lib/testing
+Installing test_encoder_node script to /home/robobin/robobin/robobin_main/src/install/testing/lib/testing
+Installing test_imu_node script to /home/robobin/robobin/robobin_main/src/install/testing/lib/testing
+Installing test_motor_node script to /home/robobin/robobin/robobin_main/src/install/testing/lib/testing
+Installing test_route script to /home/robobin/robobin/robobin_main/src/install/testing/lib/testing
+Installing test_route_filter script to /home/robobin/robobin/robobin_main/src/install/testing/lib/testing
+writing list of installed files to '/home/robobin/robobin/robobin_main/src/build/testing/install.log'
diff --git a/robobin_main/src/log/build_2024-12-16_15-51-48/testing/streams.log b/robobin_main/src/log/build_2024-12-16_15-51-48/testing/streams.log
new file mode 100644
index 00000000..8288a382
--- /dev/null
+++ b/robobin_main/src/log/build_2024-12-16_15-51-48/testing/streams.log
@@ -0,0 +1,26 @@
+[3.211s] Invoking command in '/home/robobin/robobin/robobin_main/src/testing': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/robobin_main/src/build/testing/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../build/testing build --build-base /home/robobin/robobin/robobin_main/src/build/testing/build install --record /home/robobin/robobin/robobin_main/src/build/testing/install.log --single-version-externally-managed install_data
+[3.718s] running egg_info
+[3.744s] writing ../build/testing/testing.egg-info/PKG-INFO
+[3.746s] writing dependency_links to ../build/testing/testing.egg-info/dependency_links.txt
+[3.747s] writing entry points to ../build/testing/testing.egg-info/entry_points.txt
+[3.748s] writing requirements to ../build/testing/testing.egg-info/requires.txt
+[3.749s] writing top-level names to ../build/testing/testing.egg-info/top_level.txt
+[3.823s] reading manifest file '../build/testing/testing.egg-info/SOURCES.txt'
+[3.825s] writing manifest file '../build/testing/testing.egg-info/SOURCES.txt'
+[3.826s] running build
+[3.826s] running build_py
+[3.832s] running install
+[3.843s] running install_lib
+[3.880s] running install_data
+[3.881s] running install_egg_info
+[3.913s] removing '/home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages/testing-0.0.0-py3.12.egg-info' (and everything under it)
+[3.914s] Copying ../build/testing/testing.egg-info to /home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages/testing-0.0.0-py3.12.egg-info
+[3.918s] running install_scripts
+[4.169s] Installing test_control_feedback script to /home/robobin/robobin/robobin_main/src/install/testing/lib/testing
+[4.170s] Installing test_encoder_node script to /home/robobin/robobin/robobin_main/src/install/testing/lib/testing
+[4.176s] Installing test_imu_node script to /home/robobin/robobin/robobin_main/src/install/testing/lib/testing
+[4.176s] Installing test_motor_node script to /home/robobin/robobin/robobin_main/src/install/testing/lib/testing
+[4.177s] Installing test_route script to /home/robobin/robobin/robobin_main/src/install/testing/lib/testing
+[4.182s] Installing test_route_filter script to /home/robobin/robobin/robobin_main/src/install/testing/lib/testing
+[4.186s] writing list of installed files to '/home/robobin/robobin/robobin_main/src/build/testing/install.log'
+[4.422s] Invoked command in '/home/robobin/robobin/robobin_main/src/testing' returned '0': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/robobin_main/src/build/testing/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/robobin_main/src/install/testing/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../build/testing build --build-base /home/robobin/robobin/robobin_main/src/build/testing/build install --record /home/robobin/robobin/robobin_main/src/build/testing/install.log --single-version-externally-managed install_data
diff --git a/robobin_main/src/log/latest b/robobin_main/src/log/latest
new file mode 120000
index 00000000..b57d247c
--- /dev/null
+++ b/robobin_main/src/log/latest
@@ -0,0 +1 @@
+latest_build
\ No newline at end of file
diff --git a/robobin_main/src/log/latest_build b/robobin_main/src/log/latest_build
new file mode 120000
index 00000000..c77ce360
--- /dev/null
+++ b/robobin_main/src/log/latest_build
@@ -0,0 +1 @@
+build_2024-12-16_15-51-48
\ No newline at end of file
diff --git a/robobin_main/src/testing/testing/build/.built_by b/robobin_main/src/testing/testing/build/.built_by
new file mode 100644
index 00000000..06e74acb
--- /dev/null
+++ b/robobin_main/src/testing/testing/build/.built_by
@@ -0,0 +1 @@
+colcon
diff --git a/robobin_main/src/testing/testing/build/COLCON_IGNORE b/robobin_main/src/testing/testing/build/COLCON_IGNORE
new file mode 100644
index 00000000..e69de29b
diff --git a/robobin_main/src/testing/testing/install/.colcon_install_layout b/robobin_main/src/testing/testing/install/.colcon_install_layout
new file mode 100644
index 00000000..3aad5336
--- /dev/null
+++ b/robobin_main/src/testing/testing/install/.colcon_install_layout
@@ -0,0 +1 @@
+isolated
diff --git a/robobin_main/src/testing/testing/install/COLCON_IGNORE b/robobin_main/src/testing/testing/install/COLCON_IGNORE
new file mode 100644
index 00000000..e69de29b
diff --git a/robobin_main/src/testing/testing/install/_local_setup_util_ps1.py b/robobin_main/src/testing/testing/install/_local_setup_util_ps1.py
new file mode 100644
index 00000000..3c6d9e87
--- /dev/null
+++ b/robobin_main/src/testing/testing/install/_local_setup_util_ps1.py
@@ -0,0 +1,407 @@
+# Copyright 2016-2019 Dirk Thomas
+# Licensed under the Apache License, Version 2.0
+
+import argparse
+from collections import OrderedDict
+import os
+from pathlib import Path
+import sys
+
+
+FORMAT_STR_COMMENT_LINE = '# {comment}'
+FORMAT_STR_SET_ENV_VAR = 'Set-Item -Path "Env:{name}" -Value "{value}"'
+FORMAT_STR_USE_ENV_VAR = '$env:{name}'
+FORMAT_STR_INVOKE_SCRIPT = '_colcon_prefix_powershell_source_script "{script_path}"' # noqa: E501
+FORMAT_STR_REMOVE_LEADING_SEPARATOR = '' # noqa: E501
+FORMAT_STR_REMOVE_TRAILING_SEPARATOR = '' # noqa: E501
+
+DSV_TYPE_APPEND_NON_DUPLICATE = 'append-non-duplicate'
+DSV_TYPE_PREPEND_NON_DUPLICATE = 'prepend-non-duplicate'
+DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS = 'prepend-non-duplicate-if-exists'
+DSV_TYPE_SET = 'set'
+DSV_TYPE_SET_IF_UNSET = 'set-if-unset'
+DSV_TYPE_SOURCE = 'source'
+
+
+def main(argv=sys.argv[1:]): # noqa: D103
+ parser = argparse.ArgumentParser(
+ description='Output shell commands for the packages in topological '
+ 'order')
+ parser.add_argument(
+ 'primary_extension',
+ help='The file extension of the primary shell')
+ parser.add_argument(
+ 'additional_extension', nargs='?',
+ help='The additional file extension to be considered')
+ parser.add_argument(
+ '--merged-install', action='store_true',
+ help='All install prefixes are merged into a single location')
+ args = parser.parse_args(argv)
+
+ packages = get_packages(Path(__file__).parent, args.merged_install)
+
+ ordered_packages = order_packages(packages)
+ for pkg_name in ordered_packages:
+ if _include_comments():
+ print(
+ FORMAT_STR_COMMENT_LINE.format_map(
+ {'comment': 'Package: ' + pkg_name}))
+ prefix = os.path.abspath(os.path.dirname(__file__))
+ if not args.merged_install:
+ prefix = os.path.join(prefix, pkg_name)
+ for line in get_commands(
+ pkg_name, prefix, args.primary_extension,
+ args.additional_extension
+ ):
+ print(line)
+
+ for line in _remove_ending_separators():
+ print(line)
+
+
+def get_packages(prefix_path, merged_install):
+ """
+ Find packages based on colcon-specific files created during installation.
+
+ :param Path prefix_path: The install prefix path of all packages
+ :param bool merged_install: The flag if the packages are all installed
+ directly in the prefix or if each package is installed in a subdirectory
+ named after the package
+ :returns: A mapping from the package name to the set of runtime
+ dependencies
+ :rtype: dict
+ """
+ packages = {}
+ # since importing colcon_core isn't feasible here the following constant
+ # must match colcon_core.location.get_relative_package_index_path()
+ subdirectory = 'share/colcon-core/packages'
+ if merged_install:
+ # return if workspace is empty
+ if not (prefix_path / subdirectory).is_dir():
+ return packages
+ # find all files in the subdirectory
+ for p in (prefix_path / subdirectory).iterdir():
+ if not p.is_file():
+ continue
+ if p.name.startswith('.'):
+ continue
+ add_package_runtime_dependencies(p, packages)
+ else:
+ # for each subdirectory look for the package specific file
+ for p in prefix_path.iterdir():
+ if not p.is_dir():
+ continue
+ if p.name.startswith('.'):
+ continue
+ p = p / subdirectory / p.name
+ if p.is_file():
+ add_package_runtime_dependencies(p, packages)
+
+ # remove unknown dependencies
+ pkg_names = set(packages.keys())
+ for k in packages.keys():
+ packages[k] = {d for d in packages[k] if d in pkg_names}
+
+ return packages
+
+
+def add_package_runtime_dependencies(path, packages):
+ """
+ Check the path and if it exists extract the packages runtime dependencies.
+
+ :param Path path: The resource file containing the runtime dependencies
+ :param dict packages: A mapping from package names to the sets of runtime
+ dependencies to add to
+ """
+ content = path.read_text()
+ dependencies = set(content.split(os.pathsep) if content else [])
+ packages[path.name] = dependencies
+
+
+def order_packages(packages):
+ """
+ Order packages topologically.
+
+ :param dict packages: A mapping from package name to the set of runtime
+ dependencies
+ :returns: The package names
+ :rtype: list
+ """
+ # select packages with no dependencies in alphabetical order
+ to_be_ordered = list(packages.keys())
+ ordered = []
+ while to_be_ordered:
+ pkg_names_without_deps = [
+ name for name in to_be_ordered if not packages[name]]
+ if not pkg_names_without_deps:
+ reduce_cycle_set(packages)
+ raise RuntimeError(
+ 'Circular dependency between: ' + ', '.join(sorted(packages)))
+ pkg_names_without_deps.sort()
+ pkg_name = pkg_names_without_deps[0]
+ to_be_ordered.remove(pkg_name)
+ ordered.append(pkg_name)
+ # remove item from dependency lists
+ for k in list(packages.keys()):
+ if pkg_name in packages[k]:
+ packages[k].remove(pkg_name)
+ return ordered
+
+
+def reduce_cycle_set(packages):
+ """
+ Reduce the set of packages to the ones part of the circular dependency.
+
+ :param dict packages: A mapping from package name to the set of runtime
+ dependencies which is modified in place
+ """
+ last_depended = None
+ while len(packages) > 0:
+ # get all remaining dependencies
+ depended = set()
+ for pkg_name, dependencies in packages.items():
+ depended = depended.union(dependencies)
+ # remove all packages which are not dependent on
+ for name in list(packages.keys()):
+ if name not in depended:
+ del packages[name]
+ if last_depended:
+ # if remaining packages haven't changed return them
+ if last_depended == depended:
+ return packages.keys()
+ # otherwise reduce again
+ last_depended = depended
+
+
+def _include_comments():
+ # skipping comment lines when COLCON_TRACE is not set speeds up the
+ # processing especially on Windows
+ return bool(os.environ.get('COLCON_TRACE'))
+
+
+def get_commands(pkg_name, prefix, primary_extension, additional_extension):
+ commands = []
+ package_dsv_path = os.path.join(prefix, 'share', pkg_name, 'package.dsv')
+ if os.path.exists(package_dsv_path):
+ commands += process_dsv_file(
+ package_dsv_path, prefix, primary_extension, additional_extension)
+ return commands
+
+
+def process_dsv_file(
+ dsv_path, prefix, primary_extension=None, additional_extension=None
+):
+ commands = []
+ if _include_comments():
+ commands.append(FORMAT_STR_COMMENT_LINE.format_map({'comment': dsv_path}))
+ with open(dsv_path, 'r') as h:
+ content = h.read()
+ lines = content.splitlines()
+
+ basenames = OrderedDict()
+ for i, line in enumerate(lines):
+ # skip over empty or whitespace-only lines
+ if not line.strip():
+ continue
+ # skip over comments
+ if line.startswith('#'):
+ continue
+ try:
+ type_, remainder = line.split(';', 1)
+ except ValueError:
+ raise RuntimeError(
+ "Line %d in '%s' doesn't contain a semicolon separating the "
+ 'type from the arguments' % (i + 1, dsv_path))
+ if type_ != DSV_TYPE_SOURCE:
+ # handle non-source lines
+ try:
+ commands += handle_dsv_types_except_source(
+ type_, remainder, prefix)
+ except RuntimeError as e:
+ raise RuntimeError(
+ "Line %d in '%s' %s" % (i + 1, dsv_path, e)) from e
+ else:
+ # group remaining source lines by basename
+ path_without_ext, ext = os.path.splitext(remainder)
+ if path_without_ext not in basenames:
+ basenames[path_without_ext] = set()
+ assert ext.startswith('.')
+ ext = ext[1:]
+ if ext in (primary_extension, additional_extension):
+ basenames[path_without_ext].add(ext)
+
+ # add the dsv extension to each basename if the file exists
+ for basename, extensions in basenames.items():
+ if not os.path.isabs(basename):
+ basename = os.path.join(prefix, basename)
+ if os.path.exists(basename + '.dsv'):
+ extensions.add('dsv')
+
+ for basename, extensions in basenames.items():
+ if not os.path.isabs(basename):
+ basename = os.path.join(prefix, basename)
+ if 'dsv' in extensions:
+ # process dsv files recursively
+ commands += process_dsv_file(
+ basename + '.dsv', prefix, primary_extension=primary_extension,
+ additional_extension=additional_extension)
+ elif primary_extension in extensions and len(extensions) == 1:
+ # source primary-only files
+ commands += [
+ FORMAT_STR_INVOKE_SCRIPT.format_map({
+ 'prefix': prefix,
+ 'script_path': basename + '.' + primary_extension})]
+ elif additional_extension in extensions:
+ # source non-primary files
+ commands += [
+ FORMAT_STR_INVOKE_SCRIPT.format_map({
+ 'prefix': prefix,
+ 'script_path': basename + '.' + additional_extension})]
+
+ return commands
+
+
+def handle_dsv_types_except_source(type_, remainder, prefix):
+ commands = []
+ if type_ in (DSV_TYPE_SET, DSV_TYPE_SET_IF_UNSET):
+ try:
+ env_name, value = remainder.split(';', 1)
+ except ValueError:
+ raise RuntimeError(
+ "doesn't contain a semicolon separating the environment name "
+ 'from the value')
+ try_prefixed_value = os.path.join(prefix, value) if value else prefix
+ if os.path.exists(try_prefixed_value):
+ value = try_prefixed_value
+ if type_ == DSV_TYPE_SET:
+ commands += _set(env_name, value)
+ elif type_ == DSV_TYPE_SET_IF_UNSET:
+ commands += _set_if_unset(env_name, value)
+ else:
+ assert False
+ elif type_ in (
+ DSV_TYPE_APPEND_NON_DUPLICATE,
+ DSV_TYPE_PREPEND_NON_DUPLICATE,
+ DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS
+ ):
+ try:
+ env_name_and_values = remainder.split(';')
+ except ValueError:
+ raise RuntimeError(
+ "doesn't contain a semicolon separating the environment name "
+ 'from the values')
+ env_name = env_name_and_values[0]
+ values = env_name_and_values[1:]
+ for value in values:
+ if not value:
+ value = prefix
+ elif not os.path.isabs(value):
+ value = os.path.join(prefix, value)
+ if (
+ type_ == DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS and
+ not os.path.exists(value)
+ ):
+ comment = f'skip extending {env_name} with not existing ' \
+ f'path: {value}'
+ if _include_comments():
+ commands.append(
+ FORMAT_STR_COMMENT_LINE.format_map({'comment': comment}))
+ elif type_ == DSV_TYPE_APPEND_NON_DUPLICATE:
+ commands += _append_unique_value(env_name, value)
+ else:
+ commands += _prepend_unique_value(env_name, value)
+ else:
+ raise RuntimeError(
+ 'contains an unknown environment hook type: ' + type_)
+ return commands
+
+
+env_state = {}
+
+
+def _append_unique_value(name, value):
+ global env_state
+ if name not in env_state:
+ if os.environ.get(name):
+ env_state[name] = set(os.environ[name].split(os.pathsep))
+ else:
+ env_state[name] = set()
+ # append even if the variable has not been set yet, in case a shell script sets the
+ # same variable without the knowledge of this Python script.
+ # later _remove_ending_separators() will cleanup any unintentional leading separator
+ extend = FORMAT_STR_USE_ENV_VAR.format_map({'name': name}) + os.pathsep
+ line = FORMAT_STR_SET_ENV_VAR.format_map(
+ {'name': name, 'value': extend + value})
+ if value not in env_state[name]:
+ env_state[name].add(value)
+ else:
+ if not _include_comments():
+ return []
+ line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line})
+ return [line]
+
+
+def _prepend_unique_value(name, value):
+ global env_state
+ if name not in env_state:
+ if os.environ.get(name):
+ env_state[name] = set(os.environ[name].split(os.pathsep))
+ else:
+ env_state[name] = set()
+ # prepend even if the variable has not been set yet, in case a shell script sets the
+ # same variable without the knowledge of this Python script.
+ # later _remove_ending_separators() will cleanup any unintentional trailing separator
+ extend = os.pathsep + FORMAT_STR_USE_ENV_VAR.format_map({'name': name})
+ line = FORMAT_STR_SET_ENV_VAR.format_map(
+ {'name': name, 'value': value + extend})
+ if value not in env_state[name]:
+ env_state[name].add(value)
+ else:
+ if not _include_comments():
+ return []
+ line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line})
+ return [line]
+
+
+# generate commands for removing prepended underscores
+def _remove_ending_separators():
+ # do nothing if the shell extension does not implement the logic
+ if FORMAT_STR_REMOVE_TRAILING_SEPARATOR is None:
+ return []
+
+ global env_state
+ commands = []
+ for name in env_state:
+ # skip variables that already had values before this script started prepending
+ if name in os.environ:
+ continue
+ commands += [
+ FORMAT_STR_REMOVE_LEADING_SEPARATOR.format_map({'name': name}),
+ FORMAT_STR_REMOVE_TRAILING_SEPARATOR.format_map({'name': name})]
+ return commands
+
+
+def _set(name, value):
+ global env_state
+ env_state[name] = value
+ line = FORMAT_STR_SET_ENV_VAR.format_map(
+ {'name': name, 'value': value})
+ return [line]
+
+
+def _set_if_unset(name, value):
+ global env_state
+ line = FORMAT_STR_SET_ENV_VAR.format_map(
+ {'name': name, 'value': value})
+ if env_state.get(name, os.environ.get(name)):
+ line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line})
+ return [line]
+
+
+if __name__ == '__main__': # pragma: no cover
+ try:
+ rc = main()
+ except RuntimeError as e:
+ print(str(e), file=sys.stderr)
+ rc = 1
+ sys.exit(rc)
diff --git a/robobin_main/src/testing/testing/install/_local_setup_util_sh.py b/robobin_main/src/testing/testing/install/_local_setup_util_sh.py
new file mode 100644
index 00000000..f67eaa98
--- /dev/null
+++ b/robobin_main/src/testing/testing/install/_local_setup_util_sh.py
@@ -0,0 +1,407 @@
+# Copyright 2016-2019 Dirk Thomas
+# Licensed under the Apache License, Version 2.0
+
+import argparse
+from collections import OrderedDict
+import os
+from pathlib import Path
+import sys
+
+
+FORMAT_STR_COMMENT_LINE = '# {comment}'
+FORMAT_STR_SET_ENV_VAR = 'export {name}="{value}"'
+FORMAT_STR_USE_ENV_VAR = '${name}'
+FORMAT_STR_INVOKE_SCRIPT = 'COLCON_CURRENT_PREFIX="{prefix}" _colcon_prefix_sh_source_script "{script_path}"' # noqa: E501
+FORMAT_STR_REMOVE_LEADING_SEPARATOR = 'if [ "$(echo -n ${name} | head -c 1)" = ":" ]; then export {name}=${{{name}#?}} ; fi' # noqa: E501
+FORMAT_STR_REMOVE_TRAILING_SEPARATOR = 'if [ "$(echo -n ${name} | tail -c 1)" = ":" ]; then export {name}=${{{name}%?}} ; fi' # noqa: E501
+
+DSV_TYPE_APPEND_NON_DUPLICATE = 'append-non-duplicate'
+DSV_TYPE_PREPEND_NON_DUPLICATE = 'prepend-non-duplicate'
+DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS = 'prepend-non-duplicate-if-exists'
+DSV_TYPE_SET = 'set'
+DSV_TYPE_SET_IF_UNSET = 'set-if-unset'
+DSV_TYPE_SOURCE = 'source'
+
+
+def main(argv=sys.argv[1:]): # noqa: D103
+ parser = argparse.ArgumentParser(
+ description='Output shell commands for the packages in topological '
+ 'order')
+ parser.add_argument(
+ 'primary_extension',
+ help='The file extension of the primary shell')
+ parser.add_argument(
+ 'additional_extension', nargs='?',
+ help='The additional file extension to be considered')
+ parser.add_argument(
+ '--merged-install', action='store_true',
+ help='All install prefixes are merged into a single location')
+ args = parser.parse_args(argv)
+
+ packages = get_packages(Path(__file__).parent, args.merged_install)
+
+ ordered_packages = order_packages(packages)
+ for pkg_name in ordered_packages:
+ if _include_comments():
+ print(
+ FORMAT_STR_COMMENT_LINE.format_map(
+ {'comment': 'Package: ' + pkg_name}))
+ prefix = os.path.abspath(os.path.dirname(__file__))
+ if not args.merged_install:
+ prefix = os.path.join(prefix, pkg_name)
+ for line in get_commands(
+ pkg_name, prefix, args.primary_extension,
+ args.additional_extension
+ ):
+ print(line)
+
+ for line in _remove_ending_separators():
+ print(line)
+
+
+def get_packages(prefix_path, merged_install):
+ """
+ Find packages based on colcon-specific files created during installation.
+
+ :param Path prefix_path: The install prefix path of all packages
+ :param bool merged_install: The flag if the packages are all installed
+ directly in the prefix or if each package is installed in a subdirectory
+ named after the package
+ :returns: A mapping from the package name to the set of runtime
+ dependencies
+ :rtype: dict
+ """
+ packages = {}
+ # since importing colcon_core isn't feasible here the following constant
+ # must match colcon_core.location.get_relative_package_index_path()
+ subdirectory = 'share/colcon-core/packages'
+ if merged_install:
+ # return if workspace is empty
+ if not (prefix_path / subdirectory).is_dir():
+ return packages
+ # find all files in the subdirectory
+ for p in (prefix_path / subdirectory).iterdir():
+ if not p.is_file():
+ continue
+ if p.name.startswith('.'):
+ continue
+ add_package_runtime_dependencies(p, packages)
+ else:
+ # for each subdirectory look for the package specific file
+ for p in prefix_path.iterdir():
+ if not p.is_dir():
+ continue
+ if p.name.startswith('.'):
+ continue
+ p = p / subdirectory / p.name
+ if p.is_file():
+ add_package_runtime_dependencies(p, packages)
+
+ # remove unknown dependencies
+ pkg_names = set(packages.keys())
+ for k in packages.keys():
+ packages[k] = {d for d in packages[k] if d in pkg_names}
+
+ return packages
+
+
+def add_package_runtime_dependencies(path, packages):
+ """
+ Check the path and if it exists extract the packages runtime dependencies.
+
+ :param Path path: The resource file containing the runtime dependencies
+ :param dict packages: A mapping from package names to the sets of runtime
+ dependencies to add to
+ """
+ content = path.read_text()
+ dependencies = set(content.split(os.pathsep) if content else [])
+ packages[path.name] = dependencies
+
+
+def order_packages(packages):
+ """
+ Order packages topologically.
+
+ :param dict packages: A mapping from package name to the set of runtime
+ dependencies
+ :returns: The package names
+ :rtype: list
+ """
+ # select packages with no dependencies in alphabetical order
+ to_be_ordered = list(packages.keys())
+ ordered = []
+ while to_be_ordered:
+ pkg_names_without_deps = [
+ name for name in to_be_ordered if not packages[name]]
+ if not pkg_names_without_deps:
+ reduce_cycle_set(packages)
+ raise RuntimeError(
+ 'Circular dependency between: ' + ', '.join(sorted(packages)))
+ pkg_names_without_deps.sort()
+ pkg_name = pkg_names_without_deps[0]
+ to_be_ordered.remove(pkg_name)
+ ordered.append(pkg_name)
+ # remove item from dependency lists
+ for k in list(packages.keys()):
+ if pkg_name in packages[k]:
+ packages[k].remove(pkg_name)
+ return ordered
+
+
+def reduce_cycle_set(packages):
+ """
+ Reduce the set of packages to the ones part of the circular dependency.
+
+ :param dict packages: A mapping from package name to the set of runtime
+ dependencies which is modified in place
+ """
+ last_depended = None
+ while len(packages) > 0:
+ # get all remaining dependencies
+ depended = set()
+ for pkg_name, dependencies in packages.items():
+ depended = depended.union(dependencies)
+ # remove all packages which are not dependent on
+ for name in list(packages.keys()):
+ if name not in depended:
+ del packages[name]
+ if last_depended:
+ # if remaining packages haven't changed return them
+ if last_depended == depended:
+ return packages.keys()
+ # otherwise reduce again
+ last_depended = depended
+
+
+def _include_comments():
+ # skipping comment lines when COLCON_TRACE is not set speeds up the
+ # processing especially on Windows
+ return bool(os.environ.get('COLCON_TRACE'))
+
+
+def get_commands(pkg_name, prefix, primary_extension, additional_extension):
+ commands = []
+ package_dsv_path = os.path.join(prefix, 'share', pkg_name, 'package.dsv')
+ if os.path.exists(package_dsv_path):
+ commands += process_dsv_file(
+ package_dsv_path, prefix, primary_extension, additional_extension)
+ return commands
+
+
+def process_dsv_file(
+ dsv_path, prefix, primary_extension=None, additional_extension=None
+):
+ commands = []
+ if _include_comments():
+ commands.append(FORMAT_STR_COMMENT_LINE.format_map({'comment': dsv_path}))
+ with open(dsv_path, 'r') as h:
+ content = h.read()
+ lines = content.splitlines()
+
+ basenames = OrderedDict()
+ for i, line in enumerate(lines):
+ # skip over empty or whitespace-only lines
+ if not line.strip():
+ continue
+ # skip over comments
+ if line.startswith('#'):
+ continue
+ try:
+ type_, remainder = line.split(';', 1)
+ except ValueError:
+ raise RuntimeError(
+ "Line %d in '%s' doesn't contain a semicolon separating the "
+ 'type from the arguments' % (i + 1, dsv_path))
+ if type_ != DSV_TYPE_SOURCE:
+ # handle non-source lines
+ try:
+ commands += handle_dsv_types_except_source(
+ type_, remainder, prefix)
+ except RuntimeError as e:
+ raise RuntimeError(
+ "Line %d in '%s' %s" % (i + 1, dsv_path, e)) from e
+ else:
+ # group remaining source lines by basename
+ path_without_ext, ext = os.path.splitext(remainder)
+ if path_without_ext not in basenames:
+ basenames[path_without_ext] = set()
+ assert ext.startswith('.')
+ ext = ext[1:]
+ if ext in (primary_extension, additional_extension):
+ basenames[path_without_ext].add(ext)
+
+ # add the dsv extension to each basename if the file exists
+ for basename, extensions in basenames.items():
+ if not os.path.isabs(basename):
+ basename = os.path.join(prefix, basename)
+ if os.path.exists(basename + '.dsv'):
+ extensions.add('dsv')
+
+ for basename, extensions in basenames.items():
+ if not os.path.isabs(basename):
+ basename = os.path.join(prefix, basename)
+ if 'dsv' in extensions:
+ # process dsv files recursively
+ commands += process_dsv_file(
+ basename + '.dsv', prefix, primary_extension=primary_extension,
+ additional_extension=additional_extension)
+ elif primary_extension in extensions and len(extensions) == 1:
+ # source primary-only files
+ commands += [
+ FORMAT_STR_INVOKE_SCRIPT.format_map({
+ 'prefix': prefix,
+ 'script_path': basename + '.' + primary_extension})]
+ elif additional_extension in extensions:
+ # source non-primary files
+ commands += [
+ FORMAT_STR_INVOKE_SCRIPT.format_map({
+ 'prefix': prefix,
+ 'script_path': basename + '.' + additional_extension})]
+
+ return commands
+
+
+def handle_dsv_types_except_source(type_, remainder, prefix):
+ commands = []
+ if type_ in (DSV_TYPE_SET, DSV_TYPE_SET_IF_UNSET):
+ try:
+ env_name, value = remainder.split(';', 1)
+ except ValueError:
+ raise RuntimeError(
+ "doesn't contain a semicolon separating the environment name "
+ 'from the value')
+ try_prefixed_value = os.path.join(prefix, value) if value else prefix
+ if os.path.exists(try_prefixed_value):
+ value = try_prefixed_value
+ if type_ == DSV_TYPE_SET:
+ commands += _set(env_name, value)
+ elif type_ == DSV_TYPE_SET_IF_UNSET:
+ commands += _set_if_unset(env_name, value)
+ else:
+ assert False
+ elif type_ in (
+ DSV_TYPE_APPEND_NON_DUPLICATE,
+ DSV_TYPE_PREPEND_NON_DUPLICATE,
+ DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS
+ ):
+ try:
+ env_name_and_values = remainder.split(';')
+ except ValueError:
+ raise RuntimeError(
+ "doesn't contain a semicolon separating the environment name "
+ 'from the values')
+ env_name = env_name_and_values[0]
+ values = env_name_and_values[1:]
+ for value in values:
+ if not value:
+ value = prefix
+ elif not os.path.isabs(value):
+ value = os.path.join(prefix, value)
+ if (
+ type_ == DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS and
+ not os.path.exists(value)
+ ):
+ comment = f'skip extending {env_name} with not existing ' \
+ f'path: {value}'
+ if _include_comments():
+ commands.append(
+ FORMAT_STR_COMMENT_LINE.format_map({'comment': comment}))
+ elif type_ == DSV_TYPE_APPEND_NON_DUPLICATE:
+ commands += _append_unique_value(env_name, value)
+ else:
+ commands += _prepend_unique_value(env_name, value)
+ else:
+ raise RuntimeError(
+ 'contains an unknown environment hook type: ' + type_)
+ return commands
+
+
+env_state = {}
+
+
+def _append_unique_value(name, value):
+ global env_state
+ if name not in env_state:
+ if os.environ.get(name):
+ env_state[name] = set(os.environ[name].split(os.pathsep))
+ else:
+ env_state[name] = set()
+ # append even if the variable has not been set yet, in case a shell script sets the
+ # same variable without the knowledge of this Python script.
+ # later _remove_ending_separators() will cleanup any unintentional leading separator
+ extend = FORMAT_STR_USE_ENV_VAR.format_map({'name': name}) + os.pathsep
+ line = FORMAT_STR_SET_ENV_VAR.format_map(
+ {'name': name, 'value': extend + value})
+ if value not in env_state[name]:
+ env_state[name].add(value)
+ else:
+ if not _include_comments():
+ return []
+ line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line})
+ return [line]
+
+
+def _prepend_unique_value(name, value):
+ global env_state
+ if name not in env_state:
+ if os.environ.get(name):
+ env_state[name] = set(os.environ[name].split(os.pathsep))
+ else:
+ env_state[name] = set()
+ # prepend even if the variable has not been set yet, in case a shell script sets the
+ # same variable without the knowledge of this Python script.
+ # later _remove_ending_separators() will cleanup any unintentional trailing separator
+ extend = os.pathsep + FORMAT_STR_USE_ENV_VAR.format_map({'name': name})
+ line = FORMAT_STR_SET_ENV_VAR.format_map(
+ {'name': name, 'value': value + extend})
+ if value not in env_state[name]:
+ env_state[name].add(value)
+ else:
+ if not _include_comments():
+ return []
+ line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line})
+ return [line]
+
+
+# generate commands for removing prepended underscores
+def _remove_ending_separators():
+ # do nothing if the shell extension does not implement the logic
+ if FORMAT_STR_REMOVE_TRAILING_SEPARATOR is None:
+ return []
+
+ global env_state
+ commands = []
+ for name in env_state:
+ # skip variables that already had values before this script started prepending
+ if name in os.environ:
+ continue
+ commands += [
+ FORMAT_STR_REMOVE_LEADING_SEPARATOR.format_map({'name': name}),
+ FORMAT_STR_REMOVE_TRAILING_SEPARATOR.format_map({'name': name})]
+ return commands
+
+
+def _set(name, value):
+ global env_state
+ env_state[name] = value
+ line = FORMAT_STR_SET_ENV_VAR.format_map(
+ {'name': name, 'value': value})
+ return [line]
+
+
+def _set_if_unset(name, value):
+ global env_state
+ line = FORMAT_STR_SET_ENV_VAR.format_map(
+ {'name': name, 'value': value})
+ if env_state.get(name, os.environ.get(name)):
+ line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line})
+ return [line]
+
+
+if __name__ == '__main__': # pragma: no cover
+ try:
+ rc = main()
+ except RuntimeError as e:
+ print(str(e), file=sys.stderr)
+ rc = 1
+ sys.exit(rc)
diff --git a/robobin_main/src/testing/testing/install/local_setup.bash b/robobin_main/src/testing/testing/install/local_setup.bash
new file mode 100644
index 00000000..03f00256
--- /dev/null
+++ b/robobin_main/src/testing/testing/install/local_setup.bash
@@ -0,0 +1,121 @@
+# generated from colcon_bash/shell/template/prefix.bash.em
+
+# This script extends the environment with all packages contained in this
+# prefix path.
+
+# a bash script is able to determine its own path if necessary
+if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+ _colcon_prefix_bash_COLCON_CURRENT_PREFIX="$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)"
+else
+ _colcon_prefix_bash_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+fi
+
+# function to prepend a value to a variable
+# which uses colons as separators
+# duplicates as well as trailing separators are avoided
+# first argument: the name of the result variable
+# second argument: the value to be prepended
+_colcon_prefix_bash_prepend_unique_value() {
+ # arguments
+ _listname="$1"
+ _value="$2"
+
+ # get values from variable
+ eval _values=\"\$$_listname\"
+ # backup the field separator
+ _colcon_prefix_bash_prepend_unique_value_IFS="$IFS"
+ IFS=":"
+ # start with the new value
+ _all_values="$_value"
+ _contained_value=""
+ # iterate over existing values in the variable
+ for _item in $_values; do
+ # ignore empty strings
+ if [ -z "$_item" ]; then
+ continue
+ fi
+ # ignore duplicates of _value
+ if [ "$_item" = "$_value" ]; then
+ _contained_value=1
+ continue
+ fi
+ # keep non-duplicate values
+ _all_values="$_all_values:$_item"
+ done
+ unset _item
+ if [ -z "$_contained_value" ]; then
+ if [ -n "$COLCON_TRACE" ]; then
+ if [ "$_all_values" = "$_value" ]; then
+ echo "export $_listname=$_value"
+ else
+ echo "export $_listname=$_value:\$$_listname"
+ fi
+ fi
+ fi
+ unset _contained_value
+ # restore the field separator
+ IFS="$_colcon_prefix_bash_prepend_unique_value_IFS"
+ unset _colcon_prefix_bash_prepend_unique_value_IFS
+ # export the updated variable
+ eval export $_listname=\"$_all_values\"
+ unset _all_values
+ unset _values
+
+ unset _value
+ unset _listname
+}
+
+# add this prefix to the COLCON_PREFIX_PATH
+_colcon_prefix_bash_prepend_unique_value COLCON_PREFIX_PATH "$_colcon_prefix_bash_COLCON_CURRENT_PREFIX"
+unset _colcon_prefix_bash_prepend_unique_value
+
+# check environment variable for custom Python executable
+if [ -n "$COLCON_PYTHON_EXECUTABLE" ]; then
+ if [ ! -f "$COLCON_PYTHON_EXECUTABLE" ]; then
+ echo "error: COLCON_PYTHON_EXECUTABLE '$COLCON_PYTHON_EXECUTABLE' doesn't exist"
+ return 1
+ fi
+ _colcon_python_executable="$COLCON_PYTHON_EXECUTABLE"
+else
+ # try the Python executable known at configure time
+ _colcon_python_executable="/usr/bin/python3"
+ # if it doesn't exist try a fall back
+ if [ ! -f "$_colcon_python_executable" ]; then
+ if ! /usr/bin/env python3 --version > /dev/null 2> /dev/null; then
+ echo "error: unable to find python3 executable"
+ return 1
+ fi
+ _colcon_python_executable=`/usr/bin/env python3 -c "import sys; print(sys.executable)"`
+ fi
+fi
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+_colcon_prefix_sh_source_script() {
+ if [ -f "$1" ]; then
+ if [ -n "$COLCON_TRACE" ]; then
+ echo "# . \"$1\""
+ fi
+ . "$1"
+ else
+ echo "not found: \"$1\"" 1>&2
+ fi
+}
+
+# get all commands in topological order
+_colcon_ordered_commands="$($_colcon_python_executable "$_colcon_prefix_bash_COLCON_CURRENT_PREFIX/_local_setup_util_sh.py" sh bash)"
+unset _colcon_python_executable
+if [ -n "$COLCON_TRACE" ]; then
+ echo "$(declare -f _colcon_prefix_sh_source_script)"
+ echo "# Execute generated script:"
+ echo "# <<<"
+ echo "${_colcon_ordered_commands}"
+ echo "# >>>"
+ echo "unset _colcon_prefix_sh_source_script"
+fi
+eval "${_colcon_ordered_commands}"
+unset _colcon_ordered_commands
+
+unset _colcon_prefix_sh_source_script
+
+unset _colcon_prefix_bash_COLCON_CURRENT_PREFIX
diff --git a/robobin_main/src/testing/testing/install/local_setup.ps1 b/robobin_main/src/testing/testing/install/local_setup.ps1
new file mode 100644
index 00000000..6f68c8de
--- /dev/null
+++ b/robobin_main/src/testing/testing/install/local_setup.ps1
@@ -0,0 +1,55 @@
+# generated from colcon_powershell/shell/template/prefix.ps1.em
+
+# This script extends the environment with all packages contained in this
+# prefix path.
+
+# check environment variable for custom Python executable
+if ($env:COLCON_PYTHON_EXECUTABLE) {
+ if (!(Test-Path "$env:COLCON_PYTHON_EXECUTABLE" -PathType Leaf)) {
+ echo "error: COLCON_PYTHON_EXECUTABLE '$env:COLCON_PYTHON_EXECUTABLE' doesn't exist"
+ exit 1
+ }
+ $_colcon_python_executable="$env:COLCON_PYTHON_EXECUTABLE"
+} else {
+ # use the Python executable known at configure time
+ $_colcon_python_executable="/usr/bin/python3"
+ # if it doesn't exist try a fall back
+ if (!(Test-Path "$_colcon_python_executable" -PathType Leaf)) {
+ if (!(Get-Command "python3" -ErrorAction SilentlyContinue)) {
+ echo "error: unable to find python3 executable"
+ exit 1
+ }
+ $_colcon_python_executable="python3"
+ }
+}
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+function _colcon_prefix_powershell_source_script {
+ param (
+ $_colcon_prefix_powershell_source_script_param
+ )
+ # source script with conditional trace output
+ if (Test-Path $_colcon_prefix_powershell_source_script_param) {
+ if ($env:COLCON_TRACE) {
+ echo ". '$_colcon_prefix_powershell_source_script_param'"
+ }
+ . "$_colcon_prefix_powershell_source_script_param"
+ } else {
+ Write-Error "not found: '$_colcon_prefix_powershell_source_script_param'"
+ }
+}
+
+# get all commands in topological order
+$_colcon_ordered_commands = & "$_colcon_python_executable" "$(Split-Path $PSCommandPath -Parent)/_local_setup_util_ps1.py" ps1
+
+# execute all commands in topological order
+if ($env:COLCON_TRACE) {
+ echo "Execute generated script:"
+ echo "<<<"
+ $_colcon_ordered_commands.Split([Environment]::NewLine, [StringSplitOptions]::RemoveEmptyEntries) | Write-Output
+ echo ">>>"
+}
+if ($_colcon_ordered_commands) {
+ $_colcon_ordered_commands.Split([Environment]::NewLine, [StringSplitOptions]::RemoveEmptyEntries) | Invoke-Expression
+}
diff --git a/robobin_main/src/testing/testing/install/local_setup.sh b/robobin_main/src/testing/testing/install/local_setup.sh
new file mode 100644
index 00000000..4d247b31
--- /dev/null
+++ b/robobin_main/src/testing/testing/install/local_setup.sh
@@ -0,0 +1,137 @@
+# generated from colcon_core/shell/template/prefix.sh.em
+
+# This script extends the environment with all packages contained in this
+# prefix path.
+
+# since a plain shell script can't determine its own path when being sourced
+# either use the provided COLCON_CURRENT_PREFIX
+# or fall back to the build time prefix (if it exists)
+_colcon_prefix_sh_COLCON_CURRENT_PREFIX="/home/robobin/robobin/robobin_main/src/testing/testing/install"
+if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+ if [ ! -d "$_colcon_prefix_sh_COLCON_CURRENT_PREFIX" ]; then
+ echo "The build time path \"$_colcon_prefix_sh_COLCON_CURRENT_PREFIX\" doesn't exist. Either source a script for a different shell or set the environment variable \"COLCON_CURRENT_PREFIX\" explicitly." 1>&2
+ unset _colcon_prefix_sh_COLCON_CURRENT_PREFIX
+ return 1
+ fi
+else
+ _colcon_prefix_sh_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+fi
+
+# function to prepend a value to a variable
+# which uses colons as separators
+# duplicates as well as trailing separators are avoided
+# first argument: the name of the result variable
+# second argument: the value to be prepended
+_colcon_prefix_sh_prepend_unique_value() {
+ # arguments
+ _listname="$1"
+ _value="$2"
+
+ # get values from variable
+ eval _values=\"\$$_listname\"
+ # backup the field separator
+ _colcon_prefix_sh_prepend_unique_value_IFS="$IFS"
+ IFS=":"
+ # start with the new value
+ _all_values="$_value"
+ _contained_value=""
+ # iterate over existing values in the variable
+ for _item in $_values; do
+ # ignore empty strings
+ if [ -z "$_item" ]; then
+ continue
+ fi
+ # ignore duplicates of _value
+ if [ "$_item" = "$_value" ]; then
+ _contained_value=1
+ continue
+ fi
+ # keep non-duplicate values
+ _all_values="$_all_values:$_item"
+ done
+ unset _item
+ if [ -z "$_contained_value" ]; then
+ if [ -n "$COLCON_TRACE" ]; then
+ if [ "$_all_values" = "$_value" ]; then
+ echo "export $_listname=$_value"
+ else
+ echo "export $_listname=$_value:\$$_listname"
+ fi
+ fi
+ fi
+ unset _contained_value
+ # restore the field separator
+ IFS="$_colcon_prefix_sh_prepend_unique_value_IFS"
+ unset _colcon_prefix_sh_prepend_unique_value_IFS
+ # export the updated variable
+ eval export $_listname=\"$_all_values\"
+ unset _all_values
+ unset _values
+
+ unset _value
+ unset _listname
+}
+
+# add this prefix to the COLCON_PREFIX_PATH
+_colcon_prefix_sh_prepend_unique_value COLCON_PREFIX_PATH "$_colcon_prefix_sh_COLCON_CURRENT_PREFIX"
+unset _colcon_prefix_sh_prepend_unique_value
+
+# check environment variable for custom Python executable
+if [ -n "$COLCON_PYTHON_EXECUTABLE" ]; then
+ if [ ! -f "$COLCON_PYTHON_EXECUTABLE" ]; then
+ echo "error: COLCON_PYTHON_EXECUTABLE '$COLCON_PYTHON_EXECUTABLE' doesn't exist"
+ return 1
+ fi
+ _colcon_python_executable="$COLCON_PYTHON_EXECUTABLE"
+else
+ # try the Python executable known at configure time
+ _colcon_python_executable="/usr/bin/python3"
+ # if it doesn't exist try a fall back
+ if [ ! -f "$_colcon_python_executable" ]; then
+ if ! /usr/bin/env python3 --version > /dev/null 2> /dev/null; then
+ echo "error: unable to find python3 executable"
+ return 1
+ fi
+ _colcon_python_executable=`/usr/bin/env python3 -c "import sys; print(sys.executable)"`
+ fi
+fi
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+_colcon_prefix_sh_source_script() {
+ if [ -f "$1" ]; then
+ if [ -n "$COLCON_TRACE" ]; then
+ echo "# . \"$1\""
+ fi
+ . "$1"
+ else
+ echo "not found: \"$1\"" 1>&2
+ fi
+}
+
+# get all commands in topological order
+_colcon_ordered_commands="$($_colcon_python_executable "$_colcon_prefix_sh_COLCON_CURRENT_PREFIX/_local_setup_util_sh.py" sh)"
+unset _colcon_python_executable
+if [ -n "$COLCON_TRACE" ]; then
+ echo "_colcon_prefix_sh_source_script() {
+ if [ -f \"\$1\" ]; then
+ if [ -n \"\$COLCON_TRACE\" ]; then
+ echo \"# . \\\"\$1\\\"\"
+ fi
+ . \"\$1\"
+ else
+ echo \"not found: \\\"\$1\\\"\" 1>&2
+ fi
+ }"
+ echo "# Execute generated script:"
+ echo "# <<<"
+ echo "${_colcon_ordered_commands}"
+ echo "# >>>"
+ echo "unset _colcon_prefix_sh_source_script"
+fi
+eval "${_colcon_ordered_commands}"
+unset _colcon_ordered_commands
+
+unset _colcon_prefix_sh_source_script
+
+unset _colcon_prefix_sh_COLCON_CURRENT_PREFIX
diff --git a/robobin_main/src/testing/testing/install/local_setup.zsh b/robobin_main/src/testing/testing/install/local_setup.zsh
new file mode 100644
index 00000000..b6487102
--- /dev/null
+++ b/robobin_main/src/testing/testing/install/local_setup.zsh
@@ -0,0 +1,134 @@
+# generated from colcon_zsh/shell/template/prefix.zsh.em
+
+# This script extends the environment with all packages contained in this
+# prefix path.
+
+# a zsh script is able to determine its own path if necessary
+if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+ _colcon_prefix_zsh_COLCON_CURRENT_PREFIX="$(builtin cd -q "`dirname "${(%):-%N}"`" > /dev/null && pwd)"
+else
+ _colcon_prefix_zsh_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+fi
+
+# function to convert array-like strings into arrays
+# to workaround SH_WORD_SPLIT not being set
+_colcon_prefix_zsh_convert_to_array() {
+ local _listname=$1
+ local _dollar="$"
+ local _split="{="
+ local _to_array="(\"$_dollar$_split$_listname}\")"
+ eval $_listname=$_to_array
+}
+
+# function to prepend a value to a variable
+# which uses colons as separators
+# duplicates as well as trailing separators are avoided
+# first argument: the name of the result variable
+# second argument: the value to be prepended
+_colcon_prefix_zsh_prepend_unique_value() {
+ # arguments
+ _listname="$1"
+ _value="$2"
+
+ # get values from variable
+ eval _values=\"\$$_listname\"
+ # backup the field separator
+ _colcon_prefix_zsh_prepend_unique_value_IFS="$IFS"
+ IFS=":"
+ # start with the new value
+ _all_values="$_value"
+ _contained_value=""
+ # workaround SH_WORD_SPLIT not being set
+ _colcon_prefix_zsh_convert_to_array _values
+ # iterate over existing values in the variable
+ for _item in $_values; do
+ # ignore empty strings
+ if [ -z "$_item" ]; then
+ continue
+ fi
+ # ignore duplicates of _value
+ if [ "$_item" = "$_value" ]; then
+ _contained_value=1
+ continue
+ fi
+ # keep non-duplicate values
+ _all_values="$_all_values:$_item"
+ done
+ unset _item
+ if [ -z "$_contained_value" ]; then
+ if [ -n "$COLCON_TRACE" ]; then
+ if [ "$_all_values" = "$_value" ]; then
+ echo "export $_listname=$_value"
+ else
+ echo "export $_listname=$_value:\$$_listname"
+ fi
+ fi
+ fi
+ unset _contained_value
+ # restore the field separator
+ IFS="$_colcon_prefix_zsh_prepend_unique_value_IFS"
+ unset _colcon_prefix_zsh_prepend_unique_value_IFS
+ # export the updated variable
+ eval export $_listname=\"$_all_values\"
+ unset _all_values
+ unset _values
+
+ unset _value
+ unset _listname
+}
+
+# add this prefix to the COLCON_PREFIX_PATH
+_colcon_prefix_zsh_prepend_unique_value COLCON_PREFIX_PATH "$_colcon_prefix_zsh_COLCON_CURRENT_PREFIX"
+unset _colcon_prefix_zsh_prepend_unique_value
+unset _colcon_prefix_zsh_convert_to_array
+
+# check environment variable for custom Python executable
+if [ -n "$COLCON_PYTHON_EXECUTABLE" ]; then
+ if [ ! -f "$COLCON_PYTHON_EXECUTABLE" ]; then
+ echo "error: COLCON_PYTHON_EXECUTABLE '$COLCON_PYTHON_EXECUTABLE' doesn't exist"
+ return 1
+ fi
+ _colcon_python_executable="$COLCON_PYTHON_EXECUTABLE"
+else
+ # try the Python executable known at configure time
+ _colcon_python_executable="/usr/bin/python3"
+ # if it doesn't exist try a fall back
+ if [ ! -f "$_colcon_python_executable" ]; then
+ if ! /usr/bin/env python3 --version > /dev/null 2> /dev/null; then
+ echo "error: unable to find python3 executable"
+ return 1
+ fi
+ _colcon_python_executable=`/usr/bin/env python3 -c "import sys; print(sys.executable)"`
+ fi
+fi
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+_colcon_prefix_sh_source_script() {
+ if [ -f "$1" ]; then
+ if [ -n "$COLCON_TRACE" ]; then
+ echo "# . \"$1\""
+ fi
+ . "$1"
+ else
+ echo "not found: \"$1\"" 1>&2
+ fi
+}
+
+# get all commands in topological order
+_colcon_ordered_commands="$($_colcon_python_executable "$_colcon_prefix_zsh_COLCON_CURRENT_PREFIX/_local_setup_util_sh.py" sh zsh)"
+unset _colcon_python_executable
+if [ -n "$COLCON_TRACE" ]; then
+ echo "$(declare -f _colcon_prefix_sh_source_script)"
+ echo "# Execute generated script:"
+ echo "# <<<"
+ echo "${_colcon_ordered_commands}"
+ echo "# >>>"
+ echo "unset _colcon_prefix_sh_source_script"
+fi
+eval "${_colcon_ordered_commands}"
+unset _colcon_ordered_commands
+
+unset _colcon_prefix_sh_source_script
+
+unset _colcon_prefix_zsh_COLCON_CURRENT_PREFIX
diff --git a/robobin_main/src/testing/testing/install/setup.bash b/robobin_main/src/testing/testing/install/setup.bash
new file mode 100644
index 00000000..4aeadb4c
--- /dev/null
+++ b/robobin_main/src/testing/testing/install/setup.bash
@@ -0,0 +1,34 @@
+# generated from colcon_bash/shell/template/prefix_chain.bash.em
+
+# This script extends the environment with the environment of other prefix
+# paths which were sourced when this file was generated as well as all packages
+# contained in this prefix path.
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+_colcon_prefix_chain_bash_source_script() {
+ if [ -f "$1" ]; then
+ if [ -n "$COLCON_TRACE" ]; then
+ echo "# . \"$1\""
+ fi
+ . "$1"
+ else
+ echo "not found: \"$1\"" 1>&2
+ fi
+}
+
+# source chained prefixes
+# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
+COLCON_CURRENT_PREFIX="/opt/ros/jazzy"
+_colcon_prefix_chain_bash_source_script "$COLCON_CURRENT_PREFIX/local_setup.bash"
+# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
+COLCON_CURRENT_PREFIX="/home/robobin/Robobin_Project/ros2/robobin_main/install"
+_colcon_prefix_chain_bash_source_script "$COLCON_CURRENT_PREFIX/local_setup.bash"
+
+# source this prefix
+# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
+COLCON_CURRENT_PREFIX="$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)"
+_colcon_prefix_chain_bash_source_script "$COLCON_CURRENT_PREFIX/local_setup.bash"
+
+unset COLCON_CURRENT_PREFIX
+unset _colcon_prefix_chain_bash_source_script
diff --git a/robobin_main/src/testing/testing/install/setup.ps1 b/robobin_main/src/testing/testing/install/setup.ps1
new file mode 100644
index 00000000..556a8661
--- /dev/null
+++ b/robobin_main/src/testing/testing/install/setup.ps1
@@ -0,0 +1,30 @@
+# generated from colcon_powershell/shell/template/prefix_chain.ps1.em
+
+# This script extends the environment with the environment of other prefix
+# paths which were sourced when this file was generated as well as all packages
+# contained in this prefix path.
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+function _colcon_prefix_chain_powershell_source_script {
+ param (
+ $_colcon_prefix_chain_powershell_source_script_param
+ )
+ # source script with conditional trace output
+ if (Test-Path $_colcon_prefix_chain_powershell_source_script_param) {
+ if ($env:COLCON_TRACE) {
+ echo ". '$_colcon_prefix_chain_powershell_source_script_param'"
+ }
+ . "$_colcon_prefix_chain_powershell_source_script_param"
+ } else {
+ Write-Error "not found: '$_colcon_prefix_chain_powershell_source_script_param'"
+ }
+}
+
+# source chained prefixes
+_colcon_prefix_chain_powershell_source_script "/opt/ros/jazzy\local_setup.ps1"
+_colcon_prefix_chain_powershell_source_script "/home/robobin/Robobin_Project/ros2/robobin_main/install\local_setup.ps1"
+
+# source this prefix
+$env:COLCON_CURRENT_PREFIX=(Split-Path $PSCommandPath -Parent)
+_colcon_prefix_chain_powershell_source_script "$env:COLCON_CURRENT_PREFIX\local_setup.ps1"
diff --git a/robobin_main/src/testing/testing/install/setup.sh b/robobin_main/src/testing/testing/install/setup.sh
new file mode 100644
index 00000000..bc4a97be
--- /dev/null
+++ b/robobin_main/src/testing/testing/install/setup.sh
@@ -0,0 +1,49 @@
+# generated from colcon_core/shell/template/prefix_chain.sh.em
+
+# This script extends the environment with the environment of other prefix
+# paths which were sourced when this file was generated as well as all packages
+# contained in this prefix path.
+
+# since a plain shell script can't determine its own path when being sourced
+# either use the provided COLCON_CURRENT_PREFIX
+# or fall back to the build time prefix (if it exists)
+_colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX=/home/robobin/robobin/robobin_main/src/testing/testing/install
+if [ ! -z "$COLCON_CURRENT_PREFIX" ]; then
+ _colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+elif [ ! -d "$_colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX" ]; then
+ echo "The build time path \"$_colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX\" doesn't exist. Either source a script for a different shell or set the environment variable \"COLCON_CURRENT_PREFIX\" explicitly." 1>&2
+ unset _colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX
+ return 1
+fi
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+_colcon_prefix_chain_sh_source_script() {
+ if [ -f "$1" ]; then
+ if [ -n "$COLCON_TRACE" ]; then
+ echo "# . \"$1\""
+ fi
+ . "$1"
+ else
+ echo "not found: \"$1\"" 1>&2
+ fi
+}
+
+# source chained prefixes
+# setting COLCON_CURRENT_PREFIX avoids relying on the build time prefix of the sourced script
+COLCON_CURRENT_PREFIX="/opt/ros/jazzy"
+_colcon_prefix_chain_sh_source_script "$COLCON_CURRENT_PREFIX/local_setup.sh"
+
+# setting COLCON_CURRENT_PREFIX avoids relying on the build time prefix of the sourced script
+COLCON_CURRENT_PREFIX="/home/robobin/Robobin_Project/ros2/robobin_main/install"
+_colcon_prefix_chain_sh_source_script "$COLCON_CURRENT_PREFIX/local_setup.sh"
+
+
+# source this prefix
+# setting COLCON_CURRENT_PREFIX avoids relying on the build time prefix of the sourced script
+COLCON_CURRENT_PREFIX="$_colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX"
+_colcon_prefix_chain_sh_source_script "$COLCON_CURRENT_PREFIX/local_setup.sh"
+
+unset _colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX
+unset _colcon_prefix_chain_sh_source_script
+unset COLCON_CURRENT_PREFIX
diff --git a/robobin_main/src/testing/testing/install/setup.zsh b/robobin_main/src/testing/testing/install/setup.zsh
new file mode 100644
index 00000000..770dee49
--- /dev/null
+++ b/robobin_main/src/testing/testing/install/setup.zsh
@@ -0,0 +1,34 @@
+# generated from colcon_zsh/shell/template/prefix_chain.zsh.em
+
+# This script extends the environment with the environment of other prefix
+# paths which were sourced when this file was generated as well as all packages
+# contained in this prefix path.
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+_colcon_prefix_chain_zsh_source_script() {
+ if [ -f "$1" ]; then
+ if [ -n "$COLCON_TRACE" ]; then
+ echo "# . \"$1\""
+ fi
+ . "$1"
+ else
+ echo "not found: \"$1\"" 1>&2
+ fi
+}
+
+# source chained prefixes
+# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
+COLCON_CURRENT_PREFIX="/opt/ros/jazzy"
+_colcon_prefix_chain_zsh_source_script "$COLCON_CURRENT_PREFIX/local_setup.zsh"
+# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
+COLCON_CURRENT_PREFIX="/home/robobin/Robobin_Project/ros2/robobin_main/install"
+_colcon_prefix_chain_zsh_source_script "$COLCON_CURRENT_PREFIX/local_setup.zsh"
+
+# source this prefix
+# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
+COLCON_CURRENT_PREFIX="$(builtin cd -q "`dirname "${(%):-%N}"`" > /dev/null && pwd)"
+_colcon_prefix_chain_zsh_source_script "$COLCON_CURRENT_PREFIX/local_setup.zsh"
+
+unset COLCON_CURRENT_PREFIX
+unset _colcon_prefix_chain_zsh_source_script
diff --git a/robobin_main/src/testing/testing/log/COLCON_IGNORE b/robobin_main/src/testing/testing/log/COLCON_IGNORE
new file mode 100644
index 00000000..e69de29b
diff --git a/robobin_main/src/testing/testing/log/build_2024-12-16_13-35-50/events.log b/robobin_main/src/testing/testing/log/build_2024-12-16_13-35-50/events.log
new file mode 100644
index 00000000..ec2d2aa2
--- /dev/null
+++ b/robobin_main/src/testing/testing/log/build_2024-12-16_13-35-50/events.log
@@ -0,0 +1,2 @@
+[0.000000] (-) TimerEvent: {}
+[0.001219] (-) EventReactorShutdown: {}
diff --git a/robobin_main/src/testing/testing/log/build_2024-12-16_13-35-50/logger_all.log b/robobin_main/src/testing/testing/log/build_2024-12-16_13-35-50/logger_all.log
new file mode 100644
index 00000000..a30983f9
--- /dev/null
+++ b/robobin_main/src/testing/testing/log/build_2024-12-16_13-35-50/logger_all.log
@@ -0,0 +1,77 @@
+[0.150s] DEBUG:colcon:Command line arguments: ['/usr/bin/colcon', 'build']
+[0.150s] DEBUG:colcon:Parsed command line arguments: Namespace(log_base=None, log_level=None, verb_name='build', build_base='build', install_base='install', merge_install=False, symlink_install=False, test_result_base=None, continue_on_error=False, executor='parallel', parallel_workers=4, event_handlers=None, ignore_user_meta=False, metas=['./colcon.meta'], base_paths=['.'], packages_ignore=None, packages_ignore_regex=None, paths=None, packages_up_to=None, packages_up_to_regex=None, packages_above=None, packages_above_and_dependencies=None, packages_above_depth=None, packages_select_by_dep=None, packages_skip_by_dep=None, packages_skip_up_to=None, packages_select_build_failed=False, packages_skip_build_finished=False, packages_select_test_failures=False, packages_skip_test_passed=False, packages_select=None, packages_skip=None, packages_select_regex=None, packages_skip_regex=None, packages_start=None, packages_end=None, allow_overriding=[], cmake_args=None, cmake_target=None, cmake_target_skip_unavailable=False, cmake_clean_cache=False, cmake_clean_first=False, cmake_force_configure=False, ament_cmake_args=None, catkin_cmake_args=None, catkin_skip_building_tests=False, mixin_files=None, mixin=None, verb_parser=<colcon_mixin.mixin.mixin_argument.MixinArgumentDecorator object at 0xffff7f82d4f0>, verb_extension=<colcon_core.verb.build.BuildVerb object at 0xffff7f7fc5f0>, main=<bound method BuildVerb.main of <colcon_core.verb.build.BuildVerb object at 0xffff7f7fc5f0>>, mixin_verb=('build',))
+[0.206s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) check parameters
+[0.207s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) check parameters
+[0.207s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) check parameters
+[0.207s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) check parameters
+[0.207s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) discover
+[0.207s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) discover
+[0.207s] INFO:colcon.colcon_core.package_discovery:Crawling recursively for packages in '/home/robobin/robobin/robobin_main/src/testing/testing'
+[0.207s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ignore', 'ignore_ament_install']
+[0.207s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore'
+[0.207s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore_ament_install'
+[0.207s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_pkg']
+[0.207s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_pkg'
+[0.207s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_meta']
+[0.207s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_meta'
+[0.208s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ros']
+[0.208s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ros'
+[0.246s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['cmake', 'python']
+[0.246s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'cmake'
+[0.246s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'python'
+[0.246s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['python_setup_py']
+[0.246s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'python_setup_py'
+[0.246s] Level 1:colcon.colcon_core.package_identification:_identify(__pycache__) by extensions ['ignore', 'ignore_ament_install']
+[0.247s] Level 1:colcon.colcon_core.package_identification:_identify(__pycache__) by extension 'ignore'
+[0.247s] Level 1:colcon.colcon_core.package_identification:_identify(__pycache__) by extension 'ignore_ament_install'
+[0.247s] Level 1:colcon.colcon_core.package_identification:_identify(__pycache__) by extensions ['colcon_pkg']
+[0.247s] Level 1:colcon.colcon_core.package_identification:_identify(__pycache__) by extension 'colcon_pkg'
+[0.247s] Level 1:colcon.colcon_core.package_identification:_identify(__pycache__) by extensions ['colcon_meta']
+[0.247s] Level 1:colcon.colcon_core.package_identification:_identify(__pycache__) by extension 'colcon_meta'
+[0.247s] Level 1:colcon.colcon_core.package_identification:_identify(__pycache__) by extensions ['ros']
+[0.247s] Level 1:colcon.colcon_core.package_identification:_identify(__pycache__) by extension 'ros'
+[0.247s] Level 1:colcon.colcon_core.package_identification:_identify(__pycache__) by extensions ['cmake', 'python']
+[0.247s] Level 1:colcon.colcon_core.package_identification:_identify(__pycache__) by extension 'cmake'
+[0.247s] Level 1:colcon.colcon_core.package_identification:_identify(__pycache__) by extension 'python'
+[0.247s] Level 1:colcon.colcon_core.package_identification:_identify(__pycache__) by extensions ['python_setup_py']
+[0.247s] Level 1:colcon.colcon_core.package_identification:_identify(__pycache__) by extension 'python_setup_py'
+[0.247s] Level 1:colcon.colcon_core.package_identification:_identify(build) by extensions ['ignore', 'ignore_ament_install']
+[0.247s] Level 1:colcon.colcon_core.package_identification:_identify(build) by extension 'ignore'
+[0.247s] Level 1:colcon.colcon_core.package_identification:_identify(build) ignored
+[0.248s] Level 1:colcon.colcon_core.package_identification:_identify(install) by extensions ['ignore', 'ignore_ament_install']
+[0.248s] Level 1:colcon.colcon_core.package_identification:_identify(install) by extension 'ignore'
+[0.248s] Level 1:colcon.colcon_core.package_identification:_identify(install) ignored
+[0.248s] Level 1:colcon.colcon_core.package_identification:_identify(log) by extensions ['ignore', 'ignore_ament_install']
+[0.248s] Level 1:colcon.colcon_core.package_identification:_identify(log) by extension 'ignore'
+[0.248s] Level 1:colcon.colcon_core.package_identification:_identify(log) ignored
+[0.248s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) using defaults
+[0.248s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) discover
+[0.248s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) using defaults
+[0.248s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) discover
+[0.248s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) using defaults
+[0.271s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) check parameters
+[0.272s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) discover
+[0.274s] DEBUG:colcon.colcon_installed_package_information.package_discovery:Found 4 installed packages in /home/robobin/Robobin_Project/ros2/robobin_main/install
+[0.276s] DEBUG:colcon.colcon_installed_package_information.package_discovery:Found 335 installed packages in /opt/ros/jazzy
+[0.279s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) using defaults
+[0.345s] INFO:colcon.colcon_core.executor:Executing jobs using 'parallel' executor
+[0.347s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete
+[0.347s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:closing loop
+[0.347s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:loop closed
+[0.347s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete finished with '0'
+[0.348s] DEBUG:colcon.colcon_core.event_reactor:joining thread
+[0.363s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.terminal_notifier': Not used on non-Darwin systems
+[0.364s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.win32': Not used on non-Windows systems
+[0.364s] INFO:colcon.colcon_notification.desktop_notification:Sending desktop notification using 'notify2'
+[0.388s] DEBUG:colcon.colcon_core.event_reactor:joined thread
+[0.391s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_core.shell.bat': Not used on non-Windows systems
+[0.392s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/robobin/robobin/robobin_main/src/testing/testing/install/local_setup.ps1'
+[0.393s] INFO:colcon.colcon_core.shell:Creating prefix util module '/home/robobin/robobin/robobin_main/src/testing/testing/install/_local_setup_util_ps1.py'
+[0.395s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/robobin/robobin/robobin_main/src/testing/testing/install/setup.ps1'
+[0.397s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/robobin/robobin/robobin_main/src/testing/testing/install/local_setup.sh'
+[0.398s] INFO:colcon.colcon_core.shell:Creating prefix util module '/home/robobin/robobin/robobin_main/src/testing/testing/install/_local_setup_util_sh.py'
+[0.398s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/robobin/robobin/robobin_main/src/testing/testing/install/setup.sh'
+[0.400s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/robobin/robobin/robobin_main/src/testing/testing/install/local_setup.bash'
+[0.401s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/robobin/robobin/robobin_main/src/testing/testing/install/setup.bash'
+[0.403s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/robobin/robobin/robobin_main/src/testing/testing/install/local_setup.zsh'
+[0.403s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/robobin/robobin/robobin_main/src/testing/testing/install/setup.zsh'
diff --git a/robobin_main/src/testing/testing/log/build_2024-12-16_13-40-07/events.log b/robobin_main/src/testing/testing/log/build_2024-12-16_13-40-07/events.log
new file mode 100644
index 00000000..929542cf
--- /dev/null
+++ b/robobin_main/src/testing/testing/log/build_2024-12-16_13-40-07/events.log
@@ -0,0 +1,2 @@
+[0.000000] (-) TimerEvent: {}
+[0.001135] (-) EventReactorShutdown: {}
diff --git a/robobin_main/src/testing/testing/log/build_2024-12-16_13-40-07/logger_all.log b/robobin_main/src/testing/testing/log/build_2024-12-16_13-40-07/logger_all.log
new file mode 100644
index 00000000..cc7cbbf5
--- /dev/null
+++ b/robobin_main/src/testing/testing/log/build_2024-12-16_13-40-07/logger_all.log
@@ -0,0 +1,77 @@
+[0.152s] DEBUG:colcon:Command line arguments: ['/usr/bin/colcon', 'build']
+[0.152s] DEBUG:colcon:Parsed command line arguments: Namespace(log_base=None, log_level=None, verb_name='build', build_base='build', install_base='install', merge_install=False, symlink_install=False, test_result_base=None, continue_on_error=False, executor='parallel', parallel_workers=4, event_handlers=None, ignore_user_meta=False, metas=['./colcon.meta'], base_paths=['.'], packages_ignore=None, packages_ignore_regex=None, paths=None, packages_up_to=None, packages_up_to_regex=None, packages_above=None, packages_above_and_dependencies=None, packages_above_depth=None, packages_select_by_dep=None, packages_skip_by_dep=None, packages_skip_up_to=None, packages_select_build_failed=False, packages_skip_build_finished=False, packages_select_test_failures=False, packages_skip_test_passed=False, packages_select=None, packages_skip=None, packages_select_regex=None, packages_skip_regex=None, packages_start=None, packages_end=None, allow_overriding=[], cmake_args=None, cmake_target=None, cmake_target_skip_unavailable=False, cmake_clean_cache=False, cmake_clean_first=False, cmake_force_configure=False, ament_cmake_args=None, catkin_cmake_args=None, catkin_skip_building_tests=False, mixin_files=None, mixin=None, verb_parser=<colcon_mixin.mixin.mixin_argument.MixinArgumentDecorator object at 0xffff80de1460>, verb_extension=<colcon_core.verb.build.BuildVerb object at 0xffff80de1280>, main=<bound method BuildVerb.main of <colcon_core.verb.build.BuildVerb object at 0xffff80de1280>>, mixin_verb=('build',))
+[0.208s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) check parameters
+[0.209s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) check parameters
+[0.209s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) check parameters
+[0.209s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) check parameters
+[0.209s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) discover
+[0.209s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) discover
+[0.209s] INFO:colcon.colcon_core.package_discovery:Crawling recursively for packages in '/home/robobin/robobin/robobin_main/src/testing/testing'
+[0.209s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ignore', 'ignore_ament_install']
+[0.209s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore'
+[0.209s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore_ament_install'
+[0.209s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_pkg']
+[0.209s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_pkg'
+[0.209s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_meta']
+[0.209s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_meta'
+[0.209s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ros']
+[0.209s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ros'
+[0.248s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['cmake', 'python']
+[0.248s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'cmake'
+[0.248s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'python'
+[0.248s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['python_setup_py']
+[0.248s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'python_setup_py'
+[0.248s] Level 1:colcon.colcon_core.package_identification:_identify(__pycache__) by extensions ['ignore', 'ignore_ament_install']
+[0.249s] Level 1:colcon.colcon_core.package_identification:_identify(__pycache__) by extension 'ignore'
+[0.249s] Level 1:colcon.colcon_core.package_identification:_identify(__pycache__) by extension 'ignore_ament_install'
+[0.249s] Level 1:colcon.colcon_core.package_identification:_identify(__pycache__) by extensions ['colcon_pkg']
+[0.249s] Level 1:colcon.colcon_core.package_identification:_identify(__pycache__) by extension 'colcon_pkg'
+[0.249s] Level 1:colcon.colcon_core.package_identification:_identify(__pycache__) by extensions ['colcon_meta']
+[0.249s] Level 1:colcon.colcon_core.package_identification:_identify(__pycache__) by extension 'colcon_meta'
+[0.249s] Level 1:colcon.colcon_core.package_identification:_identify(__pycache__) by extensions ['ros']
+[0.249s] Level 1:colcon.colcon_core.package_identification:_identify(__pycache__) by extension 'ros'
+[0.249s] Level 1:colcon.colcon_core.package_identification:_identify(__pycache__) by extensions ['cmake', 'python']
+[0.249s] Level 1:colcon.colcon_core.package_identification:_identify(__pycache__) by extension 'cmake'
+[0.249s] Level 1:colcon.colcon_core.package_identification:_identify(__pycache__) by extension 'python'
+[0.249s] Level 1:colcon.colcon_core.package_identification:_identify(__pycache__) by extensions ['python_setup_py']
+[0.249s] Level 1:colcon.colcon_core.package_identification:_identify(__pycache__) by extension 'python_setup_py'
+[0.249s] Level 1:colcon.colcon_core.package_identification:_identify(build) by extensions ['ignore', 'ignore_ament_install']
+[0.249s] Level 1:colcon.colcon_core.package_identification:_identify(build) by extension 'ignore'
+[0.249s] Level 1:colcon.colcon_core.package_identification:_identify(build) ignored
+[0.250s] Level 1:colcon.colcon_core.package_identification:_identify(install) by extensions ['ignore', 'ignore_ament_install']
+[0.250s] Level 1:colcon.colcon_core.package_identification:_identify(install) by extension 'ignore'
+[0.250s] Level 1:colcon.colcon_core.package_identification:_identify(install) ignored
+[0.250s] Level 1:colcon.colcon_core.package_identification:_identify(log) by extensions ['ignore', 'ignore_ament_install']
+[0.250s] Level 1:colcon.colcon_core.package_identification:_identify(log) by extension 'ignore'
+[0.250s] Level 1:colcon.colcon_core.package_identification:_identify(log) ignored
+[0.250s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) using defaults
+[0.250s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) discover
+[0.250s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) using defaults
+[0.250s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) discover
+[0.250s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) using defaults
+[0.274s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) check parameters
+[0.274s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) discover
+[0.276s] DEBUG:colcon.colcon_installed_package_information.package_discovery:Found 4 installed packages in /home/robobin/Robobin_Project/ros2/robobin_main/install
+[0.279s] DEBUG:colcon.colcon_installed_package_information.package_discovery:Found 335 installed packages in /opt/ros/jazzy
+[0.281s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) using defaults
+[0.348s] INFO:colcon.colcon_core.executor:Executing jobs using 'parallel' executor
+[0.350s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete
+[0.350s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:closing loop
+[0.350s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:loop closed
+[0.350s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete finished with '0'
+[0.350s] DEBUG:colcon.colcon_core.event_reactor:joining thread
+[0.368s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.terminal_notifier': Not used on non-Darwin systems
+[0.368s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.win32': Not used on non-Windows systems
+[0.368s] INFO:colcon.colcon_notification.desktop_notification:Sending desktop notification using 'notify2'
+[0.391s] DEBUG:colcon.colcon_core.event_reactor:joined thread
+[0.394s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_core.shell.bat': Not used on non-Windows systems
+[0.395s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/robobin/robobin/robobin_main/src/testing/testing/install/local_setup.ps1'
+[0.396s] INFO:colcon.colcon_core.shell:Creating prefix util module '/home/robobin/robobin/robobin_main/src/testing/testing/install/_local_setup_util_ps1.py'
+[0.398s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/robobin/robobin/robobin_main/src/testing/testing/install/setup.ps1'
+[0.400s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/robobin/robobin/robobin_main/src/testing/testing/install/local_setup.sh'
+[0.401s] INFO:colcon.colcon_core.shell:Creating prefix util module '/home/robobin/robobin/robobin_main/src/testing/testing/install/_local_setup_util_sh.py'
+[0.402s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/robobin/robobin/robobin_main/src/testing/testing/install/setup.sh'
+[0.403s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/robobin/robobin/robobin_main/src/testing/testing/install/local_setup.bash'
+[0.405s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/robobin/robobin/robobin_main/src/testing/testing/install/setup.bash'
+[0.406s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/robobin/robobin/robobin_main/src/testing/testing/install/local_setup.zsh'
+[0.408s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/robobin/robobin/robobin_main/src/testing/testing/install/setup.zsh'
diff --git a/robobin_main/src/testing/testing/log/build_2024-12-16_13-44-40/events.log b/robobin_main/src/testing/testing/log/build_2024-12-16_13-44-40/events.log
new file mode 100644
index 00000000..28e5d686
--- /dev/null
+++ b/robobin_main/src/testing/testing/log/build_2024-12-16_13-44-40/events.log
@@ -0,0 +1,2 @@
+[0.000000] (-) TimerEvent: {}
+[0.000832] (-) EventReactorShutdown: {}
diff --git a/robobin_main/src/testing/testing/log/build_2024-12-16_13-44-40/logger_all.log b/robobin_main/src/testing/testing/log/build_2024-12-16_13-44-40/logger_all.log
new file mode 100644
index 00000000..3577e3cc
--- /dev/null
+++ b/robobin_main/src/testing/testing/log/build_2024-12-16_13-44-40/logger_all.log
@@ -0,0 +1,77 @@
+[0.157s] DEBUG:colcon:Command line arguments: ['/usr/bin/colcon', 'build']
+[0.157s] DEBUG:colcon:Parsed command line arguments: Namespace(log_base=None, log_level=None, verb_name='build', build_base='build', install_base='install', merge_install=False, symlink_install=False, test_result_base=None, continue_on_error=False, executor='parallel', parallel_workers=4, event_handlers=None, ignore_user_meta=False, metas=['./colcon.meta'], base_paths=['.'], packages_ignore=None, packages_ignore_regex=None, paths=None, packages_up_to=None, packages_up_to_regex=None, packages_above=None, packages_above_and_dependencies=None, packages_above_depth=None, packages_select_by_dep=None, packages_skip_by_dep=None, packages_skip_up_to=None, packages_select_build_failed=False, packages_skip_build_finished=False, packages_select_test_failures=False, packages_skip_test_passed=False, packages_select=None, packages_skip=None, packages_select_regex=None, packages_skip_regex=None, packages_start=None, packages_end=None, allow_overriding=[], cmake_args=None, cmake_target=None, cmake_target_skip_unavailable=False, cmake_clean_cache=False, cmake_clean_first=False, cmake_force_configure=False, ament_cmake_args=None, catkin_cmake_args=None, catkin_skip_building_tests=False, mixin_files=None, mixin=None, verb_parser=<colcon_mixin.mixin.mixin_argument.MixinArgumentDecorator object at 0xffffb34e5250>, verb_extension=<colcon_core.verb.build.BuildVerb object at 0xffffb34e4f50>, main=<bound method BuildVerb.main of <colcon_core.verb.build.BuildVerb object at 0xffffb34e4f50>>, mixin_verb=('build',))
+[0.216s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) check parameters
+[0.216s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) check parameters
+[0.216s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) check parameters
+[0.216s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) check parameters
+[0.216s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) discover
+[0.217s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) discover
+[0.217s] INFO:colcon.colcon_core.package_discovery:Crawling recursively for packages in '/home/robobin/robobin/robobin_main/src/testing/testing'
+[0.217s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ignore', 'ignore_ament_install']
+[0.217s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore'
+[0.217s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore_ament_install'
+[0.217s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_pkg']
+[0.217s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_pkg'
+[0.217s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_meta']
+[0.217s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_meta'
+[0.217s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ros']
+[0.217s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ros'
+[0.258s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['cmake', 'python']
+[0.258s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'cmake'
+[0.258s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'python'
+[0.258s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['python_setup_py']
+[0.258s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'python_setup_py'
+[0.258s] Level 1:colcon.colcon_core.package_identification:_identify(__pycache__) by extensions ['ignore', 'ignore_ament_install']
+[0.258s] Level 1:colcon.colcon_core.package_identification:_identify(__pycache__) by extension 'ignore'
+[0.258s] Level 1:colcon.colcon_core.package_identification:_identify(__pycache__) by extension 'ignore_ament_install'
+[0.258s] Level 1:colcon.colcon_core.package_identification:_identify(__pycache__) by extensions ['colcon_pkg']
+[0.258s] Level 1:colcon.colcon_core.package_identification:_identify(__pycache__) by extension 'colcon_pkg'
+[0.258s] Level 1:colcon.colcon_core.package_identification:_identify(__pycache__) by extensions ['colcon_meta']
+[0.258s] Level 1:colcon.colcon_core.package_identification:_identify(__pycache__) by extension 'colcon_meta'
+[0.258s] Level 1:colcon.colcon_core.package_identification:_identify(__pycache__) by extensions ['ros']
+[0.258s] Level 1:colcon.colcon_core.package_identification:_identify(__pycache__) by extension 'ros'
+[0.259s] Level 1:colcon.colcon_core.package_identification:_identify(__pycache__) by extensions ['cmake', 'python']
+[0.259s] Level 1:colcon.colcon_core.package_identification:_identify(__pycache__) by extension 'cmake'
+[0.259s] Level 1:colcon.colcon_core.package_identification:_identify(__pycache__) by extension 'python'
+[0.259s] Level 1:colcon.colcon_core.package_identification:_identify(__pycache__) by extensions ['python_setup_py']
+[0.259s] Level 1:colcon.colcon_core.package_identification:_identify(__pycache__) by extension 'python_setup_py'
+[0.259s] Level 1:colcon.colcon_core.package_identification:_identify(build) by extensions ['ignore', 'ignore_ament_install']
+[0.259s] Level 1:colcon.colcon_core.package_identification:_identify(build) by extension 'ignore'
+[0.259s] Level 1:colcon.colcon_core.package_identification:_identify(build) ignored
+[0.259s] Level 1:colcon.colcon_core.package_identification:_identify(install) by extensions ['ignore', 'ignore_ament_install']
+[0.259s] Level 1:colcon.colcon_core.package_identification:_identify(install) by extension 'ignore'
+[0.259s] Level 1:colcon.colcon_core.package_identification:_identify(install) ignored
+[0.259s] Level 1:colcon.colcon_core.package_identification:_identify(log) by extensions ['ignore', 'ignore_ament_install']
+[0.259s] Level 1:colcon.colcon_core.package_identification:_identify(log) by extension 'ignore'
+[0.259s] Level 1:colcon.colcon_core.package_identification:_identify(log) ignored
+[0.259s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) using defaults
+[0.260s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) discover
+[0.260s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) using defaults
+[0.260s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) discover
+[0.260s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) using defaults
+[0.284s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) check parameters
+[0.284s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) discover
+[0.287s] DEBUG:colcon.colcon_installed_package_information.package_discovery:Found 4 installed packages in /home/robobin/Robobin_Project/ros2/robobin_main/install
+[0.289s] DEBUG:colcon.colcon_installed_package_information.package_discovery:Found 335 installed packages in /opt/ros/jazzy
+[0.292s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) using defaults
+[0.362s] INFO:colcon.colcon_core.executor:Executing jobs using 'parallel' executor
+[0.363s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete
+[0.364s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:closing loop
+[0.364s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:loop closed
+[0.364s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete finished with '0'
+[0.364s] DEBUG:colcon.colcon_core.event_reactor:joining thread
+[0.381s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.terminal_notifier': Not used on non-Darwin systems
+[0.381s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.win32': Not used on non-Windows systems
+[0.381s] INFO:colcon.colcon_notification.desktop_notification:Sending desktop notification using 'notify2'
+[0.406s] DEBUG:colcon.colcon_core.event_reactor:joined thread
+[0.409s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_core.shell.bat': Not used on non-Windows systems
+[0.410s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/robobin/robobin/robobin_main/src/testing/testing/install/local_setup.ps1'
+[0.411s] INFO:colcon.colcon_core.shell:Creating prefix util module '/home/robobin/robobin/robobin_main/src/testing/testing/install/_local_setup_util_ps1.py'
+[0.413s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/robobin/robobin/robobin_main/src/testing/testing/install/setup.ps1'
+[0.415s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/robobin/robobin/robobin_main/src/testing/testing/install/local_setup.sh'
+[0.417s] INFO:colcon.colcon_core.shell:Creating prefix util module '/home/robobin/robobin/robobin_main/src/testing/testing/install/_local_setup_util_sh.py'
+[0.417s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/robobin/robobin/robobin_main/src/testing/testing/install/setup.sh'
+[0.419s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/robobin/robobin/robobin_main/src/testing/testing/install/local_setup.bash'
+[0.421s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/robobin/robobin/robobin_main/src/testing/testing/install/setup.bash'
+[0.423s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/robobin/robobin/robobin_main/src/testing/testing/install/local_setup.zsh'
+[0.425s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/robobin/robobin/robobin_main/src/testing/testing/install/setup.zsh'
diff --git a/robobin_main/src/testing/testing/log/latest b/robobin_main/src/testing/testing/log/latest
new file mode 120000
index 00000000..b57d247c
--- /dev/null
+++ b/robobin_main/src/testing/testing/log/latest
@@ -0,0 +1 @@
+latest_build
\ No newline at end of file
diff --git a/robobin_main/src/testing/testing/log/latest_build b/robobin_main/src/testing/testing/log/latest_build
new file mode 120000
index 00000000..05ee0a2b
--- /dev/null
+++ b/robobin_main/src/testing/testing/log/latest_build
@@ -0,0 +1 @@
+build_2024-12-16_13-44-40
\ No newline at end of file
diff --git a/ros2/build/robobin/build/lib/robobin/control_feedback.py b/ros2/build/robobin/build/lib/robobin/control_feedback.py
new file mode 100644
index 00000000..78a1edb7
--- /dev/null
+++ b/ros2/build/robobin/build/lib/robobin/control_feedback.py
@@ -0,0 +1,320 @@
+import rclpy
+from rclpy.node import Node
+from geometry_msgs.msg import Twist
+from std_msgs.msg import Int64, Float64
+from gpiozero import PWMOutputDevice, DigitalOutputDevice
+import time
+from rclpy.clock import Clock
+from rclpy.time import Time
+import bisect
+
+
+
+# Example of how you could implement a simple PID controller
+class PIDController:
+ def __init__(self, kp, ki, kd):
+ self.kp = kp
+ self.ki = ki
+ self.kd = kd
+ self.prev_error = 0
+ self.integral = 0
+
+ def reset(self):
+ self.prev_error = 0
+ self.integral = 0
+
+ def calculate(self, error, dt):
+ self.integral += error * dt
+ derivative = (error - self.prev_error) / dt
+ output = self.kp * error + self.ki * self.integral + self.kd * derivative
+ self.prev_error = error
+ return output
+
+
+
+
+class MotorControlNode(Node):
+ def __init__(self):
+ super().__init__('control_feedback_node')
+
+ # Initialize encoder values
+ self.encoder_left_steps = 0
+ self.encoder_right_steps = 0
+
+ # Desired speeds from cmd_vel
+ self.desired_linear_speed = 0.0
+ self.desired_angular_speed = 0.0
+
+ self.prev_left_steps = 0
+ self.prev_right_steps = 0
+
+ self.left_pwm = 0
+ self.right_pwm = 0
+
+ self.prev_desired_speed = 0.0
+
+
+ #Time
+ self.prev_time = time.time()
+ #self.prev_time = self.get_clock().now
+
+
+ # Robot parameters
+ self.wheel_base = 0.40
+ self.encoder_steps_per_rotation = 310
+ self.wheel_radius = 0.075
+
+ # Initialize the motors
+ self.motor = Motor(self,14,15,18, 17, 22, 27)
+
+ # PID controllers
+ self.pid_left_forward = PIDController(kp=0.5, ki=0.0, kd=0.001)
+ self.pid_right_forward = PIDController(kp=0.525, ki=0.0, kd=0.001)
+
+ self.pid_left_backward = PIDController(kp=0.525, ki=0.0, kd=0.001)
+ self.pid_right_backward = PIDController(kp=0.5, ki=0.0, kd=0.001)
+
+
+
+
+ # Subscribe to cmd_vel topic
+ self.subscription = self.create_subscription(
+ Twist,
+ '/cmd_vel',
+ self.cmd_vel_callback,
+ 10
+ )
+
+ # Subscribe to encoder data
+ self.left_encoder_sub = self.create_subscription(
+ Int64,
+ 'left_wheel_steps',
+ self.left_encoder_callback,
+ 10
+ )
+ self.right_encoder_sub = self.create_subscription(
+ Int64,
+ 'right_wheel_steps',
+ self.right_encoder_callback,
+ 10
+ )
+
+ self.left_actual_speed_pub = self.create_publisher(Float64, 'left_actual_wheel_speed', 10)
+ self.right_actual_speed_pub = self.create_publisher(Float64, 'right_actual_wheel_speed', 10)
+ self.desired_speed_pub = self.create_publisher(Float64, 'desired_wheel_speed', 10)
+
+ # Timer to update motor speeds
+ self.control_timer = self.create_timer(0.1, self.control_loop)
+
+ self.get_logger().info('Motor control node with encoder feedback has been started.')
+
+ def cmd_vel_callback(self, msg):
+ # Store desired speeds
+ self.desired_linear_speed = msg.linear.x # Forward/backward speed
+ self.desired_angular_speed = msg.angular.z # Turning rate
+
+ # if (self.desired_linear_speed >= 0 and self.prev_desired_speed < 0) or (self.desired_linear_speed < 0 and self.prev_desired_speed >= 0):
+
+ # self.pid_left_forward.reset()
+ # self.pid_right_forward.reset()
+ # self.pid_left_backward.reset()
+ # self.pid_right_backward.reset()
+
+
+
+
+
+ self.prev_desired_speed = self.desired_linear_speed
+
+ def left_encoder_callback(self, msg):
+ self.encoder_left_steps = msg.data
+
+ def right_encoder_callback(self, msg):
+ self.encoder_right_steps = msg.data
+
+
+ def control_loop(self):
+
+ if self.desired_linear_speed >= 0:
+ # Forward motion
+ left_pid = self.pid_left_forward
+ right_pid = self.pid_right_forward
+ else:
+ # Backward motion
+ left_pid = self.pid_left_backward
+ right_pid = self.pid_right_backward
+
+ if (self.desired_linear_speed == 0) and (self.desired_angular_speed == 0):
+ self.stop_motors()
+ self.pid_left_forward.reset()
+ self.pid_right_forward.reset()
+ self.pid_left_backward.reset()
+ self.pid_right_backward.reset()
+ self.left_pwm =0
+ self.right_pwm =0
+ return
+
+
+
+
+ #Calculate the actual speed
+ #-------------------------------
+ # Calculate elapsed time
+ current_time = time.time()
+ #dt = current_time - self.prev_time
+ dt = max(current_time - self.prev_time, 0.01) # Prevent dt from being too small
+ #dt = max(current_time - self.prev_time, 1e-6) # Avoid zero or too small dt
+ if dt == 0:
+ return
+ self.prev_time = current_time
+
+ # self.prev_time = self.get_clock().now()
+ # current_time = self.get_clock().now()
+ # dt = (current_time - self.prev_time).to_sec()
+ # if dt <= 0.0:
+ # return
+ # self.prev_time = current_time
+
+ #Actual Speed calculation
+ #------------------------------------
+ # Calculate change in encoder steps
+ delta_left_steps = self.encoder_left_steps - self.prev_left_steps
+ delta_right_steps = self.encoder_right_steps - self.prev_right_steps
+
+ self.prev_left_steps = self.encoder_left_steps
+ self.prev_right_steps = self.encoder_right_steps
+
+ # Calculate rotational speeds (RPS)
+ left_rps = delta_left_steps / (self.encoder_steps_per_rotation * dt)
+ right_rps = delta_right_steps / (self.encoder_steps_per_rotation * dt)
+
+ # Convert to linear speed (m/s)
+ left_speed_actual = left_rps * 2 * 3.14159 * self.wheel_radius
+ right_speed_actual = right_rps * 2 * 3.14159 * self.wheel_radius
+
+
+
+ #Desired Speed calculation
+ #------------------------------------
+ # Desired speeds for left and right wheels
+ left_speed_desired = self.desired_linear_speed - (self.desired_angular_speed * self.wheel_base / 2.0)
+ right_speed_desired = self.desired_linear_speed + (self.desired_angular_speed * self.wheel_base / 2.0)
+
+
+
+ # Speed Errors calculation
+ #------------------------------------
+ left_error = left_speed_desired - left_speed_actual
+ right_error = right_speed_desired - right_speed_actual
+
+
+
+ # Use PID controllers for left and right wheels
+ left_pwm_error = left_pid.calculate(left_error, dt)
+ right_pwm_error = right_pid.calculate(right_error, dt)
+
+ self.left_pwm += left_pwm_error
+ self.right_pwm += right_pwm_error
+
+
+
+ # Ensure PWM values are within [-1, 1]
+ left_pwm = max(-1, min(1, self.left_pwm))
+ right_pwm = max(-1, min(1, self.right_pwm))
+
+ # Apply PWM values to motors
+ self.motor.set_pwm(left_pwm, right_pwm)
+
+
+
+
+ # Publish actual speeds
+ left_actual_speed_msg = Float64()
+ left_actual_speed_msg.data = left_speed_actual
+ self.left_actual_speed_pub.publish(left_actual_speed_msg)
+
+ right_actual_speed_msg = Float64()
+ right_actual_speed_msg.data = right_speed_actual
+ self.right_actual_speed_pub.publish(right_actual_speed_msg)
+
+ desired_speed_msg = Float64()
+ desired_speed_msg.data = right_speed_desired
+ self.desired_speed_pub.publish(desired_speed_msg)
+
+
+ # Debugging info
+ # self.get_logger().info(f'Left PWM IN: {self.left_pwm:.2f}, Right PWM IN: {right_pwm:.2f}')
+ # self.get_logger().info(f'Left Speed Actual: {left_speed_actual:.2f}, Right Speed Actual: {right_speed_actual:.2f}')
+ # self.get_logger().info(f'Left Error: {left_error:.2f}, Right Error: {left_pwm_error:.2f}')
+ # self.get_logger().info(f'Left_speed_desired: {left_speed_desired:.2f}, Right_speed_desired: {right_speed_desired:.2f}')
+ # self.get_logger().info('-----------------------------------------------------------------')
+
+
+ def stop_motors(self):
+ self.motor.stop()
+ # self.get_logger().info('Motors have been stopped.')
+
+class Motor:
+ def __init__(self,node, EnaA, In1A, In2A, EnaB, In1B, In2B):
+
+ self.node = node
+ # Left motor control pins
+ self.pwmA = PWMOutputDevice(EnaA)
+ self.in1A = DigitalOutputDevice(In1A)
+ self.in2A = DigitalOutputDevice(In2A)
+
+ # Right motor control pins
+ self.pwmB = PWMOutputDevice(EnaB)
+ self.in1B = DigitalOutputDevice(In1B)
+ self.in2B = DigitalOutputDevice(In2B)
+
+ def set_pwm(self, left_pwm, right_pwm):
+
+ #Deadband to prevent the motors from responding to very small PWM values that could cause jitter.
+ DEADZONE = 0.002
+
+ if abs(left_pwm) < DEADZONE:
+ self.pwmA.value = 0
+ self.in1A.off()
+ self.in2A.off()
+ else:
+ self.pwmA.value = abs(left_pwm)
+ self.in1A.value = left_pwm > 0
+ self.in2A.value = left_pwm < 0
+
+ if abs(right_pwm) < DEADZONE:
+ self.pwmB.value = 0
+ self.in1B.off()
+ self.in2B.off()
+ else:
+ self.pwmB.value = abs(right_pwm)
+ self.in1B.value = right_pwm > 0
+ self.in2B.value = right_pwm < 0
+
+ #self.node.get_logger().info(f"Left Motor PWM: Speed={left_pwm}, Right Motor PWM: Speed={right_pwm}")
+
+ def stop(self):
+ # Stop both motors
+ self.pwmA.value = 0
+ self.pwmB.value = 0
+ self.in1A.off()
+ self.in2A.off()
+ self.in1B.off()
+ self.in2B.off()
+
+
+def main(args=None):
+ rclpy.init(args=args)
+ node = MotorControlNode()
+
+ try:
+ rclpy.spin(node)
+ except KeyboardInterrupt:
+ pass
+ finally:
+ node.stop_motors()
+ node.destroy_node()
+ rclpy.shutdown()
+
+if __name__ == '__main__':
+ main()
diff --git a/ros2/build/robobin/build/lib/robobin/encoder.py b/ros2/build/robobin/build/lib/robobin/encoder.py
new file mode 100644
index 00000000..f646d3dc
--- /dev/null
+++ b/ros2/build/robobin/build/lib/robobin/encoder.py
@@ -0,0 +1,63 @@
+import rclpy
+from rclpy.node import Node
+from std_msgs.msg import Int64
+from gpiozero import RotaryEncoder, InputDevice
+
+
+
+class EncoderReaderNode(Node):
+ def __init__(self):
+ super().__init__('encoder_reader_node')
+
+ motor1A = 5
+ motor1B = 6
+ motor2A = 20
+ motor2B = 21
+
+ self.encoder_left = RotaryEncoder(a = motor1A,b = motor1B, max_steps=0)
+ self.encoder_right = RotaryEncoder(a = motor2A,b = motor2B, max_steps=0)
+
+ # Publishers for encoder steps
+ self.left_encoder_pub = self.create_publisher(Int64, 'left_wheel_steps', 10)
+ self.right_encoder_pub = self.create_publisher(Int64, 'right_wheel_steps', 10)
+
+ # Timer to read encoders
+ self.timer = self.create_timer(0.1, self.publish_encoder_steps)
+
+ self.get_logger().info('Encoder reader node has been started.')
+
+ def publish_encoder_steps(self):
+ # Read encoder steps
+ left_steps = self.encoder_left.steps
+ right_steps = -(self.encoder_right.steps)
+
+ # Create messages
+ left_msg = Int64()
+ left_msg.data = left_steps
+
+ right_msg = Int64()
+ right_msg.data = right_steps
+
+ # Publish messages
+ self.left_encoder_pub.publish(left_msg)
+ self.right_encoder_pub.publish(right_msg)
+
+ # Log the steps
+ #self.get_logger().info(f'Left Steps: {left_steps}, Right Steps: {right_steps}')
+
+
+
+def main(args=None):
+ rclpy.init(args=args)
+ node = EncoderReaderNode()
+
+ try:
+ rclpy.spin(node)
+ except KeyboardInterrupt:
+ pass
+ finally:
+ node.destroy_node()
+ rclpy.shutdown()
+
+if __name__ == '__main__':
+ main()
diff --git a/ros2/build/robobin/build/lib/robobin/helpers/graph_maker.py b/ros2/build/robobin/build/lib/robobin/helpers/graph_maker.py
new file mode 100644
index 00000000..202fc34f
--- /dev/null
+++ b/ros2/build/robobin/build/lib/robobin/helpers/graph_maker.py
@@ -0,0 +1,112 @@
+import json
+import time
+import os
+from realtime_location_cli_only import AnchorTagCLI
+
+class GraphMaker:
+ def __init__(self, port="COM11", testing=False):
+ self.app = AnchorTagCLI(port=port, testing=testing)
+ self.graph = {
+ "name": "Lab 1 Extended",
+ "nodes": [],
+ "connections": []
+ }
+ self.previous_node_index = None
+
+ def call_bpm_and_store_anchors(self):
+ self.app.call_bpm()
+ for name, (x, y) in self.app.anchors.items():
+ self.graph["nodes"].append({
+ "name": name,
+ "x": x,
+ "y": y
+ })
+
+ # Initialize connections matrix with False
+ num_nodes = len(self.graph["nodes"])
+ self.graph["connections"] = [[False] * num_nodes for _ in range(num_nodes)]
+
+ print("Anchor coordinates stored successfully.")
+
+ def start_session(self):
+ print("Waiting for 'start' command...")
+ while True:
+ user_input = input("Enter 'start' to begin adding nodes or 'quit' to exit: ").strip().lower()
+ if user_input == "start":
+ print("Session started. Type 'save' to add nodes, 'finish' to save the graph, or 'quit' to exit.")
+ break
+ elif user_input == "quit":
+ print("Exiting...")
+ exit()
+
+ def add_node_and_connect(self):
+ print(self.app.tag_distances)
+ distances = self.app.serial_buffer.getRangingDistances()
+
+ tag1_x, tag1_y = self.app.update_distances_and_calculate_tags()
+ print(f"{tag1_x}, {tag1_y}")
+ if tag1_x is None or tag1_y is None:
+ print("Failed to determine tag position. Skipping node creation.")
+ return
+
+ new_node_index = len(self.graph["nodes"])
+
+ # Add new node
+ self.graph["nodes"].append({
+ "name": f"Node{new_node_index+1}",
+ "x": tag1_x,
+ "y": tag1_y
+ })
+
+ # Dynamically resize the connections matrix
+ for row in self.graph["connections"]:
+ row.append(False) # Add a column for the new node
+ self.graph["connections"].append([False] * (new_node_index + 1)) # Add a new row
+
+ # Update connections
+ if self.previous_node_index is not None:
+ self.graph["connections"][self.previous_node_index][new_node_index] = True
+ self.graph["connections"][new_node_index][self.previous_node_index] = True
+
+ self.previous_node_index = new_node_index
+
+ print(f"Node {new_node_index+1} added at ({tag1_x:.2f}, {tag1_y:.2f}).")
+
+ def save_graph(self):
+ directory = "/Users/paulwinpenny/Documents/GitHub/robobin/Wireless_Communication/UWB/Beacons_tag_position/output"
+ os.makedirs(directory, exist_ok=True) # Create the directory if it doesn't exist
+ file_path = os.path.join(directory, "graph.json")
+ with open(file_path, "w") as f:
+ json.dump(self.graph, f, indent=2)
+ print(f"Graph saved to '{file_path}'.")
+
+
+ def run(self):
+ while True:
+ user_input = input("Enter command ('bpm', 'start', 'save', 'finish', 'quit'): ").strip().lower()
+ if user_input == "bpm":
+ self.call_bpm_and_store_anchors()
+ elif user_input == "start":
+ self.start_session()
+ while True:
+ user_input = input("Enter 'save' to add a node, 'finish' to save and exit, or 'quit' to exit: ").strip().lower()
+ if user_input == "save":
+ self.add_node_and_connect()
+ elif user_input == "finish":
+ self.save_graph()
+ print("Session finished.")
+ exit()
+ elif user_input == "quit":
+ print("Exiting without saving.")
+ exit()
+ else:
+ print("Invalid command. Try 'save', 'finish', or 'quit'.")
+ elif user_input == "quit":
+ print("Exiting...")
+ break
+ else:
+ print("Invalid command. Try 'bpm', 'start', 'save', 'finish', or 'quit'.")
+
+if __name__ == "__main__":
+ graph_maker = GraphMaker(port="/dev/tty.usbmodem14101", testing=False)
+ graph_maker.run()
diff --git a/ros2/build/robobin/build/lib/robobin/helpers/realtime_location_cli_only.py b/ros2/build/robobin/build/lib/robobin/helpers/realtime_location_cli_only.py
new file mode 100644
index 00000000..2c9284f5
--- /dev/null
+++ b/ros2/build/robobin/build/lib/robobin/helpers/realtime_location_cli_only.py
@@ -0,0 +1,279 @@
+import time
+import numpy as np
+import serial
+from scipy.optimize import least_squares
+
+# Define test values at the top of the file for easy modification
+TEST_MEASURED_DISTANCES = [302, 463, 286, 304, 418, 328]
+TEST_TAG1_DISTANCES = [22, 107, 246, 295]
+TEST_TAG2_DISTANCES = [100, 100, 100, 100]
+
+class SerialBuffer:
+ def __init__(self, port):
+ self.ser = serial.Serial(port, 115200, timeout=1)
+
+ def readFromDevice(self, expectedLines=1):
+ lines = []
+ # Attempt to read expected lines; if device is slow, you may need retries
+ while len(lines) < expectedLines:
+ if self.ser.in_waiting:
+ line = self.ser.readline().decode().strip()
+ if line:
+ lines.append(line)
+ else:
+ time.sleep(0.01)
+ return lines
+
+ def getBeaconPositioningDistances(self):
+ """Reads the measured distances (A,E,D,B,F,C) from the device."""
+ self.writeToDevice("bpm")
+ buffer = self.readFromDevice(1)[0]
+ values = list(map(float, buffer.split(" ")))
+ return values
+
+ def getRangingDistances(self):
+ """Reads the distances from the tags to the anchors."""
+ self.writeToDevice("rng")
+ lines = self.readFromDevice(2)
+ print(lines)
+ distances = []
+ # First line: Tag 1 distances
+ distances.append(list(map(float, lines[0][1:].split(" "))))
+ # Second line: Tag 2 distances or "0"
+ if lines[1] != "1":
+ distances.append(list(map(float, lines[1][1:].split(" "))))
+ else:
+ distances.append(None)
+ return distances
+
+ def writeToDevice(self, value):
+ self.ser.write((value + "\n").encode())
+
+ def __del__(self):
+ print("Closing port")
+ self.ser.close()
+
+
+class AnchorTagCLI:
+ def __init__(self, port="/dev/tty.usbmodem14101", testing=False):
+ self.testing = testing
+ self.serial_buffer = SerialBuffer(port)
+
+ # Distances between anchors (A,E,D,B,F,C)
+ # Corresponding to the measured_distances in original code.
+ self.measured_distances = [0.0]*6
+
+ # Distances from Tag 1 to anchors: A1, A2, A3, A4
+ self.tag_distances = {"A1": 0.0, "A2": 0.0, "A3": 0.0, "A4": 0.0}
+
+ # Distances from Tag 2 to anchors: A1, A2, A3, A4
+ self.tag2_distances = {"A1": 0.0, "A2": 0.0, "A3": 0.0, "A4": 0.0}
+
+ self.anchors = {}
+ self.anchorHeight = 250
+ self.anchors_coords_known = False
+
+ if self.testing:
+ # Set predefined test distances
+ for i, dist in enumerate(TEST_MEASURED_DISTANCES):
+ self.measured_distances[i] = dist
+
+ for (anchor, dist) in zip(self.tag_distances.keys(), TEST_TAG1_DISTANCES):
+ self.tag_distances[anchor] = dist
+
+ for (anchor, dist) in zip(self.tag2_distances.keys(), TEST_TAG2_DISTANCES):
+ self.tag2_distances[anchor] = dist
+
+ def determine_anchor_coords(self):
+ try:
+ measured_distances = np.array(self.measured_distances)
+ y_A = measured_distances[2] # Distance from A to D
+
+ # Guess for B based on distance A-B and B-D
+ x_B = measured_distances[0] / 2
+ y_B = measured_distances[4] / 2 + 200 # Start y_B above y_C
+
+ # Guess for C with symmetrical logic
+ x_C = -measured_distances[5] / 2 # Allow for negative x_C
+ y_C = -measured_distances[1] / 2 # Allow for negative y_C
+
+ initial_guess = [x_B, y_B, x_C, y_C, y_A]
+
+ min_dist = min(measured_distances)
+ max_dist = max(measured_distances)
+ lower_bounds = [-max_dist, -max_dist, -max_dist, -max_dist, min_dist / 2]
+ upper_bounds = [max_dist * 1.5 for i in range(5)]
+
+ def error_function(variables, measured):
+ x_B, y_B, x_C, y_C, y_A = variables
+
+ # Map measured distances to a, e, d, b, f, c
+ a_measured, e_measured, d_measured, b_measured, f_measured, c_measured = measured
+
+ # Compute each distance
+ a_calc = np.sqrt((x_B - 0)**2 + (y_B - y_A)**2) # A-B
+ b_calc = np.sqrt((x_C - x_B)**2 + (y_C - y_B)**2) # B-C
+ c_calc = np.sqrt(x_C**2 + y_C**2) # C-D
+ d_calc = y_A # A-D
+ e_calc = np.sqrt(x_C**2 + (y_C - y_A)**2) # A-C
+ f_calc = np.sqrt(x_B**2 + y_B**2) # B-D
+
+ # Residuals
+ r_a = a_calc - a_measured
+ r_b = b_calc - b_measured
+ r_c = c_calc - c_measured
+ r_d = d_calc - d_measured
+ r_e = e_calc - e_measured
+ r_f = f_calc - f_measured
+
+ # Add a smoother penalty if y_B <= y_C
+ penalty = 1e3 * max(0, y_C - y_B + 10) # Soft penalty to enforce constraint
+
+ return [r_a, r_b, r_c, r_d, r_e, r_f, penalty]
+
+ result = least_squares(error_function, initial_guess, args=(measured_distances,), bounds=(lower_bounds, upper_bounds), loss='soft_l1')
+
+ x_B, y_B, x_C, y_C, y_A = result.x
+ self.anchors = {
+ "A1": (0, y_A, self.anchorHeight),
+ "A2": (x_B, y_B, self.anchorHeight),
+ "A3": (x_C, y_C, self.anchorHeight),
+ "A4": (0, 0, self.anchorHeight)
+ }
+ return {k: (round(v[0], 2), round(v[1], 2)) for k, v in self.anchors.items()}
+ except Exception as e:
+ print(f"Error generating anchors: {e}")
+
+ def calculate_tag_coordinates(self, tag_distances):
+ if not self.anchors_coords_known or len(self.anchors) < 3:
+ return None, None
+
+ available_beacons = []
+ available_distances = []
+ for key in tag_distances.keys():
+ d = max(float(tag_distances[key]), 0)
+ available_distances.append(d)
+ available_beacons.append(self.anchors[key])
+
+ if len(available_beacons) < 3:
+ return None, None
+
+ heights = []
+ for (bx, by, bz), d_measured in zip(available_beacons, available_distances):
+ horizontal_distance = np.sqrt((bx - 0)**2 + (by - 0)**2) # Assume tag starts at (0, 0)
+ estimated_z = np.sqrt(max(0, d_measured**2 - horizontal_distance**2)) # Ensure non-negative
+ heights.append(bz - estimated_z) # Estimate tag height relative to beacon
+
+ initial_z = max(0, min(self.anchorHeight, np.mean(heights))) # Constrain height to [0, 200]
+
+ beacon_xs = [b[0] for b in available_beacons]
+ beacon_ys = [b[1] for b in available_beacons]
+ initial_guess = [np.mean(beacon_xs), np.mean(beacon_ys), initial_z]
+
+ # Define bounds for the tag position
+ x_min = min(beacon_xs) - 1000 # Add a small margin around the beacons
+ x_max = max(beacon_xs) + 1000
+ y_min = min(beacon_ys) - 1000
+ y_max = max(beacon_ys) + 1000
+ z_min = 0.0 # Tag's height cannot be below the ground
+ z_max = self.anchorHeight # Tag's height cannot exceed the beacon height
+ bounds = ([x_min, y_min, z_min], [x_max, y_max, z_max])
+
+ def error_function(vars):
+ x, y, z= vars
+ residuals = []
+ for (bx, by, bz), d_measured in zip(available_beacons, available_distances):
+ d_computed = np.sqrt((x - bx)**2 + (y - by)**2 + (z - bz)**2)
+ residuals.append(d_computed - d_measured)
+ return residuals
+
+ result = least_squares(error_function, initial_guess, bounds=bounds, loss='soft_l1')
+ # self.get_logger().info(f"Optimization result: {result.x}")
+ return tuple(result.x)
+
+
+ def call_bpm(self):
+ if self.testing:
+ beacon_distances = TEST_MEASURED_DISTANCES
+ else:
+ beacon_distances = self.serial_buffer.getBeaconPositioningDistances()
+
+ for i, distance in enumerate(beacon_distances):
+ if i < len(self.measured_distances):
+ self.measured_distances[i] = distance
+
+ determined_anchor_coords = self.determine_anchor_coords()
+ if determined_anchor_coords:
+ self.anchors_coords_known = True
+ print("Anchor coordinates determined:")
+ for anchor, coords in determined_anchor_coords.items():
+ print(f"{anchor}: {coords}")
+
+ def update_distances_and_calculate_tags(self):
+ if not self.anchors_coords_known:
+ return
+
+ if self.testing:
+ ranging_distances = [TEST_TAG1_DISTANCES, TEST_TAG2_DISTANCES]
+ else:
+ ranging_distances = self.serial_buffer.getRangingDistances()
+
+ # Update tag 1 distances
+ if ranging_distances[0] is not None:
+ for i, distance in enumerate(ranging_distances[0]):
+ anchor = list(self.tag_distances.keys())[i]
+ self.tag_distances[anchor] = distance
+
+ # Update tag 2 distances
+ if ranging_distances[1] is not None:
+ for i, distance in enumerate(ranging_distances[1]):
+ anchor = list(self.tag2_distances.keys())[i]
+ self.tag2_distances[anchor] = distance
+
+ # Now calculate both tags
+ tag1_x, tag1_y, tag1_z = self.calculate_tag_coordinates(self.tag_distances)
+ valid_tag2_distances = [dist for dist in self.tag2_distances.values() if dist > 0]
+
+ # Check if there are enough valid distances for Tag 2
+ if len(valid_tag2_distances) < 3:
+ print(f"Insufficient valid distances for Tag 2: {len(valid_tag2_distances)} provided.")
+ tag2_x, tag2_y, tag2_z = None, None, None
+ else:
+ tag2_x, tag2_y, tag2_z = self.calculate_tag_coordinates(self.tag2_distances)
+
+ print("Tag Positions:")
+ if tag1_x is not None and tag1_y is not None:
+ print(f"Tag 1: ({tag1_x:.2f}, {tag1_y:.2f}, {tag1_z:.2f})")
+ else:
+ print("Tag 1: Not enough data")
+
+ if tag2_x is not None and tag2_y is not None:
+ print(f"Tag 2: ({tag2_x:.2f}, {tag2_y:.2f}, {tag2_z:.2f})")
+ else:
+ print("Tag 2: Not enough data")
+
+
+ if tag1_x is not None and tag1_y is not None and tag2_x is not None and tag2_y is not None:
+ dx = tag2_x - tag1_x
+ dy = tag2_y - tag1_y
+ dz = tag2_z - tag1_z
+ displacement = np.sqrt(dx**2 + dy**2 + dz**2)
+ angle_deg = np.degrees(np.arctan2(dy, dx))
+ if angle_deg < 0:
+ angle_deg += 360
+ print(f"Direction from Tag1 to Tag2: dx={dx:.2f}, dy={dy:.2f}, displacement={displacement:.2f}, angle={angle_deg:.2f}°")
+ return tag1_x, tag1_y
+
+if __name__ == "__main__":
+ app = AnchorTagCLI(port="/dev/tty.usbmodem14101", testing=False)
+ while True:
+ user_input = input("Enter command ('bpm' to set anchors, or 'quit' to exit): ").strip().lower()
+ if user_input == "bpm":
+ app.call_bpm()
+ print("Switching to continuous ranging updates (simulating 'rng' messages)...")
+ while True:
+ app.update_distances_and_calculate_tags()
+ time.sleep(1)
+ elif user_input == "quit":
+ print("Exiting program.")
+ break
\ No newline at end of file
diff --git a/ros2/build/robobin/build/lib/robobin/imu_node.py b/ros2/build/robobin/build/lib/robobin/imu_node.py
new file mode 100644
index 00000000..d20c2dad
--- /dev/null
+++ b/ros2/build/robobin/build/lib/robobin/imu_node.py
@@ -0,0 +1,95 @@
+#!/usr/bin/env python3
+
+import rclpy
+from rclpy.node import Node
+from sensor_msgs.msg import Imu
+from smbus2 import SMBus
+import time
+import math
+
+class BNO055Publisher(Node):
+ def __init__(self):
+ super().__init__('imu_node')
+ self.publisher_ = self.create_publisher(Imu, 'imu', 10)
+ self.timer = self.create_timer(0.1, self.timer_callback)
+ self.bus = SMBus(1)
+ self.address = 0x28
+ self.init_bno055()
+ time.sleep(1)
+
+ def write_register(self, register, value):
+ self.bus.write_byte_data(self.address, register, value)
+
+ def read_register(self, register, length=1):
+ if length == 1:
+ return self.bus.read_byte_data(self.address, register)
+ else:
+ return self.bus.read_i2c_block_data(self.address, register, length)
+
+ def init_bno055(self):
+ # Switch to CONFIG mode
+ self.write_register(0x3D, 0x00)
+ time.sleep(0.05)
+ # Set power mode to Normal
+ self.write_register(0x3E, 0x00)
+ # Set to NDOF mode
+ self.write_register(0x3D, 0x0C)
+ time.sleep(0.5)
+
+ def read_euler_angles(self):
+ data = self.read_register(0x1A, 6)
+ yaw = (data[1] << 8) | data[0]
+ roll = (data[3] << 8) | data[2]
+ pitch = (data[5] << 8) | data[4]
+ yaw = yaw if yaw < 32768 else yaw - 65536
+ roll = roll if roll < 32768 else roll - 65536
+ pitch = pitch if pitch < 32768 else pitch - 65536
+ yaw = yaw / 16.0
+ roll = roll / 16.0
+ pitch = pitch / 16.0
+ return yaw, pitch, roll
+
+ def timer_callback(self):
+ yaw, pitch, roll = self.read_euler_angles()
+ imu_msg = Imu()
+ imu_msg.header.stamp = self.get_clock().now().to_msg()
+ imu_msg.header.frame_id = 'imu_link'
+ # Convert degrees to radians
+ yaw_rad = -(math.radians(yaw))
+ roll_rad = -(math.radians(pitch))
+ pitch_rad = -(math.radians(roll))
+ # Compute quaternion
+ cy = math.cos(yaw_rad * 0.5)
+ sy = math.sin(yaw_rad * 0.5)
+ cp = math.cos(pitch_rad * 0.5)
+ sp = math.sin(pitch_rad * 0.5)
+ cr = math.cos(roll_rad * 0.5)
+ sr = math.sin(roll_rad * 0.5)
+ imu_msg.orientation.w = cr * cp * cy + sr * sp * sy
+ imu_msg.orientation.x = sr * cp * cy - cr * sp * sy
+ imu_msg.orientation.y = cr * sp * cy + sr * cp * sy
+ imu_msg.orientation.z = cr * cp * sy - sr * sp * cy
+
+ imu_msg.orientation_covariance = [0.0025, 0, 0,
+ 0, 0.0025, 0,
+ 0, 0, 0.0025]
+ imu_msg.angular_velocity_covariance = [0.02, 0, 0,
+ 0, 0.02, 0,
+ 0, 0, 0.02]
+ imu_msg.linear_acceleration_covariance = [0.04, 0, 0,
+ 0, 0.04, 0,
+ 0, 0, 0.04]
+
+
+ self.publisher_.publish(imu_msg)
+ #self.get_logger().info(f'Publishing: Yaw={yaw:.2f}, Pitch={pitch:.2f}, Roll={roll:.2f}')
+
+def main(args=None):
+ rclpy.init(args=args)
+ bno055_publisher = BNO055Publisher()
+ rclpy.spin(bno055_publisher)
+ bno055_publisher.destroy_node()
+ rclpy.shutdown()
+
+if __name__ == '__main__':
+ main()
\ No newline at end of file
diff --git a/ros2/build/robobin/build/lib/robobin/uwb_pathing_node.py b/ros2/build/robobin/build/lib/robobin/uwb_pathing_node.py
new file mode 100644
index 00000000..dec8b955
--- /dev/null
+++ b/ros2/build/robobin/build/lib/robobin/uwb_pathing_node.py
@@ -0,0 +1,122 @@
+import rclpy
+from rclpy.node import Node
+from geometry_msgs.msg import Twist, Point
+from math import sqrt, pow, atan2, radians, sin, cos
+import time
+
+
+class UWBPathingNode(Node):
+ def __init__(self):
+ super().__init__('uwb_pathing_node')
+
+ # Publisher for cmd_vel
+ self.cmd_vel_pub = self.create_publisher(Twist, '/cmd_vel', 10)
+
+ # Subscriptions
+ self.create_subscription(Point, '/start_location', self.current_location_callback, 10)
+ self.create_subscription(Point, '/target_location', self.target_location_callback, 10)
+
+ # Current and target positions
+ self.current_x = None
+ self.current_y = None
+ self.target_x = None
+ self.target_y = None
+
+ # Navigation thresholds
+ self.distance_threshold = 0.25 # meters
+ self.angle_threshold = radians(0.5) # radians
+
+ self.kp_linear = 0.5 # Proportional gain for linear movement
+ self.kp_angular = 1.0 # Proportional gain for angular movement
+
+ self.get_logger().info('UWB Pathing Node started and waiting for positions.')
+
+ def current_location_callback(self, msg: Point):
+ """Callback to update the robot's current position."""
+ self.current_x = msg.x
+ self.current_y = msg.y
+ self.get_logger().info(f"Current Location Updated: x={self.current_x:.2f}, y={self.current_y:.2f}")
+ self.check_and_navigate()
+
+ def target_location_callback(self, msg: Point):
+ """Callback to update the target position."""
+ self.target_x = msg.x
+ self.target_y = msg.y
+ self.get_logger().info(f"Target Location Updated: x={self.target_x:.2f}, y={self.target_y:.2f}")
+ self.check_and_navigate()
+
+ def check_and_navigate(self):
+ """Check if both positions are available and navigate to the target."""
+ if self.current_x is not None and self.current_y is not None and self.target_x is not None and self.target_y is not None:
+ self.get_logger().info("Navigating to target...")
+ self.navigate_to_target()
+ else:
+ self.get_logger().warning("Waiting for both current and target positions to be available...")
+
+ def navigate_to_target(self):
+ # Ensure positions are known
+ if self.current_x is None or self.current_y is None or self.target_x is None or self.target_y is None:
+ self.get_logger().warning("Positions not fully known yet.")
+ return
+
+ # Calculate distance and angle to the target
+ displacement_x = self.target_x - self.current_x
+ displacement_y = self.target_y - self.current_y
+ distance_to_target = sqrt(pow(displacement_x, 2) + pow(displacement_y, 2))
+ angle_to_target = atan2(displacement_y, displacement_x)
+
+
+ # Check if we are close enough to the target
+ if distance_to_target <= self.distance_threshold:
+ self.stop_robot()
+ self.get_logger().info("Target reached successfully.")
+ return
+
+ # Calculate yaw error (assuming robot orientation 0 = facing x-axis)
+ # If you don't have actual orientation, you might assume the robot always faces the target directly
+ yaw_error = angle_to_target
+ yaw_error = atan2(sin(yaw_error), cos(yaw_error)) # Normalize angle
+ self.get_logger().info(f"Current Position: x={self.current_x:.2f}, y={self.current_y:.2f}")
+ self.get_logger().info(f"Target Position: x={self.target_x:.2f}, y={self.target_y:.2f}")
+ self.get_logger().info(f"Distance to Target: distance_to_target={distance_to_target:.2f} meters")
+ self.get_logger().info(f"Angle to Target: angle_to_target={angle_to_target:.2f} radians")
+ twist = Twist()
+
+ # Decide on angular velocity first
+ if abs(yaw_error) > self.angle_threshold:
+ angular_speed = self.kp_angular * abs(yaw_error)
+ twist.angular.z = angular_speed if yaw_error > 0 else -angular_speed
+ self.get_logger().info(f"Correcting Heading: yaw_error={yaw_error:.2f} radians")
+ else:
+ # Move forward when aligned with the target
+ linear_speed = self.kp_linear * distance_to_target
+ twist.linear.x = min(0.2, linear_speed) # Limit max speed
+ self.get_logger().info(f"Moving to Target: distance={distance_to_target:.2f} meters")
+
+ # # Publish movement command
+ # self.cmd_vel_pub.publish(twist)
+
+
+ def stop_robot(self):
+ """Stops the robot by publishing zero velocities."""
+ twist = Twist()
+ self.cmd_vel_pub.publish(twist)
+ time.sleep(0.5)
+ self.get_logger().info("Robot stopped.")
+
+
+def main(args=None):
+ rclpy.init(args=args)
+ node = UWBPathingNode()
+
+ try:
+ rclpy.spin(node)
+ except KeyboardInterrupt:
+ pass
+ finally:
+ node.destroy_node()
+ rclpy.shutdown()
+
+
+if __name__ == '__main__':
+ main()
diff --git a/ros2/install/robobin/lib/python3.12/site-packages/robobin/__pycache__/api_node.cpython-312.pyc b/ros2/install/robobin/lib/python3.12/site-packages/robobin/__pycache__/api_node.cpython-312.pyc
index 79bbe09e045fafc69484453f57c7da634defc83e..6522b485eef059932626b47badf3685ec979244e 100644
GIT binary patch
delta 20
bcmaEA{M4BHG%qg~0|NsCuW#~3?pu-oKy(F{
delta 20
bcmaEA{M4BHG%qg~0|NuYJ<WuT+_xkFMMMTc
diff --git a/ros2/install/robobin/lib/python3.12/site-packages/robobin/__pycache__/control_feedback.cpython-312.pyc b/ros2/install/robobin/lib/python3.12/site-packages/robobin/__pycache__/control_feedback.cpython-312.pyc
new file mode 100644
index 0000000000000000000000000000000000000000..61822e455e387086b7c0b5cd14b6f25d3cad4b31
GIT binary patch
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diff --git a/ros2/install/robobin/lib/python3.12/site-packages/robobin/control_feedback.py b/ros2/install/robobin/lib/python3.12/site-packages/robobin/control_feedback.py
new file mode 100644
index 00000000..78a1edb7
--- /dev/null
+++ b/ros2/install/robobin/lib/python3.12/site-packages/robobin/control_feedback.py
@@ -0,0 +1,320 @@
+import rclpy
+from rclpy.node import Node
+from geometry_msgs.msg import Twist
+from std_msgs.msg import Int64, Float64
+from gpiozero import PWMOutputDevice, DigitalOutputDevice
+import time
+from rclpy.clock import Clock
+from rclpy.time import Time
+import bisect
+
+
+
+# Example of how you could implement a simple PID controller
+class PIDController:
+ def __init__(self, kp, ki, kd):
+ self.kp = kp
+ self.ki = ki
+ self.kd = kd
+ self.prev_error = 0
+ self.integral = 0
+
+ def reset(self):
+ self.prev_error = 0
+ self.integral = 0
+
+ def calculate(self, error, dt):
+ self.integral += error * dt
+ derivative = (error - self.prev_error) / dt
+ output = self.kp * error + self.ki * self.integral + self.kd * derivative
+ self.prev_error = error
+ return output
+
+
+
+
+class MotorControlNode(Node):
+ def __init__(self):
+ super().__init__('control_feedback_node')
+
+ # Initialize encoder values
+ self.encoder_left_steps = 0
+ self.encoder_right_steps = 0
+
+ # Desired speeds from cmd_vel
+ self.desired_linear_speed = 0.0
+ self.desired_angular_speed = 0.0
+
+ self.prev_left_steps = 0
+ self.prev_right_steps = 0
+
+ self.left_pwm = 0
+ self.right_pwm = 0
+
+ self.prev_desired_speed = 0.0
+
+
+ #Time
+ self.prev_time = time.time()
+ #self.prev_time = self.get_clock().now
+
+
+ # Robot parameters
+ self.wheel_base = 0.40
+ self.encoder_steps_per_rotation = 310
+ self.wheel_radius = 0.075
+
+ # Initialize the motors
+ self.motor = Motor(self,14,15,18, 17, 22, 27)
+
+ # PID controllers
+ self.pid_left_forward = PIDController(kp=0.5, ki=0.0, kd=0.001)
+ self.pid_right_forward = PIDController(kp=0.525, ki=0.0, kd=0.001)
+
+ self.pid_left_backward = PIDController(kp=0.525, ki=0.0, kd=0.001)
+ self.pid_right_backward = PIDController(kp=0.5, ki=0.0, kd=0.001)
+
+
+
+
+ # Subscribe to cmd_vel topic
+ self.subscription = self.create_subscription(
+ Twist,
+ '/cmd_vel',
+ self.cmd_vel_callback,
+ 10
+ )
+
+ # Subscribe to encoder data
+ self.left_encoder_sub = self.create_subscription(
+ Int64,
+ 'left_wheel_steps',
+ self.left_encoder_callback,
+ 10
+ )
+ self.right_encoder_sub = self.create_subscription(
+ Int64,
+ 'right_wheel_steps',
+ self.right_encoder_callback,
+ 10
+ )
+
+ self.left_actual_speed_pub = self.create_publisher(Float64, 'left_actual_wheel_speed', 10)
+ self.right_actual_speed_pub = self.create_publisher(Float64, 'right_actual_wheel_speed', 10)
+ self.desired_speed_pub = self.create_publisher(Float64, 'desired_wheel_speed', 10)
+
+ # Timer to update motor speeds
+ self.control_timer = self.create_timer(0.1, self.control_loop)
+
+ self.get_logger().info('Motor control node with encoder feedback has been started.')
+
+ def cmd_vel_callback(self, msg):
+ # Store desired speeds
+ self.desired_linear_speed = msg.linear.x # Forward/backward speed
+ self.desired_angular_speed = msg.angular.z # Turning rate
+
+ # if (self.desired_linear_speed >= 0 and self.prev_desired_speed < 0) or (self.desired_linear_speed < 0 and self.prev_desired_speed >= 0):
+
+ # self.pid_left_forward.reset()
+ # self.pid_right_forward.reset()
+ # self.pid_left_backward.reset()
+ # self.pid_right_backward.reset()
+
+
+
+
+
+ self.prev_desired_speed = self.desired_linear_speed
+
+ def left_encoder_callback(self, msg):
+ self.encoder_left_steps = msg.data
+
+ def right_encoder_callback(self, msg):
+ self.encoder_right_steps = msg.data
+
+
+ def control_loop(self):
+
+ if self.desired_linear_speed >= 0:
+ # Forward motion
+ left_pid = self.pid_left_forward
+ right_pid = self.pid_right_forward
+ else:
+ # Backward motion
+ left_pid = self.pid_left_backward
+ right_pid = self.pid_right_backward
+
+ if (self.desired_linear_speed == 0) and (self.desired_angular_speed == 0):
+ self.stop_motors()
+ self.pid_left_forward.reset()
+ self.pid_right_forward.reset()
+ self.pid_left_backward.reset()
+ self.pid_right_backward.reset()
+ self.left_pwm =0
+ self.right_pwm =0
+ return
+
+
+
+
+ #Calculate the actual speed
+ #-------------------------------
+ # Calculate elapsed time
+ current_time = time.time()
+ #dt = current_time - self.prev_time
+ dt = max(current_time - self.prev_time, 0.01) # Prevent dt from being too small
+ #dt = max(current_time - self.prev_time, 1e-6) # Avoid zero or too small dt
+ if dt == 0:
+ return
+ self.prev_time = current_time
+
+ # self.prev_time = self.get_clock().now()
+ # current_time = self.get_clock().now()
+ # dt = (current_time - self.prev_time).to_sec()
+ # if dt <= 0.0:
+ # return
+ # self.prev_time = current_time
+
+ #Actual Speed calculation
+ #------------------------------------
+ # Calculate change in encoder steps
+ delta_left_steps = self.encoder_left_steps - self.prev_left_steps
+ delta_right_steps = self.encoder_right_steps - self.prev_right_steps
+
+ self.prev_left_steps = self.encoder_left_steps
+ self.prev_right_steps = self.encoder_right_steps
+
+ # Calculate rotational speeds (RPS)
+ left_rps = delta_left_steps / (self.encoder_steps_per_rotation * dt)
+ right_rps = delta_right_steps / (self.encoder_steps_per_rotation * dt)
+
+ # Convert to linear speed (m/s)
+ left_speed_actual = left_rps * 2 * 3.14159 * self.wheel_radius
+ right_speed_actual = right_rps * 2 * 3.14159 * self.wheel_radius
+
+
+
+ #Desired Speed calculation
+ #------------------------------------
+ # Desired speeds for left and right wheels
+ left_speed_desired = self.desired_linear_speed - (self.desired_angular_speed * self.wheel_base / 2.0)
+ right_speed_desired = self.desired_linear_speed + (self.desired_angular_speed * self.wheel_base / 2.0)
+
+
+
+ # Speed Errors calculation
+ #------------------------------------
+ left_error = left_speed_desired - left_speed_actual
+ right_error = right_speed_desired - right_speed_actual
+
+
+
+ # Use PID controllers for left and right wheels
+ left_pwm_error = left_pid.calculate(left_error, dt)
+ right_pwm_error = right_pid.calculate(right_error, dt)
+
+ self.left_pwm += left_pwm_error
+ self.right_pwm += right_pwm_error
+
+
+
+ # Ensure PWM values are within [-1, 1]
+ left_pwm = max(-1, min(1, self.left_pwm))
+ right_pwm = max(-1, min(1, self.right_pwm))
+
+ # Apply PWM values to motors
+ self.motor.set_pwm(left_pwm, right_pwm)
+
+
+
+
+ # Publish actual speeds
+ left_actual_speed_msg = Float64()
+ left_actual_speed_msg.data = left_speed_actual
+ self.left_actual_speed_pub.publish(left_actual_speed_msg)
+
+ right_actual_speed_msg = Float64()
+ right_actual_speed_msg.data = right_speed_actual
+ self.right_actual_speed_pub.publish(right_actual_speed_msg)
+
+ desired_speed_msg = Float64()
+ desired_speed_msg.data = right_speed_desired
+ self.desired_speed_pub.publish(desired_speed_msg)
+
+
+ # Debugging info
+ # self.get_logger().info(f'Left PWM IN: {self.left_pwm:.2f}, Right PWM IN: {right_pwm:.2f}')
+ # self.get_logger().info(f'Left Speed Actual: {left_speed_actual:.2f}, Right Speed Actual: {right_speed_actual:.2f}')
+ # self.get_logger().info(f'Left Error: {left_error:.2f}, Right Error: {left_pwm_error:.2f}')
+ # self.get_logger().info(f'Left_speed_desired: {left_speed_desired:.2f}, Right_speed_desired: {right_speed_desired:.2f}')
+ # self.get_logger().info('-----------------------------------------------------------------')
+
+
+ def stop_motors(self):
+ self.motor.stop()
+ # self.get_logger().info('Motors have been stopped.')
+
+class Motor:
+ def __init__(self,node, EnaA, In1A, In2A, EnaB, In1B, In2B):
+
+ self.node = node
+ # Left motor control pins
+ self.pwmA = PWMOutputDevice(EnaA)
+ self.in1A = DigitalOutputDevice(In1A)
+ self.in2A = DigitalOutputDevice(In2A)
+
+ # Right motor control pins
+ self.pwmB = PWMOutputDevice(EnaB)
+ self.in1B = DigitalOutputDevice(In1B)
+ self.in2B = DigitalOutputDevice(In2B)
+
+ def set_pwm(self, left_pwm, right_pwm):
+
+ #Deadband to prevent the motors from responding to very small PWM values that could cause jitter.
+ DEADZONE = 0.002
+
+ if abs(left_pwm) < DEADZONE:
+ self.pwmA.value = 0
+ self.in1A.off()
+ self.in2A.off()
+ else:
+ self.pwmA.value = abs(left_pwm)
+ self.in1A.value = left_pwm > 0
+ self.in2A.value = left_pwm < 0
+
+ if abs(right_pwm) < DEADZONE:
+ self.pwmB.value = 0
+ self.in1B.off()
+ self.in2B.off()
+ else:
+ self.pwmB.value = abs(right_pwm)
+ self.in1B.value = right_pwm > 0
+ self.in2B.value = right_pwm < 0
+
+ #self.node.get_logger().info(f"Left Motor PWM: Speed={left_pwm}, Right Motor PWM: Speed={right_pwm}")
+
+ def stop(self):
+ # Stop both motors
+ self.pwmA.value = 0
+ self.pwmB.value = 0
+ self.in1A.off()
+ self.in2A.off()
+ self.in1B.off()
+ self.in2B.off()
+
+
+def main(args=None):
+ rclpy.init(args=args)
+ node = MotorControlNode()
+
+ try:
+ rclpy.spin(node)
+ except KeyboardInterrupt:
+ pass
+ finally:
+ node.stop_motors()
+ node.destroy_node()
+ rclpy.shutdown()
+
+if __name__ == '__main__':
+ main()
diff --git a/ros2/install/robobin/lib/python3.12/site-packages/robobin/encoder.py b/ros2/install/robobin/lib/python3.12/site-packages/robobin/encoder.py
new file mode 100644
index 00000000..f646d3dc
--- /dev/null
+++ b/ros2/install/robobin/lib/python3.12/site-packages/robobin/encoder.py
@@ -0,0 +1,63 @@
+import rclpy
+from rclpy.node import Node
+from std_msgs.msg import Int64
+from gpiozero import RotaryEncoder, InputDevice
+
+
+
+class EncoderReaderNode(Node):
+ def __init__(self):
+ super().__init__('encoder_reader_node')
+
+ motor1A = 5
+ motor1B = 6
+ motor2A = 20
+ motor2B = 21
+
+ self.encoder_left = RotaryEncoder(a = motor1A,b = motor1B, max_steps=0)
+ self.encoder_right = RotaryEncoder(a = motor2A,b = motor2B, max_steps=0)
+
+ # Publishers for encoder steps
+ self.left_encoder_pub = self.create_publisher(Int64, 'left_wheel_steps', 10)
+ self.right_encoder_pub = self.create_publisher(Int64, 'right_wheel_steps', 10)
+
+ # Timer to read encoders
+ self.timer = self.create_timer(0.1, self.publish_encoder_steps)
+
+ self.get_logger().info('Encoder reader node has been started.')
+
+ def publish_encoder_steps(self):
+ # Read encoder steps
+ left_steps = self.encoder_left.steps
+ right_steps = -(self.encoder_right.steps)
+
+ # Create messages
+ left_msg = Int64()
+ left_msg.data = left_steps
+
+ right_msg = Int64()
+ right_msg.data = right_steps
+
+ # Publish messages
+ self.left_encoder_pub.publish(left_msg)
+ self.right_encoder_pub.publish(right_msg)
+
+ # Log the steps
+ #self.get_logger().info(f'Left Steps: {left_steps}, Right Steps: {right_steps}')
+
+
+
+def main(args=None):
+ rclpy.init(args=args)
+ node = EncoderReaderNode()
+
+ try:
+ rclpy.spin(node)
+ except KeyboardInterrupt:
+ pass
+ finally:
+ node.destroy_node()
+ rclpy.shutdown()
+
+if __name__ == '__main__':
+ main()
diff --git a/ros2/install/robobin/lib/python3.12/site-packages/robobin/helpers/__pycache__/connection_manager.cpython-312.pyc b/ros2/install/robobin/lib/python3.12/site-packages/robobin/helpers/__pycache__/connection_manager.cpython-312.pyc
index a713590a888bfa6ed7ee51e32f77b1b610efe246..e495321b355d6e33afcba4842e73cc323cb7c086 100644
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delta 20
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delta 20
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diff --git a/ros2/install/robobin/lib/python3.12/site-packages/robobin/helpers/__pycache__/graph_maker.cpython-312.pyc b/ros2/install/robobin/lib/python3.12/site-packages/robobin/helpers/__pycache__/graph_maker.cpython-312.pyc
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GIT binary patch
delta 20
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delta 20
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diff --git a/ros2/install/robobin/lib/python3.12/site-packages/robobin/helpers/graph_maker.py b/ros2/install/robobin/lib/python3.12/site-packages/robobin/helpers/graph_maker.py
new file mode 100644
index 00000000..202fc34f
--- /dev/null
+++ b/ros2/install/robobin/lib/python3.12/site-packages/robobin/helpers/graph_maker.py
@@ -0,0 +1,112 @@
+import json
+import time
+import os
+from realtime_location_cli_only import AnchorTagCLI
+
+class GraphMaker:
+ def __init__(self, port="COM11", testing=False):
+ self.app = AnchorTagCLI(port=port, testing=testing)
+ self.graph = {
+ "name": "Lab 1 Extended",
+ "nodes": [],
+ "connections": []
+ }
+ self.previous_node_index = None
+
+ def call_bpm_and_store_anchors(self):
+ self.app.call_bpm()
+ for name, (x, y) in self.app.anchors.items():
+ self.graph["nodes"].append({
+ "name": name,
+ "x": x,
+ "y": y
+ })
+
+ # Initialize connections matrix with False
+ num_nodes = len(self.graph["nodes"])
+ self.graph["connections"] = [[False] * num_nodes for _ in range(num_nodes)]
+
+ print("Anchor coordinates stored successfully.")
+
+ def start_session(self):
+ print("Waiting for 'start' command...")
+ while True:
+ user_input = input("Enter 'start' to begin adding nodes or 'quit' to exit: ").strip().lower()
+ if user_input == "start":
+ print("Session started. Type 'save' to add nodes, 'finish' to save the graph, or 'quit' to exit.")
+ break
+ elif user_input == "quit":
+ print("Exiting...")
+ exit()
+
+ def add_node_and_connect(self):
+ print(self.app.tag_distances)
+ distances = self.app.serial_buffer.getRangingDistances()
+
+ tag1_x, tag1_y = self.app.update_distances_and_calculate_tags()
+ print(f"{tag1_x}, {tag1_y}")
+ if tag1_x is None or tag1_y is None:
+ print("Failed to determine tag position. Skipping node creation.")
+ return
+
+ new_node_index = len(self.graph["nodes"])
+
+ # Add new node
+ self.graph["nodes"].append({
+ "name": f"Node{new_node_index+1}",
+ "x": tag1_x,
+ "y": tag1_y
+ })
+
+ # Dynamically resize the connections matrix
+ for row in self.graph["connections"]:
+ row.append(False) # Add a column for the new node
+ self.graph["connections"].append([False] * (new_node_index + 1)) # Add a new row
+
+ # Update connections
+ if self.previous_node_index is not None:
+ self.graph["connections"][self.previous_node_index][new_node_index] = True
+ self.graph["connections"][new_node_index][self.previous_node_index] = True
+
+ self.previous_node_index = new_node_index
+
+ print(f"Node {new_node_index+1} added at ({tag1_x:.2f}, {tag1_y:.2f}).")
+
+ def save_graph(self):
+ directory = "/Users/paulwinpenny/Documents/GitHub/robobin/Wireless_Communication/UWB/Beacons_tag_position/output"
+ os.makedirs(directory, exist_ok=True) # Create the directory if it doesn't exist
+ file_path = os.path.join(directory, "graph.json")
+ with open(file_path, "w") as f:
+ json.dump(self.graph, f, indent=2)
+ print(f"Graph saved to '{file_path}'.")
+
+
+ def run(self):
+ while True:
+ user_input = input("Enter command ('bpm', 'start', 'save', 'finish', 'quit'): ").strip().lower()
+ if user_input == "bpm":
+ self.call_bpm_and_store_anchors()
+ elif user_input == "start":
+ self.start_session()
+ while True:
+ user_input = input("Enter 'save' to add a node, 'finish' to save and exit, or 'quit' to exit: ").strip().lower()
+ if user_input == "save":
+ self.add_node_and_connect()
+ elif user_input == "finish":
+ self.save_graph()
+ print("Session finished.")
+ exit()
+ elif user_input == "quit":
+ print("Exiting without saving.")
+ exit()
+ else:
+ print("Invalid command. Try 'save', 'finish', or 'quit'.")
+ elif user_input == "quit":
+ print("Exiting...")
+ break
+ else:
+ print("Invalid command. Try 'bpm', 'start', 'save', 'finish', or 'quit'.")
+
+if __name__ == "__main__":
+ graph_maker = GraphMaker(port="/dev/tty.usbmodem14101", testing=False)
+ graph_maker.run()
diff --git a/ros2/install/robobin/lib/python3.12/site-packages/robobin/helpers/realtime_location_cli_only.py b/ros2/install/robobin/lib/python3.12/site-packages/robobin/helpers/realtime_location_cli_only.py
new file mode 100644
index 00000000..2c9284f5
--- /dev/null
+++ b/ros2/install/robobin/lib/python3.12/site-packages/robobin/helpers/realtime_location_cli_only.py
@@ -0,0 +1,279 @@
+import time
+import numpy as np
+import serial
+from scipy.optimize import least_squares
+
+# Define test values at the top of the file for easy modification
+TEST_MEASURED_DISTANCES = [302, 463, 286, 304, 418, 328]
+TEST_TAG1_DISTANCES = [22, 107, 246, 295]
+TEST_TAG2_DISTANCES = [100, 100, 100, 100]
+
+class SerialBuffer:
+ def __init__(self, port):
+ self.ser = serial.Serial(port, 115200, timeout=1)
+
+ def readFromDevice(self, expectedLines=1):
+ lines = []
+ # Attempt to read expected lines; if device is slow, you may need retries
+ while len(lines) < expectedLines:
+ if self.ser.in_waiting:
+ line = self.ser.readline().decode().strip()
+ if line:
+ lines.append(line)
+ else:
+ time.sleep(0.01)
+ return lines
+
+ def getBeaconPositioningDistances(self):
+ """Reads the measured distances (A,E,D,B,F,C) from the device."""
+ self.writeToDevice("bpm")
+ buffer = self.readFromDevice(1)[0]
+ values = list(map(float, buffer.split(" ")))
+ return values
+
+ def getRangingDistances(self):
+ """Reads the distances from the tags to the anchors."""
+ self.writeToDevice("rng")
+ lines = self.readFromDevice(2)
+ print(lines)
+ distances = []
+ # First line: Tag 1 distances
+ distances.append(list(map(float, lines[0][1:].split(" "))))
+ # Second line: Tag 2 distances or "0"
+ if lines[1] != "1":
+ distances.append(list(map(float, lines[1][1:].split(" "))))
+ else:
+ distances.append(None)
+ return distances
+
+ def writeToDevice(self, value):
+ self.ser.write((value + "\n").encode())
+
+ def __del__(self):
+ print("Closing port")
+ self.ser.close()
+
+
+class AnchorTagCLI:
+ def __init__(self, port="/dev/tty.usbmodem14101", testing=False):
+ self.testing = testing
+ self.serial_buffer = SerialBuffer(port)
+
+ # Distances between anchors (A,E,D,B,F,C)
+ # Corresponding to the measured_distances in original code.
+ self.measured_distances = [0.0]*6
+
+ # Distances from Tag 1 to anchors: A1, A2, A3, A4
+ self.tag_distances = {"A1": 0.0, "A2": 0.0, "A3": 0.0, "A4": 0.0}
+
+ # Distances from Tag 2 to anchors: A1, A2, A3, A4
+ self.tag2_distances = {"A1": 0.0, "A2": 0.0, "A3": 0.0, "A4": 0.0}
+
+ self.anchors = {}
+ self.anchorHeight = 250
+ self.anchors_coords_known = False
+
+ if self.testing:
+ # Set predefined test distances
+ for i, dist in enumerate(TEST_MEASURED_DISTANCES):
+ self.measured_distances[i] = dist
+
+ for (anchor, dist) in zip(self.tag_distances.keys(), TEST_TAG1_DISTANCES):
+ self.tag_distances[anchor] = dist
+
+ for (anchor, dist) in zip(self.tag2_distances.keys(), TEST_TAG2_DISTANCES):
+ self.tag2_distances[anchor] = dist
+
+ def determine_anchor_coords(self):
+ try:
+ measured_distances = np.array(self.measured_distances)
+ y_A = measured_distances[2] # Distance from A to D
+
+ # Guess for B based on distance A-B and B-D
+ x_B = measured_distances[0] / 2
+ y_B = measured_distances[4] / 2 + 200 # Start y_B above y_C
+
+ # Guess for C with symmetrical logic
+ x_C = -measured_distances[5] / 2 # Allow for negative x_C
+ y_C = -measured_distances[1] / 2 # Allow for negative y_C
+
+ initial_guess = [x_B, y_B, x_C, y_C, y_A]
+
+ min_dist = min(measured_distances)
+ max_dist = max(measured_distances)
+ lower_bounds = [-max_dist, -max_dist, -max_dist, -max_dist, min_dist / 2]
+ upper_bounds = [max_dist * 1.5 for i in range(5)]
+
+ def error_function(variables, measured):
+ x_B, y_B, x_C, y_C, y_A = variables
+
+ # Map measured distances to a, e, d, b, f, c
+ a_measured, e_measured, d_measured, b_measured, f_measured, c_measured = measured
+
+ # Compute each distance
+ a_calc = np.sqrt((x_B - 0)**2 + (y_B - y_A)**2) # A-B
+ b_calc = np.sqrt((x_C - x_B)**2 + (y_C - y_B)**2) # B-C
+ c_calc = np.sqrt(x_C**2 + y_C**2) # C-D
+ d_calc = y_A # A-D
+ e_calc = np.sqrt(x_C**2 + (y_C - y_A)**2) # A-C
+ f_calc = np.sqrt(x_B**2 + y_B**2) # B-D
+
+ # Residuals
+ r_a = a_calc - a_measured
+ r_b = b_calc - b_measured
+ r_c = c_calc - c_measured
+ r_d = d_calc - d_measured
+ r_e = e_calc - e_measured
+ r_f = f_calc - f_measured
+
+ # Add a smoother penalty if y_B <= y_C
+ penalty = 1e3 * max(0, y_C - y_B + 10) # Soft penalty to enforce constraint
+
+ return [r_a, r_b, r_c, r_d, r_e, r_f, penalty]
+
+ result = least_squares(error_function, initial_guess, args=(measured_distances,), bounds=(lower_bounds, upper_bounds), loss='soft_l1')
+
+ x_B, y_B, x_C, y_C, y_A = result.x
+ self.anchors = {
+ "A1": (0, y_A, self.anchorHeight),
+ "A2": (x_B, y_B, self.anchorHeight),
+ "A3": (x_C, y_C, self.anchorHeight),
+ "A4": (0, 0, self.anchorHeight)
+ }
+ return {k: (round(v[0], 2), round(v[1], 2)) for k, v in self.anchors.items()}
+ except Exception as e:
+ print(f"Error generating anchors: {e}")
+
+ def calculate_tag_coordinates(self, tag_distances):
+ if not self.anchors_coords_known or len(self.anchors) < 3:
+ return None, None
+
+ available_beacons = []
+ available_distances = []
+ for key in tag_distances.keys():
+ d = max(float(tag_distances[key]), 0)
+ available_distances.append(d)
+ available_beacons.append(self.anchors[key])
+
+ if len(available_beacons) < 3:
+ return None, None
+
+ heights = []
+ for (bx, by, bz), d_measured in zip(available_beacons, available_distances):
+ horizontal_distance = np.sqrt((bx - 0)**2 + (by - 0)**2) # Assume tag starts at (0, 0)
+ estimated_z = np.sqrt(max(0, d_measured**2 - horizontal_distance**2)) # Ensure non-negative
+ heights.append(bz - estimated_z) # Estimate tag height relative to beacon
+
+ initial_z = max(0, min(self.anchorHeight, np.mean(heights))) # Constrain height to [0, 200]
+
+ beacon_xs = [b[0] for b in available_beacons]
+ beacon_ys = [b[1] for b in available_beacons]
+ initial_guess = [np.mean(beacon_xs), np.mean(beacon_ys), initial_z]
+
+ # Define bounds for the tag position
+ x_min = min(beacon_xs) - 1000 # Add a small margin around the beacons
+ x_max = max(beacon_xs) + 1000
+ y_min = min(beacon_ys) - 1000
+ y_max = max(beacon_ys) + 1000
+ z_min = 0.0 # Tag's height cannot be below the ground
+ z_max = self.anchorHeight # Tag's height cannot exceed the beacon height
+ bounds = ([x_min, y_min, z_min], [x_max, y_max, z_max])
+
+ def error_function(vars):
+ x, y, z= vars
+ residuals = []
+ for (bx, by, bz), d_measured in zip(available_beacons, available_distances):
+ d_computed = np.sqrt((x - bx)**2 + (y - by)**2 + (z - bz)**2)
+ residuals.append(d_computed - d_measured)
+ return residuals
+
+ result = least_squares(error_function, initial_guess, bounds=bounds, loss='soft_l1')
+ # self.get_logger().info(f"Optimization result: {result.x}")
+ return tuple(result.x)
+
+
+ def call_bpm(self):
+ if self.testing:
+ beacon_distances = TEST_MEASURED_DISTANCES
+ else:
+ beacon_distances = self.serial_buffer.getBeaconPositioningDistances()
+
+ for i, distance in enumerate(beacon_distances):
+ if i < len(self.measured_distances):
+ self.measured_distances[i] = distance
+
+ determined_anchor_coords = self.determine_anchor_coords()
+ if determined_anchor_coords:
+ self.anchors_coords_known = True
+ print("Anchor coordinates determined:")
+ for anchor, coords in determined_anchor_coords.items():
+ print(f"{anchor}: {coords}")
+
+ def update_distances_and_calculate_tags(self):
+ if not self.anchors_coords_known:
+ return
+
+ if self.testing:
+ ranging_distances = [TEST_TAG1_DISTANCES, TEST_TAG2_DISTANCES]
+ else:
+ ranging_distances = self.serial_buffer.getRangingDistances()
+
+ # Update tag 1 distances
+ if ranging_distances[0] is not None:
+ for i, distance in enumerate(ranging_distances[0]):
+ anchor = list(self.tag_distances.keys())[i]
+ self.tag_distances[anchor] = distance
+
+ # Update tag 2 distances
+ if ranging_distances[1] is not None:
+ for i, distance in enumerate(ranging_distances[1]):
+ anchor = list(self.tag2_distances.keys())[i]
+ self.tag2_distances[anchor] = distance
+
+ # Now calculate both tags
+ tag1_x, tag1_y, tag1_z = self.calculate_tag_coordinates(self.tag_distances)
+ valid_tag2_distances = [dist for dist in self.tag2_distances.values() if dist > 0]
+
+ # Check if there are enough valid distances for Tag 2
+ if len(valid_tag2_distances) < 3:
+ print(f"Insufficient valid distances for Tag 2: {len(valid_tag2_distances)} provided.")
+ tag2_x, tag2_y, tag2_z = None, None, None
+ else:
+ tag2_x, tag2_y, tag2_z = self.calculate_tag_coordinates(self.tag2_distances)
+
+ print("Tag Positions:")
+ if tag1_x is not None and tag1_y is not None:
+ print(f"Tag 1: ({tag1_x:.2f}, {tag1_y:.2f}, {tag1_z:.2f})")
+ else:
+ print("Tag 1: Not enough data")
+
+ if tag2_x is not None and tag2_y is not None:
+ print(f"Tag 2: ({tag2_x:.2f}, {tag2_y:.2f}, {tag2_z:.2f})")
+ else:
+ print("Tag 2: Not enough data")
+
+
+ if tag1_x is not None and tag1_y is not None and tag2_x is not None and tag2_y is not None:
+ dx = tag2_x - tag1_x
+ dy = tag2_y - tag1_y
+ dz = tag2_z - tag1_z
+ displacement = np.sqrt(dx**2 + dy**2 + dz**2)
+ angle_deg = np.degrees(np.arctan2(dy, dx))
+ if angle_deg < 0:
+ angle_deg += 360
+ print(f"Direction from Tag1 to Tag2: dx={dx:.2f}, dy={dy:.2f}, displacement={displacement:.2f}, angle={angle_deg:.2f}°")
+ return tag1_x, tag1_y
+
+if __name__ == "__main__":
+ app = AnchorTagCLI(port="/dev/tty.usbmodem14101", testing=False)
+ while True:
+ user_input = input("Enter command ('bpm' to set anchors, or 'quit' to exit): ").strip().lower()
+ if user_input == "bpm":
+ app.call_bpm()
+ print("Switching to continuous ranging updates (simulating 'rng' messages)...")
+ while True:
+ app.update_distances_and_calculate_tags()
+ time.sleep(1)
+ elif user_input == "quit":
+ print("Exiting program.")
+ break
\ No newline at end of file
diff --git a/ros2/install/robobin/lib/python3.12/site-packages/robobin/imu_node.py b/ros2/install/robobin/lib/python3.12/site-packages/robobin/imu_node.py
new file mode 100644
index 00000000..d20c2dad
--- /dev/null
+++ b/ros2/install/robobin/lib/python3.12/site-packages/robobin/imu_node.py
@@ -0,0 +1,95 @@
+#!/usr/bin/env python3
+
+import rclpy
+from rclpy.node import Node
+from sensor_msgs.msg import Imu
+from smbus2 import SMBus
+import time
+import math
+
+class BNO055Publisher(Node):
+ def __init__(self):
+ super().__init__('imu_node')
+ self.publisher_ = self.create_publisher(Imu, 'imu', 10)
+ self.timer = self.create_timer(0.1, self.timer_callback)
+ self.bus = SMBus(1)
+ self.address = 0x28
+ self.init_bno055()
+ time.sleep(1)
+
+ def write_register(self, register, value):
+ self.bus.write_byte_data(self.address, register, value)
+
+ def read_register(self, register, length=1):
+ if length == 1:
+ return self.bus.read_byte_data(self.address, register)
+ else:
+ return self.bus.read_i2c_block_data(self.address, register, length)
+
+ def init_bno055(self):
+ # Switch to CONFIG mode
+ self.write_register(0x3D, 0x00)
+ time.sleep(0.05)
+ # Set power mode to Normal
+ self.write_register(0x3E, 0x00)
+ # Set to NDOF mode
+ self.write_register(0x3D, 0x0C)
+ time.sleep(0.5)
+
+ def read_euler_angles(self):
+ data = self.read_register(0x1A, 6)
+ yaw = (data[1] << 8) | data[0]
+ roll = (data[3] << 8) | data[2]
+ pitch = (data[5] << 8) | data[4]
+ yaw = yaw if yaw < 32768 else yaw - 65536
+ roll = roll if roll < 32768 else roll - 65536
+ pitch = pitch if pitch < 32768 else pitch - 65536
+ yaw = yaw / 16.0
+ roll = roll / 16.0
+ pitch = pitch / 16.0
+ return yaw, pitch, roll
+
+ def timer_callback(self):
+ yaw, pitch, roll = self.read_euler_angles()
+ imu_msg = Imu()
+ imu_msg.header.stamp = self.get_clock().now().to_msg()
+ imu_msg.header.frame_id = 'imu_link'
+ # Convert degrees to radians
+ yaw_rad = -(math.radians(yaw))
+ roll_rad = -(math.radians(pitch))
+ pitch_rad = -(math.radians(roll))
+ # Compute quaternion
+ cy = math.cos(yaw_rad * 0.5)
+ sy = math.sin(yaw_rad * 0.5)
+ cp = math.cos(pitch_rad * 0.5)
+ sp = math.sin(pitch_rad * 0.5)
+ cr = math.cos(roll_rad * 0.5)
+ sr = math.sin(roll_rad * 0.5)
+ imu_msg.orientation.w = cr * cp * cy + sr * sp * sy
+ imu_msg.orientation.x = sr * cp * cy - cr * sp * sy
+ imu_msg.orientation.y = cr * sp * cy + sr * cp * sy
+ imu_msg.orientation.z = cr * cp * sy - sr * sp * cy
+
+ imu_msg.orientation_covariance = [0.0025, 0, 0,
+ 0, 0.0025, 0,
+ 0, 0, 0.0025]
+ imu_msg.angular_velocity_covariance = [0.02, 0, 0,
+ 0, 0.02, 0,
+ 0, 0, 0.02]
+ imu_msg.linear_acceleration_covariance = [0.04, 0, 0,
+ 0, 0.04, 0,
+ 0, 0, 0.04]
+
+
+ self.publisher_.publish(imu_msg)
+ #self.get_logger().info(f'Publishing: Yaw={yaw:.2f}, Pitch={pitch:.2f}, Roll={roll:.2f}')
+
+def main(args=None):
+ rclpy.init(args=args)
+ bno055_publisher = BNO055Publisher()
+ rclpy.spin(bno055_publisher)
+ bno055_publisher.destroy_node()
+ rclpy.shutdown()
+
+if __name__ == '__main__':
+ main()
\ No newline at end of file
diff --git a/ros2/install/robobin/lib/python3.12/site-packages/robobin/uwb_pathing_node.py b/ros2/install/robobin/lib/python3.12/site-packages/robobin/uwb_pathing_node.py
new file mode 100644
index 00000000..dec8b955
--- /dev/null
+++ b/ros2/install/robobin/lib/python3.12/site-packages/robobin/uwb_pathing_node.py
@@ -0,0 +1,122 @@
+import rclpy
+from rclpy.node import Node
+from geometry_msgs.msg import Twist, Point
+from math import sqrt, pow, atan2, radians, sin, cos
+import time
+
+
+class UWBPathingNode(Node):
+ def __init__(self):
+ super().__init__('uwb_pathing_node')
+
+ # Publisher for cmd_vel
+ self.cmd_vel_pub = self.create_publisher(Twist, '/cmd_vel', 10)
+
+ # Subscriptions
+ self.create_subscription(Point, '/start_location', self.current_location_callback, 10)
+ self.create_subscription(Point, '/target_location', self.target_location_callback, 10)
+
+ # Current and target positions
+ self.current_x = None
+ self.current_y = None
+ self.target_x = None
+ self.target_y = None
+
+ # Navigation thresholds
+ self.distance_threshold = 0.25 # meters
+ self.angle_threshold = radians(0.5) # radians
+
+ self.kp_linear = 0.5 # Proportional gain for linear movement
+ self.kp_angular = 1.0 # Proportional gain for angular movement
+
+ self.get_logger().info('UWB Pathing Node started and waiting for positions.')
+
+ def current_location_callback(self, msg: Point):
+ """Callback to update the robot's current position."""
+ self.current_x = msg.x
+ self.current_y = msg.y
+ self.get_logger().info(f"Current Location Updated: x={self.current_x:.2f}, y={self.current_y:.2f}")
+ self.check_and_navigate()
+
+ def target_location_callback(self, msg: Point):
+ """Callback to update the target position."""
+ self.target_x = msg.x
+ self.target_y = msg.y
+ self.get_logger().info(f"Target Location Updated: x={self.target_x:.2f}, y={self.target_y:.2f}")
+ self.check_and_navigate()
+
+ def check_and_navigate(self):
+ """Check if both positions are available and navigate to the target."""
+ if self.current_x is not None and self.current_y is not None and self.target_x is not None and self.target_y is not None:
+ self.get_logger().info("Navigating to target...")
+ self.navigate_to_target()
+ else:
+ self.get_logger().warning("Waiting for both current and target positions to be available...")
+
+ def navigate_to_target(self):
+ # Ensure positions are known
+ if self.current_x is None or self.current_y is None or self.target_x is None or self.target_y is None:
+ self.get_logger().warning("Positions not fully known yet.")
+ return
+
+ # Calculate distance and angle to the target
+ displacement_x = self.target_x - self.current_x
+ displacement_y = self.target_y - self.current_y
+ distance_to_target = sqrt(pow(displacement_x, 2) + pow(displacement_y, 2))
+ angle_to_target = atan2(displacement_y, displacement_x)
+
+
+ # Check if we are close enough to the target
+ if distance_to_target <= self.distance_threshold:
+ self.stop_robot()
+ self.get_logger().info("Target reached successfully.")
+ return
+
+ # Calculate yaw error (assuming robot orientation 0 = facing x-axis)
+ # If you don't have actual orientation, you might assume the robot always faces the target directly
+ yaw_error = angle_to_target
+ yaw_error = atan2(sin(yaw_error), cos(yaw_error)) # Normalize angle
+ self.get_logger().info(f"Current Position: x={self.current_x:.2f}, y={self.current_y:.2f}")
+ self.get_logger().info(f"Target Position: x={self.target_x:.2f}, y={self.target_y:.2f}")
+ self.get_logger().info(f"Distance to Target: distance_to_target={distance_to_target:.2f} meters")
+ self.get_logger().info(f"Angle to Target: angle_to_target={angle_to_target:.2f} radians")
+ twist = Twist()
+
+ # Decide on angular velocity first
+ if abs(yaw_error) > self.angle_threshold:
+ angular_speed = self.kp_angular * abs(yaw_error)
+ twist.angular.z = angular_speed if yaw_error > 0 else -angular_speed
+ self.get_logger().info(f"Correcting Heading: yaw_error={yaw_error:.2f} radians")
+ else:
+ # Move forward when aligned with the target
+ linear_speed = self.kp_linear * distance_to_target
+ twist.linear.x = min(0.2, linear_speed) # Limit max speed
+ self.get_logger().info(f"Moving to Target: distance={distance_to_target:.2f} meters")
+
+ # # Publish movement command
+ # self.cmd_vel_pub.publish(twist)
+
+
+ def stop_robot(self):
+ """Stops the robot by publishing zero velocities."""
+ twist = Twist()
+ self.cmd_vel_pub.publish(twist)
+ time.sleep(0.5)
+ self.get_logger().info("Robot stopped.")
+
+
+def main(args=None):
+ rclpy.init(args=args)
+ node = UWBPathingNode()
+
+ try:
+ rclpy.spin(node)
+ except KeyboardInterrupt:
+ pass
+ finally:
+ node.destroy_node()
+ rclpy.shutdown()
+
+
+if __name__ == '__main__':
+ main()
diff --git a/ros2/install/robobin/lib/robobin/control_feedback b/ros2/install/robobin/lib/robobin/control_feedback
new file mode 100755
index 00000000..fda03c81
--- /dev/null
+++ b/ros2/install/robobin/lib/robobin/control_feedback
@@ -0,0 +1,33 @@
+#!/usr/bin/python3
+# EASY-INSTALL-ENTRY-SCRIPT: 'robobin==0.0.0','console_scripts','control_feedback'
+import re
+import sys
+
+# for compatibility with easy_install; see #2198
+__requires__ = 'robobin==0.0.0'
+
+try:
+ from importlib.metadata import distribution
+except ImportError:
+ try:
+ from importlib_metadata import distribution
+ except ImportError:
+ from pkg_resources import load_entry_point
+
+
+def importlib_load_entry_point(spec, group, name):
+ dist_name, _, _ = spec.partition('==')
+ matches = (
+ entry_point
+ for entry_point in distribution(dist_name).entry_points
+ if entry_point.group == group and entry_point.name == name
+ )
+ return next(matches).load()
+
+
+globals().setdefault('load_entry_point', importlib_load_entry_point)
+
+
+if __name__ == '__main__':
+ sys.argv[0] = re.sub(r'(-script\.pyw?|\.exe)?$', '', sys.argv[0])
+ sys.exit(load_entry_point('robobin==0.0.0', 'console_scripts', 'control_feedback')())
diff --git a/ros2/install/robobin/lib/robobin/encoder_node b/ros2/install/robobin/lib/robobin/encoder_node
new file mode 100755
index 00000000..306c6407
--- /dev/null
+++ b/ros2/install/robobin/lib/robobin/encoder_node
@@ -0,0 +1,33 @@
+#!/usr/bin/python3
+# EASY-INSTALL-ENTRY-SCRIPT: 'robobin==0.0.0','console_scripts','encoder_node'
+import re
+import sys
+
+# for compatibility with easy_install; see #2198
+__requires__ = 'robobin==0.0.0'
+
+try:
+ from importlib.metadata import distribution
+except ImportError:
+ try:
+ from importlib_metadata import distribution
+ except ImportError:
+ from pkg_resources import load_entry_point
+
+
+def importlib_load_entry_point(spec, group, name):
+ dist_name, _, _ = spec.partition('==')
+ matches = (
+ entry_point
+ for entry_point in distribution(dist_name).entry_points
+ if entry_point.group == group and entry_point.name == name
+ )
+ return next(matches).load()
+
+
+globals().setdefault('load_entry_point', importlib_load_entry_point)
+
+
+if __name__ == '__main__':
+ sys.argv[0] = re.sub(r'(-script\.pyw?|\.exe)?$', '', sys.argv[0])
+ sys.exit(load_entry_point('robobin==0.0.0', 'console_scripts', 'encoder_node')())
diff --git a/ros2/install/robobin/lib/robobin/imu_node b/ros2/install/robobin/lib/robobin/imu_node
new file mode 100755
index 00000000..ba00b16a
--- /dev/null
+++ b/ros2/install/robobin/lib/robobin/imu_node
@@ -0,0 +1,33 @@
+#!/usr/bin/python3
+# EASY-INSTALL-ENTRY-SCRIPT: 'robobin==0.0.0','console_scripts','imu_node'
+import re
+import sys
+
+# for compatibility with easy_install; see #2198
+__requires__ = 'robobin==0.0.0'
+
+try:
+ from importlib.metadata import distribution
+except ImportError:
+ try:
+ from importlib_metadata import distribution
+ except ImportError:
+ from pkg_resources import load_entry_point
+
+
+def importlib_load_entry_point(spec, group, name):
+ dist_name, _, _ = spec.partition('==')
+ matches = (
+ entry_point
+ for entry_point in distribution(dist_name).entry_points
+ if entry_point.group == group and entry_point.name == name
+ )
+ return next(matches).load()
+
+
+globals().setdefault('load_entry_point', importlib_load_entry_point)
+
+
+if __name__ == '__main__':
+ sys.argv[0] = re.sub(r'(-script\.pyw?|\.exe)?$', '', sys.argv[0])
+ sys.exit(load_entry_point('robobin==0.0.0', 'console_scripts', 'imu_node')())
diff --git a/ros2/install/robobin/lib/robobin/motor_node b/ros2/install/robobin/lib/robobin/motor_node
new file mode 100755
index 00000000..0fbb76f5
--- /dev/null
+++ b/ros2/install/robobin/lib/robobin/motor_node
@@ -0,0 +1,33 @@
+#!/usr/bin/python3
+# EASY-INSTALL-ENTRY-SCRIPT: 'robobin==0.0.0','console_scripts','motor_node'
+import re
+import sys
+
+# for compatibility with easy_install; see #2198
+__requires__ = 'robobin==0.0.0'
+
+try:
+ from importlib.metadata import distribution
+except ImportError:
+ try:
+ from importlib_metadata import distribution
+ except ImportError:
+ from pkg_resources import load_entry_point
+
+
+def importlib_load_entry_point(spec, group, name):
+ dist_name, _, _ = spec.partition('==')
+ matches = (
+ entry_point
+ for entry_point in distribution(dist_name).entry_points
+ if entry_point.group == group and entry_point.name == name
+ )
+ return next(matches).load()
+
+
+globals().setdefault('load_entry_point', importlib_load_entry_point)
+
+
+if __name__ == '__main__':
+ sys.argv[0] = re.sub(r'(-script\.pyw?|\.exe)?$', '', sys.argv[0])
+ sys.exit(load_entry_point('robobin==0.0.0', 'console_scripts', 'motor_node')())
diff --git a/ros2/install/robobin/lib/robobin/uwb_pathing_node b/ros2/install/robobin/lib/robobin/uwb_pathing_node
new file mode 100755
index 00000000..30066a0e
--- /dev/null
+++ b/ros2/install/robobin/lib/robobin/uwb_pathing_node
@@ -0,0 +1,33 @@
+#!/usr/bin/python3
+# EASY-INSTALL-ENTRY-SCRIPT: 'robobin==0.0.0','console_scripts','uwb_pathing_node'
+import re
+import sys
+
+# for compatibility with easy_install; see #2198
+__requires__ = 'robobin==0.0.0'
+
+try:
+ from importlib.metadata import distribution
+except ImportError:
+ try:
+ from importlib_metadata import distribution
+ except ImportError:
+ from pkg_resources import load_entry_point
+
+
+def importlib_load_entry_point(spec, group, name):
+ dist_name, _, _ = spec.partition('==')
+ matches = (
+ entry_point
+ for entry_point in distribution(dist_name).entry_points
+ if entry_point.group == group and entry_point.name == name
+ )
+ return next(matches).load()
+
+
+globals().setdefault('load_entry_point', importlib_load_entry_point)
+
+
+if __name__ == '__main__':
+ sys.argv[0] = re.sub(r'(-script\.pyw?|\.exe)?$', '', sys.argv[0])
+ sys.exit(load_entry_point('robobin==0.0.0', 'console_scripts', 'uwb_pathing_node')())
diff --git a/ros2/install/robobin/share/robobin/launch/__pycache__/robobin_launch.cpython-312.pyc b/ros2/install/robobin/share/robobin/launch/__pycache__/robobin_launch.cpython-312.pyc
index 6081001549b210e896c95734cb81a03f8bc555d6..8f655ad508c584a69afd66e477eba5e5657cadd4 100644
GIT binary patch
delta 20
bcmeBT?PBFV&CAQhz`(%3>zllhyPgREE3E_*
delta 20
bcmeBT?PBFV&CAQhz`(#DAC$0>yPgREEII@y
diff --git a/ros2/install/robobin/share/robobin/launch/robobin_no_components_launch.py b/ros2/install/robobin/share/robobin/launch/robobin_no_components_launch.py
new file mode 100644
index 00000000..cea86516
--- /dev/null
+++ b/ros2/install/robobin/share/robobin/launch/robobin_no_components_launch.py
@@ -0,0 +1,31 @@
+# ~/GitLab/robobin/ros2/src/robobin/launch/robobin_no_components_launch.py
+
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+def generate_launch_description():
+ return LaunchDescription([
+ Node(
+ package='robobin',
+ executable='api_node',
+ name='api_node',
+ output='screen',
+ emulate_tty=True
+
+ ),
+
+ Node(
+ package='robobin',
+ executable='uwb_navigation_node',
+ name='uwb_navigation_node',
+ output='screen',
+ emulate_tty=True
+ ),
+ Node(
+ package='robobin',
+ executable='motor_control_node',
+ name='motor_control_node',
+ output='screen',
+ emulate_tty=True
+ ),
+ ])
\ No newline at end of file
diff --git a/ros2/log/build_2024-12-18_14-34-08/events.log b/ros2/log/build_2024-12-18_14-34-08/events.log
new file mode 100644
index 00000000..c76b497b
--- /dev/null
+++ b/ros2/log/build_2024-12-18_14-34-08/events.log
@@ -0,0 +1,107 @@
+[0.000000] (-) TimerEvent: {}
+[0.000378] (robobin) JobQueued: {'identifier': 'robobin', 'dependencies': OrderedDict()}
+[0.000681] (robobin) JobStarted: {'identifier': 'robobin'}
+[0.099620] (-) TimerEvent: {}
+[0.199903] (-) TimerEvent: {}
+[0.300156] (-) TimerEvent: {}
+[0.400441] (-) TimerEvent: {}
+[0.500731] (-) TimerEvent: {}
+[0.600987] (-) TimerEvent: {}
+[0.701259] (-) TimerEvent: {}
+[0.801514] (-) TimerEvent: {}
+[0.901766] (-) TimerEvent: {}
+[1.001972] (-) TimerEvent: {}
+[1.102203] (-) TimerEvent: {}
+[1.202968] (robobin) Command: {'cmd': ['/usr/bin/python3', '-W', 'ignore:setup.py install is deprecated', '-W', 'ignore:easy_install command is deprecated', 'setup.py', 'egg_info', '--egg-base', '../../build/robobin', 'build', '--build-base', '/home/robobin/robobin/ros2/build/robobin/build', 'install', '--record', '/home/robobin/robobin/ros2/build/robobin/install.log', '--single-version-externally-managed', 'install_data'], 'cwd': '/home/robobin/robobin/ros2/src/robobin', 'env': {'LESSOPEN': '| /usr/bin/lesspipe %s', 'USER': 'robobin', 'SSH_CLIENT': '192.168.43.138 43375 22', 'GZ_CONFIG_PATH': '/opt/ros/jazzy/opt/sdformat_vendor/share/gz', 'XDG_SESSION_TYPE': 'tty', 'SHLVL': '1', 'LD_LIBRARY_PATH': '/opt/ros/jazzy/opt/sdformat_vendor/lib:/opt/ros/jazzy/opt/rviz_ogre_vendor/lib:/opt/ros/jazzy/lib/aarch64-linux-gnu:/opt/ros/jazzy/opt/gz_math_vendor/lib:/opt/ros/jazzy/opt/gz_utils_vendor/lib:/opt/ros/jazzy/opt/gz_tools_vendor/lib:/opt/ros/jazzy/opt/gz_cmake_vendor/lib:/opt/ros/jazzy/lib', 'HOME': '/home/robobin', 'OLDPWD': '/home/robobin/robobin/ros2/src', 'SSH_TTY': '/dev/pts/0', 'ROS_PYTHON_VERSION': '3', 'DBUS_SESSION_BUS_ADDRESS': 'unix:path=/run/user/1002/bus', 'DEBUGINFOD_URLS': 'https://debuginfod.ubuntu.com', 'COLCON_PREFIX_PATH': '/home/robobin/robobin/ros2/install:/home/robobin/Robobin_Project/ros2/robobin_main/install', 'ROS_DISTRO': 'jazzy', 'LOGNAME': 'robobin', '_': '/usr/bin/colcon', 'ROS_VERSION': '2', 'XDG_SESSION_CLASS': 'user', 'TERM': 'xterm-256color', 'XDG_SESSION_ID': '4', 'PATH': '/opt/ros/jazzy/opt/gz_tools_vendor/bin:/opt/ros/jazzy/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin', 'XDG_RUNTIME_DIR': '/run/user/1002', 'LANG': 'en_US.UTF-8', 'LS_COLORS': 'rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=00:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.zst=01;31:*.tzst=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.avif=01;35:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.webp=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:*~=00;90:*#=00;90:*.bak=00;90:*.crdownload=00;90:*.dpkg-dist=00;90:*.dpkg-new=00;90:*.dpkg-old=00;90:*.dpkg-tmp=00;90:*.old=00;90:*.orig=00;90:*.part=00;90:*.rej=00;90:*.rpmnew=00;90:*.rpmorig=00;90:*.rpmsave=00;90:*.swp=00;90:*.tmp=00;90:*.ucf-dist=00;90:*.ucf-new=00;90:*.ucf-old=00;90:', 'ROS_DOMAIN_ID': '3', 'AMENT_PREFIX_PATH': '/home/robobin/robobin/ros2/install/robobin:/home/robobin/Robobin_Project/ros2/robobin_main/install/testing:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_localization_ekf:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_description:/home/robobin/Robobin_Project/ros2/robobin_main/install/odometry_publisher:/opt/ros/jazzy', 'SHELL': '/bin/bash', 'LESSCLOSE': '/usr/bin/lesspipe %s %s', 'ROS_AUTOMATIC_DISCOVERY_RANGE': 'SUBNET', 'PWD': '/home/robobin/robobin/ros2/build/robobin', 'LC_ALL': 'en_US.UTF-8', 'SSH_CONNECTION': '192.168.43.138 43375 192.168.43.18 22', 'XDG_DATA_DIRS': '/usr/share/gnome:/usr/local/share:/usr/share:/var/lib/snapd/desktop', 'PYTHONPATH': '/home/robobin/robobin/ros2/build/robobin/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages:/home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages:/home/robobin/Robobin_Project/ros2/robobin_main/build/testing:/home/robobin/Robobin_Project/ros2/robobin_main/install/testing/lib/python3.12/site-packages:/home/robobin/Robobin_Project/ros2/robobin_main/build/robot_localization_ekf:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_localization_ekf/lib/python3.12/site-packages:/home/robobin/Robobin_Project/ros2/robobin_main/build/robot_description:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_description/lib/python3.12/site-packages:/home/robobin/Robobin_Project/ros2/robobin_main/build/odometry_publisher:/home/robobin/Robobin_Project/ros2/robobin_main/install/odometry_publisher/lib/python3.12/site-packages:/opt/ros/jazzy/lib/python3.12/site-packages', 'COLCON': '1', 'CMAKE_PREFIX_PATH': '/opt/ros/jazzy/opt/sdformat_vendor:/opt/ros/jazzy/opt/gz_math_vendor:/opt/ros/jazzy/opt/gz_utils_vendor:/opt/ros/jazzy/opt/gz_tools_vendor:/opt/ros/jazzy/opt/gz_cmake_vendor'}, 'shell': False}
+[1.206107] (-) TimerEvent: {}
+[1.306332] (-) TimerEvent: {}
+[1.406601] (-) TimerEvent: {}
+[1.506862] (-) TimerEvent: {}
+[1.579906] (robobin) StdoutLine: {'line': b'running egg_info\n'}
+[1.580407] (robobin) StdoutLine: {'line': b'creating ../../build/robobin/robobin.egg-info\n'}
+[1.606461] (robobin) StdoutLine: {'line': b'writing ../../build/robobin/robobin.egg-info/PKG-INFO\n'}
+[1.606852] (robobin) StdoutLine: {'line': b'writing dependency_links to ../../build/robobin/robobin.egg-info/dependency_links.txt\n'}
+[1.606955] (-) TimerEvent: {}
+[1.607186] (robobin) StdoutLine: {'line': b'writing entry points to ../../build/robobin/robobin.egg-info/entry_points.txt\n'}
+[1.607332] (robobin) StdoutLine: {'line': b'writing requirements to ../../build/robobin/robobin.egg-info/requires.txt\n'}
+[1.607436] (robobin) StdoutLine: {'line': b'writing top-level names to ../../build/robobin/robobin.egg-info/top_level.txt\n'}
+[1.607585] (robobin) StdoutLine: {'line': b"writing manifest file '../../build/robobin/robobin.egg-info/SOURCES.txt'\n"}
+[1.661055] (robobin) StdoutLine: {'line': b"reading manifest file '../../build/robobin/robobin.egg-info/SOURCES.txt'\n"}
+[1.662023] (robobin) StdoutLine: {'line': b"writing manifest file '../../build/robobin/robobin.egg-info/SOURCES.txt'\n"}
+[1.662223] (robobin) StdoutLine: {'line': b'running build\n'}
+[1.662324] (robobin) StdoutLine: {'line': b'running build_py\n'}
+[1.662534] (robobin) StdoutLine: {'line': b'creating /home/robobin/robobin/ros2/build/robobin/build\n'}
+[1.662646] (robobin) StdoutLine: {'line': b'creating /home/robobin/robobin/ros2/build/robobin/build/lib\n'}
+[1.662755] (robobin) StdoutLine: {'line': b'creating /home/robobin/robobin/ros2/build/robobin/build/lib/robobin\n'}
+[1.662860] (robobin) StdoutLine: {'line': b'copying robobin/encoder.py -> /home/robobin/robobin/ros2/build/robobin/build/lib/robobin\n'}
+[1.663828] (robobin) StdoutLine: {'line': b'copying robobin/motor_control_node.py -> /home/robobin/robobin/ros2/build/robobin/build/lib/robobin\n'}
+[1.664484] (robobin) StdoutLine: {'line': b'copying robobin/__init__.py -> /home/robobin/robobin/ros2/build/robobin/build/lib/robobin\n'}
+[1.664627] (robobin) StdoutLine: {'line': b'copying robobin/uwb_navigation_node.py -> /home/robobin/robobin/ros2/build/robobin/build/lib/robobin\n'}
+[1.664829] (robobin) StdoutLine: {'line': b'copying robobin/imu_node.py -> /home/robobin/robobin/ros2/build/robobin/build/lib/robobin\n'}
+[1.665314] (robobin) StdoutLine: {'line': b'copying robobin/api_node.py -> /home/robobin/robobin/ros2/build/robobin/build/lib/robobin\n'}
+[1.665831] (robobin) StdoutLine: {'line': b'copying robobin/control_feedback.py -> /home/robobin/robobin/ros2/build/robobin/build/lib/robobin\n'}
+[1.665994] (robobin) StdoutLine: {'line': b'copying robobin/uwb_pathing_node.py -> /home/robobin/robobin/ros2/build/robobin/build/lib/robobin\n'}
+[1.666271] (robobin) StdoutLine: {'line': b'creating /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/helpers\n'}
+[1.666383] (robobin) StdoutLine: {'line': b'copying robobin/helpers/message_handler.py -> /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/helpers\n'}
+[1.667271] (robobin) StdoutLine: {'line': b'copying robobin/helpers/__init__.py -> /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/helpers\n'}
+[1.667410] (robobin) StdoutLine: {'line': b'copying robobin/helpers/realtime_location_cli_only.py -> /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/helpers\n'}
+[1.667577] (robobin) StdoutLine: {'line': b'copying robobin/helpers/graph_maker.py -> /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/helpers\n'}
+[1.667743] (robobin) StdoutLine: {'line': b'copying robobin/helpers/connection_manager.py -> /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/helpers\n'}
+[1.668499] (robobin) StdoutLine: {'line': b'running install\n'}
+[1.678010] (robobin) StdoutLine: {'line': b'running install_lib\n'}
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+[1.705537] (robobin) StdoutLine: {'line': b'copying /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/encoder.py -> /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin\n'}
+[1.705722] (robobin) StdoutLine: {'line': b'copying /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/motor_control_node.py -> /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin\n'}
+[1.705889] (robobin) StdoutLine: {'line': b'copying /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/__init__.py -> /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin\n'}
+[1.706025] (robobin) StdoutLine: {'line': b'copying /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/uwb_navigation_node.py -> /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin\n'}
+[1.706253] (robobin) StdoutLine: {'line': b'creating /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/helpers\n'}
+[1.706376] (robobin) StdoutLine: {'line': b'copying /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/helpers/message_handler.py -> /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/helpers\n'}
+[1.706541] (robobin) StdoutLine: {'line': b'copying /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/helpers/__init__.py -> /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/helpers\n'}
+[1.706679] (robobin) StdoutLine: {'line': b'copying /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/helpers/realtime_location_cli_only.py -> /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/helpers\n'}
+[1.706858] (robobin) StdoutLine: {'line': b'copying /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/helpers/graph_maker.py -> /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/helpers\n'}
+[1.707013] (robobin) StdoutLine: {'line': b'copying /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/helpers/connection_manager.py -> /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/helpers\n'}
+[1.707101] (-) TimerEvent: {}
+[1.707296] (robobin) StdoutLine: {'line': b'copying /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/imu_node.py -> /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin\n'}
+[1.707467] (robobin) StdoutLine: {'line': b'copying /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/api_node.py -> /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin\n'}
+[1.707585] (robobin) StdoutLine: {'line': b'copying /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/control_feedback.py -> /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin\n'}
+[1.707694] (robobin) StdoutLine: {'line': b'copying /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/uwb_pathing_node.py -> /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin\n'}
+[1.708524] (robobin) StdoutLine: {'line': b'byte-compiling /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/encoder.py to encoder.cpython-312.pyc\n'}
+[1.709495] (robobin) StdoutLine: {'line': b'byte-compiling /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/motor_control_node.py to motor_control_node.cpython-312.pyc\n'}
+[1.710669] (robobin) StdoutLine: {'line': b'byte-compiling /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/__init__.py to __init__.cpython-312.pyc\n'}
+[1.710928] (robobin) StdoutLine: {'line': b'byte-compiling /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/uwb_navigation_node.py to uwb_navigation_node.cpython-312.pyc\n'}
+[1.718090] (robobin) StdoutLine: {'line': b'byte-compiling /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/helpers/message_handler.py to message_handler.cpython-312.pyc\n'}
+[1.720404] (robobin) StdoutLine: {'line': b'byte-compiling /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/helpers/__init__.py to __init__.cpython-312.pyc\n'}
+[1.720698] (robobin) StdoutLine: {'line': b'byte-compiling /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/helpers/realtime_location_cli_only.py to realtime_location_cli_only.cpython-312.pyc\n'}
+[1.723858] (robobin) StdoutLine: {'line': b'byte-compiling /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/helpers/graph_maker.py to graph_maker.cpython-312.pyc\n'}
+[1.725232] (robobin) StdoutLine: {'line': b'byte-compiling /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/helpers/connection_manager.py to connection_manager.cpython-312.pyc\n'}
+[1.726432] (robobin) StdoutLine: {'line': b'byte-compiling /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/imu_node.py to imu_node.cpython-312.pyc\n'}
+[1.727664] (robobin) StdoutLine: {'line': b'byte-compiling /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/api_node.py to api_node.cpython-312.pyc\n'}
+[1.729886] (robobin) StdoutLine: {'line': b'byte-compiling /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/control_feedback.py to control_feedback.cpython-312.pyc\n'}
+[1.731932] (robobin) StdoutLine: {'line': b'byte-compiling /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/uwb_pathing_node.py to uwb_pathing_node.cpython-312.pyc\n'}
+[1.733252] (robobin) StdoutLine: {'line': b'running install_data\n'}
+[1.733399] (robobin) StdoutLine: {'line': b'creating /home/robobin/robobin/ros2/install/robobin/share/ament_index\n'}
+[1.733500] (robobin) StdoutLine: {'line': b'creating /home/robobin/robobin/ros2/install/robobin/share/ament_index/resource_index\n'}
+[1.733600] (robobin) StdoutLine: {'line': b'creating /home/robobin/robobin/ros2/install/robobin/share/ament_index/resource_index/packages\n'}
+[1.733716] (robobin) StdoutLine: {'line': b'copying resource/robobin -> /home/robobin/robobin/ros2/install/robobin/share/ament_index/resource_index/packages\n'}
+[1.733884] (robobin) StdoutLine: {'line': b'copying package.xml -> /home/robobin/robobin/ros2/install/robobin/share/robobin\n'}
+[1.734033] (robobin) StdoutLine: {'line': b'creating /home/robobin/robobin/ros2/install/robobin/share/robobin/launch\n'}
+[1.734143] (robobin) StdoutLine: {'line': b'copying launch/robobin_launch.py -> /home/robobin/robobin/ros2/install/robobin/share/robobin/launch\n'}
+[1.735044] (robobin) StdoutLine: {'line': b'copying launch/robobin_no_components_launch.py -> /home/robobin/robobin/ros2/install/robobin/share/robobin/launch\n'}
+[1.735780] (robobin) StdoutLine: {'line': b'running install_egg_info\n'}
+[1.765019] (robobin) StdoutLine: {'line': b'Copying ../../build/robobin/robobin.egg-info to /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin-0.0.0-py3.12.egg-info\n'}
+[1.774843] (robobin) StdoutLine: {'line': b'running install_scripts\n'}
+[1.807187] (-) TimerEvent: {}
+[1.907421] (-) TimerEvent: {}
+[1.963342] (robobin) StdoutLine: {'line': b'Installing api_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin\n'}
+[1.963600] (robobin) StdoutLine: {'line': b'Installing control_feedback script to /home/robobin/robobin/ros2/install/robobin/lib/robobin\n'}
+[1.963777] (robobin) StdoutLine: {'line': b'Installing encoder_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin\n'}
+[1.963915] (robobin) StdoutLine: {'line': b'Installing imu_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin\n'}
+[1.964049] (robobin) StdoutLine: {'line': b'Installing motor_control_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin\n'}
+[1.964173] (robobin) StdoutLine: {'line': b'Installing motor_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin\n'}
+[1.964294] (robobin) StdoutLine: {'line': b'Installing uwb_navigation_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin\n'}
+[1.964418] (robobin) StdoutLine: {'line': b'Installing uwb_pathing_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin\n'}
+[1.965033] (robobin) StdoutLine: {'line': b"writing list of installed files to '/home/robobin/robobin/ros2/build/robobin/install.log'\n"}
+[2.007516] (-) TimerEvent: {}
+[2.042000] (robobin) CommandEnded: {'returncode': 0}
+[2.054605] (robobin) JobEnded: {'identifier': 'robobin', 'rc': 0}
+[2.055474] (-) EventReactorShutdown: {}
diff --git a/ros2/log/build_2024-12-18_14-34-08/logger_all.log b/ros2/log/build_2024-12-18_14-34-08/logger_all.log
new file mode 100644
index 00000000..27c516b3
--- /dev/null
+++ b/ros2/log/build_2024-12-18_14-34-08/logger_all.log
@@ -0,0 +1,138 @@
+[0.152s] DEBUG:colcon:Command line arguments: ['/usr/bin/colcon', 'build']
+[0.152s] DEBUG:colcon:Parsed command line arguments: Namespace(log_base=None, log_level=None, verb_name='build', build_base='build', install_base='install', merge_install=False, symlink_install=False, test_result_base=None, continue_on_error=False, executor='parallel', parallel_workers=4, event_handlers=None, ignore_user_meta=False, metas=['./colcon.meta'], base_paths=['.'], packages_ignore=None, packages_ignore_regex=None, paths=None, packages_up_to=None, packages_up_to_regex=None, packages_above=None, packages_above_and_dependencies=None, packages_above_depth=None, packages_select_by_dep=None, packages_skip_by_dep=None, packages_skip_up_to=None, packages_select_build_failed=False, packages_skip_build_finished=False, packages_select_test_failures=False, packages_skip_test_passed=False, packages_select=None, packages_skip=None, packages_select_regex=None, packages_skip_regex=None, packages_start=None, packages_end=None, allow_overriding=[], cmake_args=None, cmake_target=None, cmake_target_skip_unavailable=False, cmake_clean_cache=False, cmake_clean_first=False, cmake_force_configure=False, ament_cmake_args=None, catkin_cmake_args=None, catkin_skip_building_tests=False, mixin_files=None, mixin=None, verb_parser=<colcon_mixin.mixin.mixin_argument.MixinArgumentDecorator object at 0xffff862312b0>, verb_extension=<colcon_core.verb.build.BuildVerb object at 0xffff862310a0>, main=<bound method BuildVerb.main of <colcon_core.verb.build.BuildVerb object at 0xffff862310a0>>, mixin_verb=('build',))
+[0.210s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) check parameters
+[0.210s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) check parameters
+[0.210s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) check parameters
+[0.210s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) check parameters
+[0.210s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) discover
+[0.210s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) discover
+[0.210s] INFO:colcon.colcon_core.package_discovery:Crawling recursively for packages in '/home/robobin/robobin/ros2'
+[0.210s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ignore', 'ignore_ament_install']
+[0.210s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore'
+[0.210s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore_ament_install'
+[0.210s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_pkg']
+[0.210s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_pkg'
+[0.210s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_meta']
+[0.211s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_meta'
+[0.211s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ros']
+[0.211s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ros'
+[0.249s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['cmake', 'python']
+[0.250s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'cmake'
+[0.250s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'python'
+[0.250s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['python_setup_py']
+[0.250s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'python_setup_py'
+[0.250s] Level 1:colcon.colcon_core.package_identification:_identify(build) by extensions ['ignore', 'ignore_ament_install']
+[0.250s] Level 1:colcon.colcon_core.package_identification:_identify(build) by extension 'ignore'
+[0.250s] Level 1:colcon.colcon_core.package_identification:_identify(build) ignored
+[0.250s] Level 1:colcon.colcon_core.package_identification:_identify(install) by extensions ['ignore', 'ignore_ament_install']
+[0.250s] Level 1:colcon.colcon_core.package_identification:_identify(install) by extension 'ignore'
+[0.250s] Level 1:colcon.colcon_core.package_identification:_identify(install) ignored
+[0.251s] Level 1:colcon.colcon_core.package_identification:_identify(log) by extensions ['ignore', 'ignore_ament_install']
+[0.251s] Level 1:colcon.colcon_core.package_identification:_identify(log) by extension 'ignore'
+[0.251s] Level 1:colcon.colcon_core.package_identification:_identify(log) ignored
+[0.251s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['ignore', 'ignore_ament_install']
+[0.251s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'ignore'
+[0.251s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'ignore_ament_install'
+[0.251s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['colcon_pkg']
+[0.251s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'colcon_pkg'
+[0.251s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['colcon_meta']
+[0.251s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'colcon_meta'
+[0.251s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['ros']
+[0.251s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'ros'
+[0.251s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['cmake', 'python']
+[0.251s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'cmake'
+[0.251s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'python'
+[0.251s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['python_setup_py']
+[0.251s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'python_setup_py'
+[0.252s] Level 1:colcon.colcon_core.package_identification:_identify(src/build) by extensions ['ignore', 'ignore_ament_install']
+[0.252s] Level 1:colcon.colcon_core.package_identification:_identify(src/build) by extension 'ignore'
+[0.252s] Level 1:colcon.colcon_core.package_identification:_identify(src/build) ignored
+[0.252s] Level 1:colcon.colcon_core.package_identification:_identify(src/install) by extensions ['ignore', 'ignore_ament_install']
+[0.252s] Level 1:colcon.colcon_core.package_identification:_identify(src/install) by extension 'ignore'
+[0.252s] Level 1:colcon.colcon_core.package_identification:_identify(src/install) ignored
+[0.252s] Level 1:colcon.colcon_core.package_identification:_identify(src/log) by extensions ['ignore', 'ignore_ament_install']
+[0.252s] Level 1:colcon.colcon_core.package_identification:_identify(src/log) by extension 'ignore'
+[0.252s] Level 1:colcon.colcon_core.package_identification:_identify(src/log) ignored
+[0.252s] Level 1:colcon.colcon_core.package_identification:_identify(src/robobin) by extensions ['ignore', 'ignore_ament_install']
+[0.252s] Level 1:colcon.colcon_core.package_identification:_identify(src/robobin) by extension 'ignore'
+[0.252s] Level 1:colcon.colcon_core.package_identification:_identify(src/robobin) by extension 'ignore_ament_install'
+[0.252s] Level 1:colcon.colcon_core.package_identification:_identify(src/robobin) by extensions ['colcon_pkg']
+[0.252s] Level 1:colcon.colcon_core.package_identification:_identify(src/robobin) by extension 'colcon_pkg'
+[0.252s] Level 1:colcon.colcon_core.package_identification:_identify(src/robobin) by extensions ['colcon_meta']
+[0.252s] Level 1:colcon.colcon_core.package_identification:_identify(src/robobin) by extension 'colcon_meta'
+[0.253s] Level 1:colcon.colcon_core.package_identification:_identify(src/robobin) by extensions ['ros']
+[0.253s] Level 1:colcon.colcon_core.package_identification:_identify(src/robobin) by extension 'ros'
+[0.256s] DEBUG:colcon.colcon_core.package_identification:Package 'src/robobin' with type 'ros.ament_python' and name 'robobin'
+[0.256s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) using defaults
+[0.256s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) discover
+[0.256s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) using defaults
+[0.256s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) discover
+[0.256s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) using defaults
+[0.280s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) check parameters
+[0.280s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) discover
+[0.281s] WARNING:colcon.colcon_ros.prefix_path.ament:The path '/home/robobin/robobin/ros2/install/robobin' in the environment variable AMENT_PREFIX_PATH doesn't exist
+[0.283s] DEBUG:colcon.colcon_installed_package_information.package_discovery:Found 0 installed packages in /home/robobin/robobin/ros2/install
+[0.283s] DEBUG:colcon.colcon_installed_package_information.package_discovery:Found 4 installed packages in /home/robobin/Robobin_Project/ros2/robobin_main/install
+[0.285s] DEBUG:colcon.colcon_installed_package_information.package_discovery:Found 335 installed packages in /opt/ros/jazzy
+[0.288s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) using defaults
+[0.355s] Level 5:colcon.colcon_core.verb:set package 'robobin' build argument 'cmake_args' from command line to 'None'
+[0.355s] Level 5:colcon.colcon_core.verb:set package 'robobin' build argument 'cmake_target' from command line to 'None'
+[0.355s] Level 5:colcon.colcon_core.verb:set package 'robobin' build argument 'cmake_target_skip_unavailable' from command line to 'False'
+[0.355s] Level 5:colcon.colcon_core.verb:set package 'robobin' build argument 'cmake_clean_cache' from command line to 'False'
+[0.355s] Level 5:colcon.colcon_core.verb:set package 'robobin' build argument 'cmake_clean_first' from command line to 'False'
+[0.356s] Level 5:colcon.colcon_core.verb:set package 'robobin' build argument 'cmake_force_configure' from command line to 'False'
+[0.356s] Level 5:colcon.colcon_core.verb:set package 'robobin' build argument 'ament_cmake_args' from command line to 'None'
+[0.356s] Level 5:colcon.colcon_core.verb:set package 'robobin' build argument 'catkin_cmake_args' from command line to 'None'
+[0.356s] Level 5:colcon.colcon_core.verb:set package 'robobin' build argument 'catkin_skip_building_tests' from command line to 'False'
+[0.356s] DEBUG:colcon.colcon_core.verb:Building package 'robobin' with the following arguments: {'ament_cmake_args': None, 'build_base': '/home/robobin/robobin/ros2/build/robobin', 'catkin_cmake_args': None, 'catkin_skip_building_tests': False, 'cmake_args': None, 'cmake_clean_cache': False, 'cmake_clean_first': False, 'cmake_force_configure': False, 'cmake_target': None, 'cmake_target_skip_unavailable': False, 'install_base': '/home/robobin/robobin/ros2/install/robobin', 'merge_install': False, 'path': '/home/robobin/robobin/ros2/src/robobin', 'symlink_install': False, 'test_result_base': None}
+[0.356s] INFO:colcon.colcon_core.executor:Executing jobs using 'parallel' executor
+[0.357s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete
+[0.358s] INFO:colcon.colcon_ros.task.ament_python.build:Building ROS package in '/home/robobin/robobin/ros2/src/robobin' with build type 'ament_python'
+[0.358s] Level 1:colcon.colcon_core.shell:create_environment_hook('robobin', 'ament_prefix_path')
+[0.360s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_core.shell.bat': Not used on non-Windows systems
+[0.360s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/robobin/robobin/ros2/install/robobin/share/robobin/hook/ament_prefix_path.ps1'
+[0.361s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/robobin/robobin/ros2/install/robobin/share/robobin/hook/ament_prefix_path.dsv'
+[0.362s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/robobin/robobin/ros2/install/robobin/share/robobin/hook/ament_prefix_path.sh'
+[0.363s] INFO:colcon.colcon_core.shell:Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell
+[0.363s] DEBUG:colcon.colcon_core.shell:Skip shell extension 'dsv' for command environment
+[0.690s] INFO:colcon.colcon_core.task.python.build:Building Python package in '/home/robobin/robobin/ros2/src/robobin'
+[0.691s] INFO:colcon.colcon_core.shell:Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell
+[0.691s] DEBUG:colcon.colcon_core.shell:Skip shell extension 'dsv' for command environment
+[1.563s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoking command in '/home/robobin/robobin/ros2/src/robobin': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/ros2/build/robobin/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../../build/robobin build --build-base /home/robobin/robobin/ros2/build/robobin/build install --record /home/robobin/robobin/ros2/build/robobin/install.log --single-version-externally-managed install_data
+[2.399s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoked command in '/home/robobin/robobin/ros2/src/robobin' returned '0': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/ros2/build/robobin/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../../build/robobin build --build-base /home/robobin/robobin/ros2/build/robobin/build install --record /home/robobin/robobin/ros2/build/robobin/install.log --single-version-externally-managed install_data
+[2.402s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/ros2/install/robobin' for CMake module files
+[2.403s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/ros2/install/robobin' for CMake config files
+[2.404s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/ros2/install/robobin/lib'
+[2.404s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/ros2/install/robobin/bin'
+[2.404s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/ros2/install/robobin/lib/pkgconfig/robobin.pc'
+[2.404s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages'
+[2.405s] Level 1:colcon.colcon_core.shell:create_environment_hook('robobin', 'pythonpath')
+[2.405s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/robobin/robobin/ros2/install/robobin/share/robobin/hook/pythonpath.ps1'
+[2.405s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/robobin/robobin/ros2/install/robobin/share/robobin/hook/pythonpath.dsv'
+[2.406s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/robobin/robobin/ros2/install/robobin/share/robobin/hook/pythonpath.sh'
+[2.407s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/ros2/install/robobin/bin'
+[2.407s] Level 1:colcon.colcon_core.environment:create_environment_scripts_only(robobin)
+[2.407s] INFO:colcon.colcon_core.shell:Creating package script '/home/robobin/robobin/ros2/install/robobin/share/robobin/package.ps1'
+[2.408s] INFO:colcon.colcon_core.shell:Creating package descriptor '/home/robobin/robobin/ros2/install/robobin/share/robobin/package.dsv'
+[2.409s] INFO:colcon.colcon_core.shell:Creating package script '/home/robobin/robobin/ros2/install/robobin/share/robobin/package.sh'
+[2.409s] INFO:colcon.colcon_core.shell:Creating package script '/home/robobin/robobin/ros2/install/robobin/share/robobin/package.bash'
+[2.410s] INFO:colcon.colcon_core.shell:Creating package script '/home/robobin/robobin/ros2/install/robobin/share/robobin/package.zsh'
+[2.411s] Level 1:colcon.colcon_core.environment:create_file_with_runtime_dependencies(/home/robobin/robobin/ros2/install/robobin/share/colcon-core/packages/robobin)
+[2.412s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:closing loop
+[2.412s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:loop closed
+[2.412s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete finished with '0'
+[2.412s] DEBUG:colcon.colcon_core.event_reactor:joining thread
+[2.419s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.terminal_notifier': Not used on non-Darwin systems
+[2.419s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.win32': Not used on non-Windows systems
+[2.419s] INFO:colcon.colcon_notification.desktop_notification:Sending desktop notification using 'notify2'
+[2.435s] DEBUG:colcon.colcon_core.event_reactor:joined thread
+[2.435s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/robobin/robobin/ros2/install/local_setup.ps1'
+[2.436s] INFO:colcon.colcon_core.shell:Creating prefix util module '/home/robobin/robobin/ros2/install/_local_setup_util_ps1.py'
+[2.438s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/robobin/robobin/ros2/install/setup.ps1'
+[2.439s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/robobin/robobin/ros2/install/local_setup.sh'
+[2.440s] INFO:colcon.colcon_core.shell:Creating prefix util module '/home/robobin/robobin/ros2/install/_local_setup_util_sh.py'
+[2.440s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/robobin/robobin/ros2/install/setup.sh'
+[2.442s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/robobin/robobin/ros2/install/local_setup.bash'
+[2.442s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/robobin/robobin/ros2/install/setup.bash'
+[2.444s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/robobin/robobin/ros2/install/local_setup.zsh'
+[2.444s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/robobin/robobin/ros2/install/setup.zsh'
diff --git a/ros2/log/build_2024-12-18_14-34-08/robobin/command.log b/ros2/log/build_2024-12-18_14-34-08/robobin/command.log
new file mode 100644
index 00000000..077114c6
--- /dev/null
+++ b/ros2/log/build_2024-12-18_14-34-08/robobin/command.log
@@ -0,0 +1,2 @@
+Invoking command in '/home/robobin/robobin/ros2/src/robobin': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/ros2/build/robobin/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../../build/robobin build --build-base /home/robobin/robobin/ros2/build/robobin/build install --record /home/robobin/robobin/ros2/build/robobin/install.log --single-version-externally-managed install_data
+Invoked command in '/home/robobin/robobin/ros2/src/robobin' returned '0': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/ros2/build/robobin/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../../build/robobin build --build-base /home/robobin/robobin/ros2/build/robobin/build install --record /home/robobin/robobin/ros2/build/robobin/install.log --single-version-externally-managed install_data
diff --git a/ros2/log/build_2024-12-18_14-34-08/robobin/stderr.log b/ros2/log/build_2024-12-18_14-34-08/robobin/stderr.log
new file mode 100644
index 00000000..e69de29b
diff --git a/ros2/log/build_2024-12-18_14-34-08/robobin/stdout.log b/ros2/log/build_2024-12-18_14-34-08/robobin/stdout.log
new file mode 100644
index 00000000..019d2405
--- /dev/null
+++ b/ros2/log/build_2024-12-18_14-34-08/robobin/stdout.log
@@ -0,0 +1,80 @@
+running egg_info
+creating ../../build/robobin/robobin.egg-info
+writing ../../build/robobin/robobin.egg-info/PKG-INFO
+writing dependency_links to ../../build/robobin/robobin.egg-info/dependency_links.txt
+writing entry points to ../../build/robobin/robobin.egg-info/entry_points.txt
+writing requirements to ../../build/robobin/robobin.egg-info/requires.txt
+writing top-level names to ../../build/robobin/robobin.egg-info/top_level.txt
+writing manifest file '../../build/robobin/robobin.egg-info/SOURCES.txt'
+reading manifest file '../../build/robobin/robobin.egg-info/SOURCES.txt'
+writing manifest file '../../build/robobin/robobin.egg-info/SOURCES.txt'
+running build
+running build_py
+creating /home/robobin/robobin/ros2/build/robobin/build
+creating /home/robobin/robobin/ros2/build/robobin/build/lib
+creating /home/robobin/robobin/ros2/build/robobin/build/lib/robobin
+copying robobin/encoder.py -> /home/robobin/robobin/ros2/build/robobin/build/lib/robobin
+copying robobin/motor_control_node.py -> /home/robobin/robobin/ros2/build/robobin/build/lib/robobin
+copying robobin/__init__.py -> /home/robobin/robobin/ros2/build/robobin/build/lib/robobin
+copying robobin/uwb_navigation_node.py -> /home/robobin/robobin/ros2/build/robobin/build/lib/robobin
+copying robobin/imu_node.py -> /home/robobin/robobin/ros2/build/robobin/build/lib/robobin
+copying robobin/api_node.py -> /home/robobin/robobin/ros2/build/robobin/build/lib/robobin
+copying robobin/control_feedback.py -> /home/robobin/robobin/ros2/build/robobin/build/lib/robobin
+copying robobin/uwb_pathing_node.py -> /home/robobin/robobin/ros2/build/robobin/build/lib/robobin
+creating /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/helpers
+copying robobin/helpers/message_handler.py -> /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/helpers
+copying robobin/helpers/__init__.py -> /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/helpers
+copying robobin/helpers/realtime_location_cli_only.py -> /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/helpers
+copying robobin/helpers/graph_maker.py -> /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/helpers
+copying robobin/helpers/connection_manager.py -> /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/helpers
+running install
+running install_lib
+creating /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin
+copying /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/encoder.py -> /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin
+copying /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/motor_control_node.py -> /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin
+copying /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/__init__.py -> /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin
+copying /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/uwb_navigation_node.py -> /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin
+creating /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/helpers
+copying /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/helpers/message_handler.py -> /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/helpers
+copying /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/helpers/__init__.py -> /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/helpers
+copying /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/helpers/realtime_location_cli_only.py -> /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/helpers
+copying /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/helpers/graph_maker.py -> /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/helpers
+copying /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/helpers/connection_manager.py -> /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/helpers
+copying /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/imu_node.py -> /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin
+copying /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/api_node.py -> /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin
+copying /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/control_feedback.py -> /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin
+copying /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/uwb_pathing_node.py -> /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin
+byte-compiling /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/encoder.py to encoder.cpython-312.pyc
+byte-compiling /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/motor_control_node.py to motor_control_node.cpython-312.pyc
+byte-compiling /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/__init__.py to __init__.cpython-312.pyc
+byte-compiling /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/uwb_navigation_node.py to uwb_navigation_node.cpython-312.pyc
+byte-compiling /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/helpers/message_handler.py to message_handler.cpython-312.pyc
+byte-compiling /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/helpers/__init__.py to __init__.cpython-312.pyc
+byte-compiling /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/helpers/realtime_location_cli_only.py to realtime_location_cli_only.cpython-312.pyc
+byte-compiling /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/helpers/graph_maker.py to graph_maker.cpython-312.pyc
+byte-compiling /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/helpers/connection_manager.py to connection_manager.cpython-312.pyc
+byte-compiling /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/imu_node.py to imu_node.cpython-312.pyc
+byte-compiling /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/api_node.py to api_node.cpython-312.pyc
+byte-compiling /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/control_feedback.py to control_feedback.cpython-312.pyc
+byte-compiling /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/uwb_pathing_node.py to uwb_pathing_node.cpython-312.pyc
+running install_data
+creating /home/robobin/robobin/ros2/install/robobin/share/ament_index
+creating /home/robobin/robobin/ros2/install/robobin/share/ament_index/resource_index
+creating /home/robobin/robobin/ros2/install/robobin/share/ament_index/resource_index/packages
+copying resource/robobin -> /home/robobin/robobin/ros2/install/robobin/share/ament_index/resource_index/packages
+copying package.xml -> /home/robobin/robobin/ros2/install/robobin/share/robobin
+creating /home/robobin/robobin/ros2/install/robobin/share/robobin/launch
+copying launch/robobin_launch.py -> /home/robobin/robobin/ros2/install/robobin/share/robobin/launch
+copying launch/robobin_no_components_launch.py -> /home/robobin/robobin/ros2/install/robobin/share/robobin/launch
+running install_egg_info
+Copying ../../build/robobin/robobin.egg-info to /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin-0.0.0-py3.12.egg-info
+running install_scripts
+Installing api_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+Installing control_feedback script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+Installing encoder_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+Installing imu_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+Installing motor_control_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+Installing motor_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+Installing uwb_navigation_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+Installing uwb_pathing_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+writing list of installed files to '/home/robobin/robobin/ros2/build/robobin/install.log'
diff --git a/ros2/log/build_2024-12-18_14-34-08/robobin/stdout_stderr.log b/ros2/log/build_2024-12-18_14-34-08/robobin/stdout_stderr.log
new file mode 100644
index 00000000..019d2405
--- /dev/null
+++ b/ros2/log/build_2024-12-18_14-34-08/robobin/stdout_stderr.log
@@ -0,0 +1,80 @@
+running egg_info
+creating ../../build/robobin/robobin.egg-info
+writing ../../build/robobin/robobin.egg-info/PKG-INFO
+writing dependency_links to ../../build/robobin/robobin.egg-info/dependency_links.txt
+writing entry points to ../../build/robobin/robobin.egg-info/entry_points.txt
+writing requirements to ../../build/robobin/robobin.egg-info/requires.txt
+writing top-level names to ../../build/robobin/robobin.egg-info/top_level.txt
+writing manifest file '../../build/robobin/robobin.egg-info/SOURCES.txt'
+reading manifest file '../../build/robobin/robobin.egg-info/SOURCES.txt'
+writing manifest file '../../build/robobin/robobin.egg-info/SOURCES.txt'
+running build
+running build_py
+creating /home/robobin/robobin/ros2/build/robobin/build
+creating /home/robobin/robobin/ros2/build/robobin/build/lib
+creating /home/robobin/robobin/ros2/build/robobin/build/lib/robobin
+copying robobin/encoder.py -> /home/robobin/robobin/ros2/build/robobin/build/lib/robobin
+copying robobin/motor_control_node.py -> /home/robobin/robobin/ros2/build/robobin/build/lib/robobin
+copying robobin/__init__.py -> /home/robobin/robobin/ros2/build/robobin/build/lib/robobin
+copying robobin/uwb_navigation_node.py -> /home/robobin/robobin/ros2/build/robobin/build/lib/robobin
+copying robobin/imu_node.py -> /home/robobin/robobin/ros2/build/robobin/build/lib/robobin
+copying robobin/api_node.py -> /home/robobin/robobin/ros2/build/robobin/build/lib/robobin
+copying robobin/control_feedback.py -> /home/robobin/robobin/ros2/build/robobin/build/lib/robobin
+copying robobin/uwb_pathing_node.py -> /home/robobin/robobin/ros2/build/robobin/build/lib/robobin
+creating /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/helpers
+copying robobin/helpers/message_handler.py -> /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/helpers
+copying robobin/helpers/__init__.py -> /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/helpers
+copying robobin/helpers/realtime_location_cli_only.py -> /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/helpers
+copying robobin/helpers/graph_maker.py -> /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/helpers
+copying robobin/helpers/connection_manager.py -> /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/helpers
+running install
+running install_lib
+creating /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin
+copying /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/encoder.py -> /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin
+copying /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/motor_control_node.py -> /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin
+copying /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/__init__.py -> /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin
+copying /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/uwb_navigation_node.py -> /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin
+creating /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/helpers
+copying /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/helpers/message_handler.py -> /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/helpers
+copying /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/helpers/__init__.py -> /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/helpers
+copying /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/helpers/realtime_location_cli_only.py -> /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/helpers
+copying /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/helpers/graph_maker.py -> /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/helpers
+copying /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/helpers/connection_manager.py -> /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/helpers
+copying /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/imu_node.py -> /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin
+copying /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/api_node.py -> /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin
+copying /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/control_feedback.py -> /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin
+copying /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/uwb_pathing_node.py -> /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin
+byte-compiling /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/encoder.py to encoder.cpython-312.pyc
+byte-compiling /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/motor_control_node.py to motor_control_node.cpython-312.pyc
+byte-compiling /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/__init__.py to __init__.cpython-312.pyc
+byte-compiling /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/uwb_navigation_node.py to uwb_navigation_node.cpython-312.pyc
+byte-compiling /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/helpers/message_handler.py to message_handler.cpython-312.pyc
+byte-compiling /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/helpers/__init__.py to __init__.cpython-312.pyc
+byte-compiling /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/helpers/realtime_location_cli_only.py to realtime_location_cli_only.cpython-312.pyc
+byte-compiling /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/helpers/graph_maker.py to graph_maker.cpython-312.pyc
+byte-compiling /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/helpers/connection_manager.py to connection_manager.cpython-312.pyc
+byte-compiling /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/imu_node.py to imu_node.cpython-312.pyc
+byte-compiling /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/api_node.py to api_node.cpython-312.pyc
+byte-compiling /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/control_feedback.py to control_feedback.cpython-312.pyc
+byte-compiling /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/uwb_pathing_node.py to uwb_pathing_node.cpython-312.pyc
+running install_data
+creating /home/robobin/robobin/ros2/install/robobin/share/ament_index
+creating /home/robobin/robobin/ros2/install/robobin/share/ament_index/resource_index
+creating /home/robobin/robobin/ros2/install/robobin/share/ament_index/resource_index/packages
+copying resource/robobin -> /home/robobin/robobin/ros2/install/robobin/share/ament_index/resource_index/packages
+copying package.xml -> /home/robobin/robobin/ros2/install/robobin/share/robobin
+creating /home/robobin/robobin/ros2/install/robobin/share/robobin/launch
+copying launch/robobin_launch.py -> /home/robobin/robobin/ros2/install/robobin/share/robobin/launch
+copying launch/robobin_no_components_launch.py -> /home/robobin/robobin/ros2/install/robobin/share/robobin/launch
+running install_egg_info
+Copying ../../build/robobin/robobin.egg-info to /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin-0.0.0-py3.12.egg-info
+running install_scripts
+Installing api_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+Installing control_feedback script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+Installing encoder_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+Installing imu_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+Installing motor_control_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+Installing motor_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+Installing uwb_navigation_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+Installing uwb_pathing_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+writing list of installed files to '/home/robobin/robobin/ros2/build/robobin/install.log'
diff --git a/ros2/log/build_2024-12-18_14-34-08/robobin/streams.log b/ros2/log/build_2024-12-18_14-34-08/robobin/streams.log
new file mode 100644
index 00000000..b88d9294
--- /dev/null
+++ b/ros2/log/build_2024-12-18_14-34-08/robobin/streams.log
@@ -0,0 +1,82 @@
+[1.204s] Invoking command in '/home/robobin/robobin/ros2/src/robobin': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/ros2/build/robobin/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../../build/robobin build --build-base /home/robobin/robobin/ros2/build/robobin/build install --record /home/robobin/robobin/ros2/build/robobin/install.log --single-version-externally-managed install_data
+[1.579s] running egg_info
+[1.580s] creating ../../build/robobin/robobin.egg-info
+[1.606s] writing ../../build/robobin/robobin.egg-info/PKG-INFO
+[1.606s] writing dependency_links to ../../build/robobin/robobin.egg-info/dependency_links.txt
+[1.607s] writing entry points to ../../build/robobin/robobin.egg-info/entry_points.txt
+[1.607s] writing requirements to ../../build/robobin/robobin.egg-info/requires.txt
+[1.607s] writing top-level names to ../../build/robobin/robobin.egg-info/top_level.txt
+[1.607s] writing manifest file '../../build/robobin/robobin.egg-info/SOURCES.txt'
+[1.660s] reading manifest file '../../build/robobin/robobin.egg-info/SOURCES.txt'
+[1.661s] writing manifest file '../../build/robobin/robobin.egg-info/SOURCES.txt'
+[1.662s] running build
+[1.662s] running build_py
+[1.662s] creating /home/robobin/robobin/ros2/build/robobin/build
+[1.662s] creating /home/robobin/robobin/ros2/build/robobin/build/lib
+[1.662s] creating /home/robobin/robobin/ros2/build/robobin/build/lib/robobin
+[1.662s] copying robobin/encoder.py -> /home/robobin/robobin/ros2/build/robobin/build/lib/robobin
+[1.663s] copying robobin/motor_control_node.py -> /home/robobin/robobin/ros2/build/robobin/build/lib/robobin
+[1.664s] copying robobin/__init__.py -> /home/robobin/robobin/ros2/build/robobin/build/lib/robobin
+[1.664s] copying robobin/uwb_navigation_node.py -> /home/robobin/robobin/ros2/build/robobin/build/lib/robobin
+[1.664s] copying robobin/imu_node.py -> /home/robobin/robobin/ros2/build/robobin/build/lib/robobin
+[1.665s] copying robobin/api_node.py -> /home/robobin/robobin/ros2/build/robobin/build/lib/robobin
+[1.665s] copying robobin/control_feedback.py -> /home/robobin/robobin/ros2/build/robobin/build/lib/robobin
+[1.665s] copying robobin/uwb_pathing_node.py -> /home/robobin/robobin/ros2/build/robobin/build/lib/robobin
+[1.666s] creating /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/helpers
+[1.666s] copying robobin/helpers/message_handler.py -> /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/helpers
+[1.667s] copying robobin/helpers/__init__.py -> /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/helpers
+[1.667s] copying robobin/helpers/realtime_location_cli_only.py -> /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/helpers
+[1.667s] copying robobin/helpers/graph_maker.py -> /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/helpers
+[1.667s] copying robobin/helpers/connection_manager.py -> /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/helpers
+[1.668s] running install
+[1.677s] running install_lib
+[1.705s] creating /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin
+[1.705s] copying /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/encoder.py -> /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin
+[1.705s] copying /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/motor_control_node.py -> /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin
+[1.705s] copying /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/__init__.py -> /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin
+[1.705s] copying /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/uwb_navigation_node.py -> /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin
+[1.706s] creating /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/helpers
+[1.706s] copying /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/helpers/message_handler.py -> /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/helpers
+[1.706s] copying /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/helpers/__init__.py -> /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/helpers
+[1.706s] copying /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/helpers/realtime_location_cli_only.py -> /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/helpers
+[1.706s] copying /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/helpers/graph_maker.py -> /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/helpers
+[1.706s] copying /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/helpers/connection_manager.py -> /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/helpers
+[1.707s] copying /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/imu_node.py -> /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin
+[1.707s] copying /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/api_node.py -> /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin
+[1.707s] copying /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/control_feedback.py -> /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin
+[1.707s] copying /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/uwb_pathing_node.py -> /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin
+[1.708s] byte-compiling /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/encoder.py to encoder.cpython-312.pyc
+[1.709s] byte-compiling /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/motor_control_node.py to motor_control_node.cpython-312.pyc
+[1.710s] byte-compiling /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/__init__.py to __init__.cpython-312.pyc
+[1.710s] byte-compiling /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/uwb_navigation_node.py to uwb_navigation_node.cpython-312.pyc
+[1.717s] byte-compiling /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/helpers/message_handler.py to message_handler.cpython-312.pyc
+[1.720s] byte-compiling /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/helpers/__init__.py to __init__.cpython-312.pyc
+[1.720s] byte-compiling /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/helpers/realtime_location_cli_only.py to realtime_location_cli_only.cpython-312.pyc
+[1.723s] byte-compiling /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/helpers/graph_maker.py to graph_maker.cpython-312.pyc
+[1.725s] byte-compiling /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/helpers/connection_manager.py to connection_manager.cpython-312.pyc
+[1.726s] byte-compiling /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/imu_node.py to imu_node.cpython-312.pyc
+[1.727s] byte-compiling /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/api_node.py to api_node.cpython-312.pyc
+[1.729s] byte-compiling /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/control_feedback.py to control_feedback.cpython-312.pyc
+[1.731s] byte-compiling /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/uwb_pathing_node.py to uwb_pathing_node.cpython-312.pyc
+[1.733s] running install_data
+[1.733s] creating /home/robobin/robobin/ros2/install/robobin/share/ament_index
+[1.733s] creating /home/robobin/robobin/ros2/install/robobin/share/ament_index/resource_index
+[1.733s] creating /home/robobin/robobin/ros2/install/robobin/share/ament_index/resource_index/packages
+[1.733s] copying resource/robobin -> /home/robobin/robobin/ros2/install/robobin/share/ament_index/resource_index/packages
+[1.733s] copying package.xml -> /home/robobin/robobin/ros2/install/robobin/share/robobin
+[1.733s] creating /home/robobin/robobin/ros2/install/robobin/share/robobin/launch
+[1.734s] copying launch/robobin_launch.py -> /home/robobin/robobin/ros2/install/robobin/share/robobin/launch
+[1.734s] copying launch/robobin_no_components_launch.py -> /home/robobin/robobin/ros2/install/robobin/share/robobin/launch
+[1.735s] running install_egg_info
+[1.764s] Copying ../../build/robobin/robobin.egg-info to /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin-0.0.0-py3.12.egg-info
+[1.774s] running install_scripts
+[1.963s] Installing api_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+[1.963s] Installing control_feedback script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+[1.963s] Installing encoder_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+[1.963s] Installing imu_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+[1.963s] Installing motor_control_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+[1.964s] Installing motor_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+[1.964s] Installing uwb_navigation_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+[1.964s] Installing uwb_pathing_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+[1.964s] writing list of installed files to '/home/robobin/robobin/ros2/build/robobin/install.log'
+[2.042s] Invoked command in '/home/robobin/robobin/ros2/src/robobin' returned '0': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/ros2/build/robobin/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../../build/robobin build --build-base /home/robobin/robobin/ros2/build/robobin/build install --record /home/robobin/robobin/ros2/build/robobin/install.log --single-version-externally-managed install_data
diff --git a/ros2/log/build_2024-12-18_15-01-35/events.log b/ros2/log/build_2024-12-18_15-01-35/events.log
new file mode 100644
index 00000000..1b52721d
--- /dev/null
+++ b/ros2/log/build_2024-12-18_15-01-35/events.log
@@ -0,0 +1,56 @@
+[0.000000] (-) TimerEvent: {}
+[0.000298] (robobin) JobQueued: {'identifier': 'robobin', 'dependencies': OrderedDict()}
+[0.000769] (robobin) JobStarted: {'identifier': 'robobin'}
+[0.099641] (-) TimerEvent: {}
+[0.199945] (-) TimerEvent: {}
+[0.300216] (-) TimerEvent: {}
+[0.400611] (-) TimerEvent: {}
+[0.500902] (-) TimerEvent: {}
+[0.601137] (-) TimerEvent: {}
+[0.701369] (-) TimerEvent: {}
+[0.801632] (-) TimerEvent: {}
+[0.901894] (-) TimerEvent: {}
+[1.002175] (-) TimerEvent: {}
+[1.102413] (-) TimerEvent: {}
+[1.202687] (-) TimerEvent: {}
+[1.219088] (robobin) Command: {'cmd': ['/usr/bin/python3', '-W', 'ignore:setup.py install is deprecated', '-W', 'ignore:easy_install command is deprecated', 'setup.py', 'egg_info', '--egg-base', '../../build/robobin', 'build', '--build-base', '/home/robobin/robobin/ros2/build/robobin/build', 'install', '--record', '/home/robobin/robobin/ros2/build/robobin/install.log', '--single-version-externally-managed', 'install_data'], 'cwd': '/home/robobin/robobin/ros2/src/robobin', 'env': {'LESSOPEN': '| /usr/bin/lesspipe %s', 'USER': 'robobin', 'SSH_CLIENT': '192.168.43.138 43375 22', 'GZ_CONFIG_PATH': '/opt/ros/jazzy/opt/sdformat_vendor/share/gz', 'XDG_SESSION_TYPE': 'tty', 'SHLVL': '1', 'LD_LIBRARY_PATH': '/opt/ros/jazzy/opt/sdformat_vendor/lib:/opt/ros/jazzy/opt/rviz_ogre_vendor/lib:/opt/ros/jazzy/lib/aarch64-linux-gnu:/opt/ros/jazzy/opt/gz_math_vendor/lib:/opt/ros/jazzy/opt/gz_utils_vendor/lib:/opt/ros/jazzy/opt/gz_tools_vendor/lib:/opt/ros/jazzy/opt/gz_cmake_vendor/lib:/opt/ros/jazzy/lib', 'HOME': '/home/robobin', 'OLDPWD': '/home/robobin/robobin/ros2/src', 'SSH_TTY': '/dev/pts/0', 'ROS_PYTHON_VERSION': '3', 'DBUS_SESSION_BUS_ADDRESS': 'unix:path=/run/user/1002/bus', 'DEBUGINFOD_URLS': 'https://debuginfod.ubuntu.com', 'COLCON_PREFIX_PATH': '/home/robobin/robobin/ros2/install:/home/robobin/Robobin_Project/ros2/robobin_main/install', 'ROS_DISTRO': 'jazzy', 'LOGNAME': 'robobin', '_': '/usr/bin/colcon', 'ROS_VERSION': '2', 'XDG_SESSION_CLASS': 'user', 'TERM': 'xterm-256color', 'XDG_SESSION_ID': '4', 'PATH': '/opt/ros/jazzy/opt/gz_tools_vendor/bin:/opt/ros/jazzy/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin', 'XDG_RUNTIME_DIR': '/run/user/1002', 'LANG': 'en_US.UTF-8', 'LS_COLORS': 'rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=00:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.zst=01;31:*.tzst=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.avif=01;35:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.webp=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:*~=00;90:*#=00;90:*.bak=00;90:*.crdownload=00;90:*.dpkg-dist=00;90:*.dpkg-new=00;90:*.dpkg-old=00;90:*.dpkg-tmp=00;90:*.old=00;90:*.orig=00;90:*.part=00;90:*.rej=00;90:*.rpmnew=00;90:*.rpmorig=00;90:*.rpmsave=00;90:*.swp=00;90:*.tmp=00;90:*.ucf-dist=00;90:*.ucf-new=00;90:*.ucf-old=00;90:', 'ROS_DOMAIN_ID': '3', 'AMENT_PREFIX_PATH': '/home/robobin/robobin/ros2/install/robobin:/home/robobin/Robobin_Project/ros2/robobin_main/install/testing:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_localization_ekf:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_description:/home/robobin/Robobin_Project/ros2/robobin_main/install/odometry_publisher:/opt/ros/jazzy', 'SHELL': '/bin/bash', 'LESSCLOSE': '/usr/bin/lesspipe %s %s', 'ROS_AUTOMATIC_DISCOVERY_RANGE': 'SUBNET', 'PWD': '/home/robobin/robobin/ros2/build/robobin', 'LC_ALL': 'en_US.UTF-8', 'SSH_CONNECTION': '192.168.43.138 43375 192.168.43.18 22', 'XDG_DATA_DIRS': '/usr/share/gnome:/usr/local/share:/usr/share:/var/lib/snapd/desktop', 'PYTHONPATH': '/home/robobin/robobin/ros2/build/robobin/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages:/home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages:/home/robobin/Robobin_Project/ros2/robobin_main/build/testing:/home/robobin/Robobin_Project/ros2/robobin_main/install/testing/lib/python3.12/site-packages:/home/robobin/Robobin_Project/ros2/robobin_main/build/robot_localization_ekf:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_localization_ekf/lib/python3.12/site-packages:/home/robobin/Robobin_Project/ros2/robobin_main/build/robot_description:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_description/lib/python3.12/site-packages:/home/robobin/Robobin_Project/ros2/robobin_main/build/odometry_publisher:/home/robobin/Robobin_Project/ros2/robobin_main/install/odometry_publisher/lib/python3.12/site-packages:/opt/ros/jazzy/lib/python3.12/site-packages', 'COLCON': '1', 'CMAKE_PREFIX_PATH': '/opt/ros/jazzy/opt/sdformat_vendor:/opt/ros/jazzy/opt/gz_math_vendor:/opt/ros/jazzy/opt/gz_utils_vendor:/opt/ros/jazzy/opt/gz_tools_vendor:/opt/ros/jazzy/opt/gz_cmake_vendor'}, 'shell': False}
+[1.302761] (-) TimerEvent: {}
+[1.403052] (-) TimerEvent: {}
+[1.503312] (-) TimerEvent: {}
+[1.591620] (robobin) StdoutLine: {'line': b'running egg_info\n'}
+[1.603385] (-) TimerEvent: {}
+[1.617933] (robobin) StdoutLine: {'line': b'writing ../../build/robobin/robobin.egg-info/PKG-INFO\n'}
+[1.618330] (robobin) StdoutLine: {'line': b'writing dependency_links to ../../build/robobin/robobin.egg-info/dependency_links.txt\n'}
+[1.619351] (robobin) StdoutLine: {'line': b'writing entry points to ../../build/robobin/robobin.egg-info/entry_points.txt\n'}
+[1.620737] (robobin) StdoutLine: {'line': b'writing requirements to ../../build/robobin/robobin.egg-info/requires.txt\n'}
+[1.621873] (robobin) StdoutLine: {'line': b'writing top-level names to ../../build/robobin/robobin.egg-info/top_level.txt\n'}
+[1.678193] (robobin) StdoutLine: {'line': b"reading manifest file '../../build/robobin/robobin.egg-info/SOURCES.txt'\n"}
+[1.679422] (robobin) StdoutLine: {'line': b"writing manifest file '../../build/robobin/robobin.egg-info/SOURCES.txt'\n"}
+[1.679665] (robobin) StdoutLine: {'line': b'running build\n'}
+[1.679793] (robobin) StdoutLine: {'line': b'running build_py\n'}
+[1.680089] (robobin) StdoutLine: {'line': b'copying robobin/uwb_navigation_node.py -> /home/robobin/robobin/ros2/build/robobin/build/lib/robobin\n'}
+[1.681087] (robobin) StdoutLine: {'line': b'running install\n'}
+[1.690108] (robobin) StdoutLine: {'line': b'running install_lib\n'}
+[1.703449] (-) TimerEvent: {}
+[1.717136] (robobin) StdoutLine: {'line': b'copying /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/uwb_navigation_node.py -> /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin\n'}
+[1.718457] (robobin) StdoutLine: {'line': b'byte-compiling /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/uwb_navigation_node.py to uwb_navigation_node.cpython-312.pyc\n'}
+[1.726215] (robobin) StdoutLine: {'line': b'running install_data\n'}
+[1.726448] (robobin) StdoutLine: {'line': b'running install_egg_info\n'}
+[1.755091] (robobin) StdoutLine: {'line': b"removing '/home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin-0.0.0-py3.12.egg-info' (and everything under it)\n"}
+[1.755541] (robobin) StdoutLine: {'line': b'Copying ../../build/robobin/robobin.egg-info to /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin-0.0.0-py3.12.egg-info\n'}
+[1.756699] (robobin) StdoutLine: {'line': b'running install_scripts\n'}
+[1.803532] (-) TimerEvent: {}
+[1.903783] (-) TimerEvent: {}
+[1.944203] (robobin) StdoutLine: {'line': b'Installing api_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin\n'}
+[1.944491] (robobin) StdoutLine: {'line': b'Installing control_feedback script to /home/robobin/robobin/ros2/install/robobin/lib/robobin\n'}
+[1.945827] (robobin) StdoutLine: {'line': b'Installing encoder_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin\n'}
+[1.947185] (robobin) StdoutLine: {'line': b'Installing imu_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin\n'}
+[1.948615] (robobin) StdoutLine: {'line': b'Installing motor_control_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin\n'}
+[1.951137] (robobin) StdoutLine: {'line': b'Installing motor_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin\n'}
+[1.952291] (robobin) StdoutLine: {'line': b'Installing uwb_navigation_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin\n'}
+[1.953615] (robobin) StdoutLine: {'line': b'Installing uwb_pathing_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin\n'}
+[1.955501] (robobin) StdoutLine: {'line': b"writing list of installed files to '/home/robobin/robobin/ros2/build/robobin/install.log'\n"}
+[2.003869] (-) TimerEvent: {}
+[2.034816] (robobin) CommandEnded: {'returncode': 0}
+[2.049236] (robobin) JobEnded: {'identifier': 'robobin', 'rc': 0}
+[2.051064] (-) EventReactorShutdown: {}
diff --git a/ros2/log/build_2024-12-18_15-01-35/logger_all.log b/ros2/log/build_2024-12-18_15-01-35/logger_all.log
new file mode 100644
index 00000000..fa88bbb9
--- /dev/null
+++ b/ros2/log/build_2024-12-18_15-01-35/logger_all.log
@@ -0,0 +1,137 @@
+[0.153s] DEBUG:colcon:Command line arguments: ['/usr/bin/colcon', 'build']
+[0.154s] DEBUG:colcon:Parsed command line arguments: Namespace(log_base=None, log_level=None, verb_name='build', build_base='build', install_base='install', merge_install=False, symlink_install=False, test_result_base=None, continue_on_error=False, executor='parallel', parallel_workers=4, event_handlers=None, ignore_user_meta=False, metas=['./colcon.meta'], base_paths=['.'], packages_ignore=None, packages_ignore_regex=None, paths=None, packages_up_to=None, packages_up_to_regex=None, packages_above=None, packages_above_and_dependencies=None, packages_above_depth=None, packages_select_by_dep=None, packages_skip_by_dep=None, packages_skip_up_to=None, packages_select_build_failed=False, packages_skip_build_finished=False, packages_select_test_failures=False, packages_skip_test_passed=False, packages_select=None, packages_skip=None, packages_select_regex=None, packages_skip_regex=None, packages_start=None, packages_end=None, allow_overriding=[], cmake_args=None, cmake_target=None, cmake_target_skip_unavailable=False, cmake_clean_cache=False, cmake_clean_first=False, cmake_force_configure=False, ament_cmake_args=None, catkin_cmake_args=None, catkin_skip_building_tests=False, mixin_files=None, mixin=None, verb_parser=<colcon_mixin.mixin.mixin_argument.MixinArgumentDecorator object at 0xffff86e31250>, verb_extension=<colcon_core.verb.build.BuildVerb object at 0xffff86e30f50>, main=<bound method BuildVerb.main of <colcon_core.verb.build.BuildVerb object at 0xffff86e30f50>>, mixin_verb=('build',))
+[0.212s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) check parameters
+[0.212s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) check parameters
+[0.212s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) check parameters
+[0.212s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) check parameters
+[0.212s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) discover
+[0.212s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) discover
+[0.212s] INFO:colcon.colcon_core.package_discovery:Crawling recursively for packages in '/home/robobin/robobin/ros2'
+[0.212s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ignore', 'ignore_ament_install']
+[0.212s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore'
+[0.212s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore_ament_install'
+[0.212s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_pkg']
+[0.212s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_pkg'
+[0.213s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_meta']
+[0.213s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_meta'
+[0.213s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ros']
+[0.213s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ros'
+[0.252s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['cmake', 'python']
+[0.252s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'cmake'
+[0.252s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'python'
+[0.252s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['python_setup_py']
+[0.252s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'python_setup_py'
+[0.253s] Level 1:colcon.colcon_core.package_identification:_identify(build) by extensions ['ignore', 'ignore_ament_install']
+[0.253s] Level 1:colcon.colcon_core.package_identification:_identify(build) by extension 'ignore'
+[0.253s] Level 1:colcon.colcon_core.package_identification:_identify(build) ignored
+[0.253s] Level 1:colcon.colcon_core.package_identification:_identify(install) by extensions ['ignore', 'ignore_ament_install']
+[0.253s] Level 1:colcon.colcon_core.package_identification:_identify(install) by extension 'ignore'
+[0.253s] Level 1:colcon.colcon_core.package_identification:_identify(install) ignored
+[0.253s] Level 1:colcon.colcon_core.package_identification:_identify(log) by extensions ['ignore', 'ignore_ament_install']
+[0.253s] Level 1:colcon.colcon_core.package_identification:_identify(log) by extension 'ignore'
+[0.253s] Level 1:colcon.colcon_core.package_identification:_identify(log) ignored
+[0.253s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['ignore', 'ignore_ament_install']
+[0.253s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'ignore'
+[0.254s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'ignore_ament_install'
+[0.254s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['colcon_pkg']
+[0.254s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'colcon_pkg'
+[0.254s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['colcon_meta']
+[0.254s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'colcon_meta'
+[0.254s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['ros']
+[0.254s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'ros'
+[0.254s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['cmake', 'python']
+[0.254s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'cmake'
+[0.254s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'python'
+[0.254s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['python_setup_py']
+[0.254s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'python_setup_py'
+[0.254s] Level 1:colcon.colcon_core.package_identification:_identify(src/build) by extensions ['ignore', 'ignore_ament_install']
+[0.254s] Level 1:colcon.colcon_core.package_identification:_identify(src/build) by extension 'ignore'
+[0.254s] Level 1:colcon.colcon_core.package_identification:_identify(src/build) ignored
+[0.254s] Level 1:colcon.colcon_core.package_identification:_identify(src/install) by extensions ['ignore', 'ignore_ament_install']
+[0.254s] Level 1:colcon.colcon_core.package_identification:_identify(src/install) by extension 'ignore'
+[0.254s] Level 1:colcon.colcon_core.package_identification:_identify(src/install) ignored
+[0.255s] Level 1:colcon.colcon_core.package_identification:_identify(src/log) by extensions ['ignore', 'ignore_ament_install']
+[0.255s] Level 1:colcon.colcon_core.package_identification:_identify(src/log) by extension 'ignore'
+[0.255s] Level 1:colcon.colcon_core.package_identification:_identify(src/log) ignored
+[0.255s] Level 1:colcon.colcon_core.package_identification:_identify(src/robobin) by extensions ['ignore', 'ignore_ament_install']
+[0.255s] Level 1:colcon.colcon_core.package_identification:_identify(src/robobin) by extension 'ignore'
+[0.255s] Level 1:colcon.colcon_core.package_identification:_identify(src/robobin) by extension 'ignore_ament_install'
+[0.255s] Level 1:colcon.colcon_core.package_identification:_identify(src/robobin) by extensions ['colcon_pkg']
+[0.255s] Level 1:colcon.colcon_core.package_identification:_identify(src/robobin) by extension 'colcon_pkg'
+[0.255s] Level 1:colcon.colcon_core.package_identification:_identify(src/robobin) by extensions ['colcon_meta']
+[0.255s] Level 1:colcon.colcon_core.package_identification:_identify(src/robobin) by extension 'colcon_meta'
+[0.255s] Level 1:colcon.colcon_core.package_identification:_identify(src/robobin) by extensions ['ros']
+[0.255s] Level 1:colcon.colcon_core.package_identification:_identify(src/robobin) by extension 'ros'
+[0.258s] DEBUG:colcon.colcon_core.package_identification:Package 'src/robobin' with type 'ros.ament_python' and name 'robobin'
+[0.258s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) using defaults
+[0.259s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) discover
+[0.259s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) using defaults
+[0.259s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) discover
+[0.259s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) using defaults
+[0.283s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) check parameters
+[0.283s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) discover
+[0.286s] DEBUG:colcon.colcon_installed_package_information.package_discovery:Found 1 installed packages in /home/robobin/robobin/ros2/install
+[0.286s] DEBUG:colcon.colcon_installed_package_information.package_discovery:Found 4 installed packages in /home/robobin/Robobin_Project/ros2/robobin_main/install
+[0.289s] DEBUG:colcon.colcon_installed_package_information.package_discovery:Found 335 installed packages in /opt/ros/jazzy
+[0.292s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) using defaults
+[0.359s] Level 5:colcon.colcon_core.verb:set package 'robobin' build argument 'cmake_args' from command line to 'None'
+[0.359s] Level 5:colcon.colcon_core.verb:set package 'robobin' build argument 'cmake_target' from command line to 'None'
+[0.359s] Level 5:colcon.colcon_core.verb:set package 'robobin' build argument 'cmake_target_skip_unavailable' from command line to 'False'
+[0.359s] Level 5:colcon.colcon_core.verb:set package 'robobin' build argument 'cmake_clean_cache' from command line to 'False'
+[0.359s] Level 5:colcon.colcon_core.verb:set package 'robobin' build argument 'cmake_clean_first' from command line to 'False'
+[0.359s] Level 5:colcon.colcon_core.verb:set package 'robobin' build argument 'cmake_force_configure' from command line to 'False'
+[0.359s] Level 5:colcon.colcon_core.verb:set package 'robobin' build argument 'ament_cmake_args' from command line to 'None'
+[0.359s] Level 5:colcon.colcon_core.verb:set package 'robobin' build argument 'catkin_cmake_args' from command line to 'None'
+[0.359s] Level 5:colcon.colcon_core.verb:set package 'robobin' build argument 'catkin_skip_building_tests' from command line to 'False'
+[0.359s] DEBUG:colcon.colcon_core.verb:Building package 'robobin' with the following arguments: {'ament_cmake_args': None, 'build_base': '/home/robobin/robobin/ros2/build/robobin', 'catkin_cmake_args': None, 'catkin_skip_building_tests': False, 'cmake_args': None, 'cmake_clean_cache': False, 'cmake_clean_first': False, 'cmake_force_configure': False, 'cmake_target': None, 'cmake_target_skip_unavailable': False, 'install_base': '/home/robobin/robobin/ros2/install/robobin', 'merge_install': False, 'path': '/home/robobin/robobin/ros2/src/robobin', 'symlink_install': False, 'test_result_base': None}
+[0.359s] INFO:colcon.colcon_core.executor:Executing jobs using 'parallel' executor
+[0.361s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete
+[0.361s] INFO:colcon.colcon_ros.task.ament_python.build:Building ROS package in '/home/robobin/robobin/ros2/src/robobin' with build type 'ament_python'
+[0.361s] Level 1:colcon.colcon_core.shell:create_environment_hook('robobin', 'ament_prefix_path')
+[0.364s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_core.shell.bat': Not used on non-Windows systems
+[0.364s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/robobin/robobin/ros2/install/robobin/share/robobin/hook/ament_prefix_path.ps1'
+[0.365s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/robobin/robobin/ros2/install/robobin/share/robobin/hook/ament_prefix_path.dsv'
+[0.367s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/robobin/robobin/ros2/install/robobin/share/robobin/hook/ament_prefix_path.sh'
+[0.368s] INFO:colcon.colcon_core.shell:Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell
+[0.368s] DEBUG:colcon.colcon_core.shell:Skip shell extension 'dsv' for command environment
+[0.703s] INFO:colcon.colcon_core.task.python.build:Building Python package in '/home/robobin/robobin/ros2/src/robobin'
+[0.703s] INFO:colcon.colcon_core.shell:Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell
+[0.703s] DEBUG:colcon.colcon_core.shell:Skip shell extension 'dsv' for command environment
+[1.581s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoking command in '/home/robobin/robobin/ros2/src/robobin': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/ros2/build/robobin/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../../build/robobin build --build-base /home/robobin/robobin/ros2/build/robobin/build install --record /home/robobin/robobin/ros2/build/robobin/install.log --single-version-externally-managed install_data
+[2.396s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoked command in '/home/robobin/robobin/ros2/src/robobin' returned '0': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/ros2/build/robobin/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../../build/robobin build --build-base /home/robobin/robobin/ros2/build/robobin/build install --record /home/robobin/robobin/ros2/build/robobin/install.log --single-version-externally-managed install_data
+[2.398s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/ros2/install/robobin' for CMake module files
+[2.399s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/ros2/install/robobin' for CMake config files
+[2.400s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/ros2/install/robobin/lib'
+[2.400s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/ros2/install/robobin/bin'
+[2.400s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/ros2/install/robobin/lib/pkgconfig/robobin.pc'
+[2.401s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages'
+[2.401s] Level 1:colcon.colcon_core.shell:create_environment_hook('robobin', 'pythonpath')
+[2.401s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/robobin/robobin/ros2/install/robobin/share/robobin/hook/pythonpath.ps1'
+[2.402s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/robobin/robobin/ros2/install/robobin/share/robobin/hook/pythonpath.dsv'
+[2.403s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/robobin/robobin/ros2/install/robobin/share/robobin/hook/pythonpath.sh'
+[2.403s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/ros2/install/robobin/bin'
+[2.404s] Level 1:colcon.colcon_core.environment:create_environment_scripts_only(robobin)
+[2.404s] INFO:colcon.colcon_core.shell:Creating package script '/home/robobin/robobin/ros2/install/robobin/share/robobin/package.ps1'
+[2.405s] INFO:colcon.colcon_core.shell:Creating package descriptor '/home/robobin/robobin/ros2/install/robobin/share/robobin/package.dsv'
+[2.406s] INFO:colcon.colcon_core.shell:Creating package script '/home/robobin/robobin/ros2/install/robobin/share/robobin/package.sh'
+[2.407s] INFO:colcon.colcon_core.shell:Creating package script '/home/robobin/robobin/ros2/install/robobin/share/robobin/package.bash'
+[2.408s] INFO:colcon.colcon_core.shell:Creating package script '/home/robobin/robobin/ros2/install/robobin/share/robobin/package.zsh'
+[2.409s] Level 1:colcon.colcon_core.environment:create_file_with_runtime_dependencies(/home/robobin/robobin/ros2/install/robobin/share/colcon-core/packages/robobin)
+[2.410s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:closing loop
+[2.410s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:loop closed
+[2.410s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete finished with '0'
+[2.410s] DEBUG:colcon.colcon_core.event_reactor:joining thread
+[2.419s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.terminal_notifier': Not used on non-Darwin systems
+[2.419s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.win32': Not used on non-Windows systems
+[2.419s] INFO:colcon.colcon_notification.desktop_notification:Sending desktop notification using 'notify2'
+[2.436s] DEBUG:colcon.colcon_core.event_reactor:joined thread
+[2.436s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/robobin/robobin/ros2/install/local_setup.ps1'
+[2.438s] INFO:colcon.colcon_core.shell:Creating prefix util module '/home/robobin/robobin/ros2/install/_local_setup_util_ps1.py'
+[2.439s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/robobin/robobin/ros2/install/setup.ps1'
+[2.441s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/robobin/robobin/ros2/install/local_setup.sh'
+[2.442s] INFO:colcon.colcon_core.shell:Creating prefix util module '/home/robobin/robobin/ros2/install/_local_setup_util_sh.py'
+[2.444s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/robobin/robobin/ros2/install/setup.sh'
+[2.446s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/robobin/robobin/ros2/install/local_setup.bash'
+[2.447s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/robobin/robobin/ros2/install/setup.bash'
+[2.448s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/robobin/robobin/ros2/install/local_setup.zsh'
+[2.449s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/robobin/robobin/ros2/install/setup.zsh'
diff --git a/ros2/log/build_2024-12-18_15-01-35/robobin/command.log b/ros2/log/build_2024-12-18_15-01-35/robobin/command.log
new file mode 100644
index 00000000..077114c6
--- /dev/null
+++ b/ros2/log/build_2024-12-18_15-01-35/robobin/command.log
@@ -0,0 +1,2 @@
+Invoking command in '/home/robobin/robobin/ros2/src/robobin': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/ros2/build/robobin/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../../build/robobin build --build-base /home/robobin/robobin/ros2/build/robobin/build install --record /home/robobin/robobin/ros2/build/robobin/install.log --single-version-externally-managed install_data
+Invoked command in '/home/robobin/robobin/ros2/src/robobin' returned '0': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/ros2/build/robobin/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../../build/robobin build --build-base /home/robobin/robobin/ros2/build/robobin/build install --record /home/robobin/robobin/ros2/build/robobin/install.log --single-version-externally-managed install_data
diff --git a/ros2/log/build_2024-12-18_15-01-35/robobin/stderr.log b/ros2/log/build_2024-12-18_15-01-35/robobin/stderr.log
new file mode 100644
index 00000000..e69de29b
diff --git a/ros2/log/build_2024-12-18_15-01-35/robobin/stdout.log b/ros2/log/build_2024-12-18_15-01-35/robobin/stdout.log
new file mode 100644
index 00000000..f757cbdc
--- /dev/null
+++ b/ros2/log/build_2024-12-18_15-01-35/robobin/stdout.log
@@ -0,0 +1,29 @@
+running egg_info
+writing ../../build/robobin/robobin.egg-info/PKG-INFO
+writing dependency_links to ../../build/robobin/robobin.egg-info/dependency_links.txt
+writing entry points to ../../build/robobin/robobin.egg-info/entry_points.txt
+writing requirements to ../../build/robobin/robobin.egg-info/requires.txt
+writing top-level names to ../../build/robobin/robobin.egg-info/top_level.txt
+reading manifest file '../../build/robobin/robobin.egg-info/SOURCES.txt'
+writing manifest file '../../build/robobin/robobin.egg-info/SOURCES.txt'
+running build
+running build_py
+copying robobin/uwb_navigation_node.py -> /home/robobin/robobin/ros2/build/robobin/build/lib/robobin
+running install
+running install_lib
+copying /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/uwb_navigation_node.py -> /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin
+byte-compiling /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/uwb_navigation_node.py to uwb_navigation_node.cpython-312.pyc
+running install_data
+running install_egg_info
+removing '/home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin-0.0.0-py3.12.egg-info' (and everything under it)
+Copying ../../build/robobin/robobin.egg-info to /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin-0.0.0-py3.12.egg-info
+running install_scripts
+Installing api_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+Installing control_feedback script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+Installing encoder_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+Installing imu_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+Installing motor_control_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+Installing motor_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+Installing uwb_navigation_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+Installing uwb_pathing_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+writing list of installed files to '/home/robobin/robobin/ros2/build/robobin/install.log'
diff --git a/ros2/log/build_2024-12-18_15-01-35/robobin/stdout_stderr.log b/ros2/log/build_2024-12-18_15-01-35/robobin/stdout_stderr.log
new file mode 100644
index 00000000..f757cbdc
--- /dev/null
+++ b/ros2/log/build_2024-12-18_15-01-35/robobin/stdout_stderr.log
@@ -0,0 +1,29 @@
+running egg_info
+writing ../../build/robobin/robobin.egg-info/PKG-INFO
+writing dependency_links to ../../build/robobin/robobin.egg-info/dependency_links.txt
+writing entry points to ../../build/robobin/robobin.egg-info/entry_points.txt
+writing requirements to ../../build/robobin/robobin.egg-info/requires.txt
+writing top-level names to ../../build/robobin/robobin.egg-info/top_level.txt
+reading manifest file '../../build/robobin/robobin.egg-info/SOURCES.txt'
+writing manifest file '../../build/robobin/robobin.egg-info/SOURCES.txt'
+running build
+running build_py
+copying robobin/uwb_navigation_node.py -> /home/robobin/robobin/ros2/build/robobin/build/lib/robobin
+running install
+running install_lib
+copying /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/uwb_navigation_node.py -> /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin
+byte-compiling /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/uwb_navigation_node.py to uwb_navigation_node.cpython-312.pyc
+running install_data
+running install_egg_info
+removing '/home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin-0.0.0-py3.12.egg-info' (and everything under it)
+Copying ../../build/robobin/robobin.egg-info to /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin-0.0.0-py3.12.egg-info
+running install_scripts
+Installing api_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+Installing control_feedback script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+Installing encoder_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+Installing imu_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+Installing motor_control_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+Installing motor_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+Installing uwb_navigation_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+Installing uwb_pathing_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+writing list of installed files to '/home/robobin/robobin/ros2/build/robobin/install.log'
diff --git a/ros2/log/build_2024-12-18_15-01-35/robobin/streams.log b/ros2/log/build_2024-12-18_15-01-35/robobin/streams.log
new file mode 100644
index 00000000..cd80b7cc
--- /dev/null
+++ b/ros2/log/build_2024-12-18_15-01-35/robobin/streams.log
@@ -0,0 +1,31 @@
+[1.219s] Invoking command in '/home/robobin/robobin/ros2/src/robobin': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/ros2/build/robobin/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../../build/robobin build --build-base /home/robobin/robobin/ros2/build/robobin/build install --record /home/robobin/robobin/ros2/build/robobin/install.log --single-version-externally-managed install_data
+[1.591s] running egg_info
+[1.617s] writing ../../build/robobin/robobin.egg-info/PKG-INFO
+[1.617s] writing dependency_links to ../../build/robobin/robobin.egg-info/dependency_links.txt
+[1.618s] writing entry points to ../../build/robobin/robobin.egg-info/entry_points.txt
+[1.620s] writing requirements to ../../build/robobin/robobin.egg-info/requires.txt
+[1.621s] writing top-level names to ../../build/robobin/robobin.egg-info/top_level.txt
+[1.677s] reading manifest file '../../build/robobin/robobin.egg-info/SOURCES.txt'
+[1.678s] writing manifest file '../../build/robobin/robobin.egg-info/SOURCES.txt'
+[1.679s] running build
+[1.679s] running build_py
+[1.679s] copying robobin/uwb_navigation_node.py -> /home/robobin/robobin/ros2/build/robobin/build/lib/robobin
+[1.680s] running install
+[1.689s] running install_lib
+[1.716s] copying /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/uwb_navigation_node.py -> /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin
+[1.717s] byte-compiling /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/uwb_navigation_node.py to uwb_navigation_node.cpython-312.pyc
+[1.725s] running install_data
+[1.725s] running install_egg_info
+[1.754s] removing '/home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin-0.0.0-py3.12.egg-info' (and everything under it)
+[1.754s] Copying ../../build/robobin/robobin.egg-info to /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin-0.0.0-py3.12.egg-info
+[1.756s] running install_scripts
+[1.943s] Installing api_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+[1.943s] Installing control_feedback script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+[1.945s] Installing encoder_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+[1.946s] Installing imu_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+[1.948s] Installing motor_control_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+[1.950s] Installing motor_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+[1.951s] Installing uwb_navigation_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+[1.953s] Installing uwb_pathing_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+[1.954s] writing list of installed files to '/home/robobin/robobin/ros2/build/robobin/install.log'
+[2.034s] Invoked command in '/home/robobin/robobin/ros2/src/robobin' returned '0': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/ros2/build/robobin/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../../build/robobin build --build-base /home/robobin/robobin/ros2/build/robobin/build install --record /home/robobin/robobin/ros2/build/robobin/install.log --single-version-externally-managed install_data
diff --git a/ros2/log/build_2024-12-18_16-49-48/events.log b/ros2/log/build_2024-12-18_16-49-48/events.log
new file mode 100644
index 00000000..8098d1ae
--- /dev/null
+++ b/ros2/log/build_2024-12-18_16-49-48/events.log
@@ -0,0 +1,61 @@
+[0.000000] (-) TimerEvent: {}
+[0.000287] (robobin) JobQueued: {'identifier': 'robobin', 'dependencies': OrderedDict()}
+[0.000738] (robobin) JobStarted: {'identifier': 'robobin'}
+[0.099662] (-) TimerEvent: {}
+[0.199983] (-) TimerEvent: {}
+[0.300266] (-) TimerEvent: {}
+[0.400523] (-) TimerEvent: {}
+[0.500853] (-) TimerEvent: {}
+[0.601127] (-) TimerEvent: {}
+[0.701421] (-) TimerEvent: {}
+[0.801656] (-) TimerEvent: {}
+[0.901932] (-) TimerEvent: {}
+[1.002255] (-) TimerEvent: {}
+[1.102538] (-) TimerEvent: {}
+[1.202853] (-) TimerEvent: {}
+[1.303153] (-) TimerEvent: {}
+[1.403440] (-) TimerEvent: {}
+[1.503738] (-) TimerEvent: {}
+[1.604044] (-) TimerEvent: {}
+[1.704343] (-) TimerEvent: {}
+[1.804616] (-) TimerEvent: {}
+[1.904969] (-) TimerEvent: {}
+[1.959017] (robobin) Command: {'cmd': ['/usr/bin/python3', '-W', 'ignore:setup.py install is deprecated', '-W', 'ignore:easy_install command is deprecated', 'setup.py', 'egg_info', '--egg-base', '../../build/robobin', 'build', '--build-base', '/home/robobin/robobin/ros2/build/robobin/build', 'install', '--record', '/home/robobin/robobin/ros2/build/robobin/install.log', '--single-version-externally-managed', 'install_data'], 'cwd': '/home/robobin/robobin/ros2/src/robobin', 'env': {'LESSOPEN': '| /usr/bin/lesspipe %s', 'USER': 'robobin', 'SSH_CLIENT': '192.168.73.238 47996 22', 'GZ_CONFIG_PATH': '/opt/ros/jazzy/opt/sdformat_vendor/share/gz', 'XDG_SESSION_TYPE': 'tty', 'SHLVL': '1', 'LD_LIBRARY_PATH': '/opt/ros/jazzy/opt/sdformat_vendor/lib:/opt/ros/jazzy/opt/rviz_ogre_vendor/lib:/opt/ros/jazzy/lib/aarch64-linux-gnu:/opt/ros/jazzy/opt/gz_math_vendor/lib:/opt/ros/jazzy/opt/gz_utils_vendor/lib:/opt/ros/jazzy/opt/gz_tools_vendor/lib:/opt/ros/jazzy/opt/gz_cmake_vendor/lib:/opt/ros/jazzy/lib', 'HOME': '/home/robobin', 'OLDPWD': '/home/robobin/robobin', 'SSH_TTY': '/dev/pts/0', 'ROS_PYTHON_VERSION': '3', 'DBUS_SESSION_BUS_ADDRESS': 'unix:path=/run/user/1002/bus', 'DEBUGINFOD_URLS': 'https://debuginfod.ubuntu.com', 'COLCON_PREFIX_PATH': '/home/robobin/Robobin_Project/ros2/robobin_main/install', 'ROS_DISTRO': 'jazzy', 'LOGNAME': 'robobin', '_': '/usr/bin/colcon', 'ROS_VERSION': '2', 'XDG_SESSION_CLASS': 'user', 'TERM': 'xterm-256color', 'XDG_SESSION_ID': '4', 'PATH': '/opt/ros/jazzy/opt/gz_tools_vendor/bin:/opt/ros/jazzy/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin', 'XDG_RUNTIME_DIR': '/run/user/1002', 'LANG': 'en_US.UTF-8', 'LS_COLORS': 'rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=00:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.zst=01;31:*.tzst=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.avif=01;35:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.webp=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:*~=00;90:*#=00;90:*.bak=00;90:*.crdownload=00;90:*.dpkg-dist=00;90:*.dpkg-new=00;90:*.dpkg-old=00;90:*.dpkg-tmp=00;90:*.old=00;90:*.orig=00;90:*.part=00;90:*.rej=00;90:*.rpmnew=00;90:*.rpmorig=00;90:*.rpmsave=00;90:*.swp=00;90:*.tmp=00;90:*.ucf-dist=00;90:*.ucf-new=00;90:*.ucf-old=00;90:', 'ROS_DOMAIN_ID': '3', 'AMENT_PREFIX_PATH': '/home/robobin/Robobin_Project/ros2/robobin_main/install/testing:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_localization_ekf:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_description:/home/robobin/Robobin_Project/ros2/robobin_main/install/odometry_publisher:/opt/ros/jazzy', 'SHELL': '/bin/bash', 'LESSCLOSE': '/usr/bin/lesspipe %s %s', 'ROS_AUTOMATIC_DISCOVERY_RANGE': 'SUBNET', 'PWD': '/home/robobin/robobin/ros2/build/robobin', 'LC_ALL': 'en_US.UTF-8', 'SSH_CONNECTION': '192.168.73.238 47996 192.168.73.109 22', 'XDG_DATA_DIRS': '/usr/share/gnome:/usr/local/share:/usr/share:/var/lib/snapd/desktop', 'PYTHONPATH': '/home/robobin/robobin/ros2/build/robobin/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages:/home/robobin/Robobin_Project/ros2/robobin_main/build/testing:/home/robobin/Robobin_Project/ros2/robobin_main/install/testing/lib/python3.12/site-packages:/home/robobin/Robobin_Project/ros2/robobin_main/build/robot_localization_ekf:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_localization_ekf/lib/python3.12/site-packages:/home/robobin/Robobin_Project/ros2/robobin_main/build/robot_description:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_description/lib/python3.12/site-packages:/home/robobin/Robobin_Project/ros2/robobin_main/build/odometry_publisher:/home/robobin/Robobin_Project/ros2/robobin_main/install/odometry_publisher/lib/python3.12/site-packages:/opt/ros/jazzy/lib/python3.12/site-packages', 'COLCON': '1', 'CMAKE_PREFIX_PATH': '/opt/ros/jazzy/opt/sdformat_vendor:/opt/ros/jazzy/opt/gz_math_vendor:/opt/ros/jazzy/opt/gz_utils_vendor:/opt/ros/jazzy/opt/gz_tools_vendor:/opt/ros/jazzy/opt/gz_cmake_vendor'}, 'shell': False}
+[2.005054] (-) TimerEvent: {}
+[2.105375] (-) TimerEvent: {}
+[2.205708] (-) TimerEvent: {}
+[2.305952] (-) TimerEvent: {}
+[2.338905] (robobin) StdoutLine: {'line': b'running egg_info\n'}
+[2.365368] (robobin) StdoutLine: {'line': b'writing ../../build/robobin/robobin.egg-info/PKG-INFO\n'}
+[2.366520] (robobin) StdoutLine: {'line': b'writing dependency_links to ../../build/robobin/robobin.egg-info/dependency_links.txt\n'}
+[2.367631] (robobin) StdoutLine: {'line': b'writing entry points to ../../build/robobin/robobin.egg-info/entry_points.txt\n'}
+[2.368281] (robobin) StdoutLine: {'line': b'writing requirements to ../../build/robobin/robobin.egg-info/requires.txt\n'}
+[2.368979] (robobin) StdoutLine: {'line': b'writing top-level names to ../../build/robobin/robobin.egg-info/top_level.txt\n'}
+[2.406028] (-) TimerEvent: {}
+[2.425558] (robobin) StdoutLine: {'line': b"reading manifest file '../../build/robobin/robobin.egg-info/SOURCES.txt'\n"}
+[2.427563] (robobin) StdoutLine: {'line': b"writing manifest file '../../build/robobin/robobin.egg-info/SOURCES.txt'\n"}
+[2.427822] (robobin) StdoutLine: {'line': b'running build\n'}
+[2.427943] (robobin) StdoutLine: {'line': b'running build_py\n'}
+[2.431711] (robobin) StdoutLine: {'line': b'running install\n'}
+[2.441859] (robobin) StdoutLine: {'line': b'running install_lib\n'}
+[2.474077] (robobin) StdoutLine: {'line': b'running install_data\n'}
+[2.476837] (robobin) StdoutLine: {'line': b'running install_egg_info\n'}
+[2.506104] (-) TimerEvent: {}
+[2.507779] (robobin) StdoutLine: {'line': b"removing '/home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin-0.0.0-py3.12.egg-info' (and everything under it)\n"}
+[2.508279] (robobin) StdoutLine: {'line': b'Copying ../../build/robobin/robobin.egg-info to /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin-0.0.0-py3.12.egg-info\n'}
+[2.510244] (robobin) StdoutLine: {'line': b'running install_scripts\n'}
+[2.606215] (-) TimerEvent: {}
+[2.702581] (robobin) StdoutLine: {'line': b'Installing api_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin\n'}
+[2.703589] (robobin) StdoutLine: {'line': b'Installing control_feedback script to /home/robobin/robobin/ros2/install/robobin/lib/robobin\n'}
+[2.704339] (robobin) StdoutLine: {'line': b'Installing encoder_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin\n'}
+[2.704971] (robobin) StdoutLine: {'line': b'Installing imu_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin\n'}
+[2.706272] (-) TimerEvent: {}
+[2.706528] (robobin) StdoutLine: {'line': b'Installing motor_control_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin\n'}
+[2.707820] (robobin) StdoutLine: {'line': b'Installing motor_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin\n'}
+[2.709242] (robobin) StdoutLine: {'line': b'Installing uwb_navigation_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin\n'}
+[2.710708] (robobin) StdoutLine: {'line': b'Installing uwb_pathing_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin\n'}
+[2.713761] (robobin) StdoutLine: {'line': b"writing list of installed files to '/home/robobin/robobin/ros2/build/robobin/install.log'\n"}
+[2.795767] (robobin) CommandEnded: {'returncode': 0}
+[2.806356] (-) TimerEvent: {}
+[2.835447] (robobin) JobEnded: {'identifier': 'robobin', 'rc': 0}
+[2.836541] (-) EventReactorShutdown: {}
diff --git a/ros2/log/build_2024-12-18_16-49-48/logger_all.log b/ros2/log/build_2024-12-18_16-49-48/logger_all.log
new file mode 100644
index 00000000..b38edbdf
--- /dev/null
+++ b/ros2/log/build_2024-12-18_16-49-48/logger_all.log
@@ -0,0 +1,136 @@
+[0.616s] DEBUG:colcon:Command line arguments: ['/usr/bin/colcon', 'build']
+[0.616s] DEBUG:colcon:Parsed command line arguments: Namespace(log_base=None, log_level=None, verb_name='build', build_base='build', install_base='install', merge_install=False, symlink_install=False, test_result_base=None, continue_on_error=False, executor='parallel', parallel_workers=4, event_handlers=None, ignore_user_meta=False, metas=['./colcon.meta'], base_paths=['.'], packages_ignore=None, packages_ignore_regex=None, paths=None, packages_up_to=None, packages_up_to_regex=None, packages_above=None, packages_above_and_dependencies=None, packages_above_depth=None, packages_select_by_dep=None, packages_skip_by_dep=None, packages_skip_up_to=None, packages_select_build_failed=False, packages_skip_build_finished=False, packages_select_test_failures=False, packages_skip_test_passed=False, packages_select=None, packages_skip=None, packages_select_regex=None, packages_skip_regex=None, packages_start=None, packages_end=None, allow_overriding=[], cmake_args=None, cmake_target=None, cmake_target_skip_unavailable=False, cmake_clean_cache=False, cmake_clean_first=False, cmake_force_configure=False, ament_cmake_args=None, catkin_cmake_args=None, catkin_skip_building_tests=False, mixin_files=None, mixin=None, verb_parser=<colcon_mixin.mixin.mixin_argument.MixinArgumentDecorator object at 0xffff9059cfb0>, verb_extension=<colcon_core.verb.build.BuildVerb object at 0xffff9059cce0>, main=<bound method BuildVerb.main of <colcon_core.verb.build.BuildVerb object at 0xffff9059cce0>>, mixin_verb=('build',))
+[0.740s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) check parameters
+[0.740s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) check parameters
+[0.740s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) check parameters
+[0.740s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) check parameters
+[0.740s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) discover
+[0.740s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) discover
+[0.740s] INFO:colcon.colcon_core.package_discovery:Crawling recursively for packages in '/home/robobin/robobin/ros2'
+[0.740s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ignore', 'ignore_ament_install']
+[0.741s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore'
+[0.741s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore_ament_install'
+[0.741s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_pkg']
+[0.741s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_pkg'
+[0.741s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_meta']
+[0.741s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_meta'
+[0.741s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ros']
+[0.741s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ros'
+[0.798s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['cmake', 'python']
+[0.798s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'cmake'
+[0.798s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'python'
+[0.799s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['python_setup_py']
+[0.799s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'python_setup_py'
+[0.799s] Level 1:colcon.colcon_core.package_identification:_identify(build) by extensions ['ignore', 'ignore_ament_install']
+[0.799s] Level 1:colcon.colcon_core.package_identification:_identify(build) by extension 'ignore'
+[0.799s] Level 1:colcon.colcon_core.package_identification:_identify(build) ignored
+[0.799s] Level 1:colcon.colcon_core.package_identification:_identify(install) by extensions ['ignore', 'ignore_ament_install']
+[0.799s] Level 1:colcon.colcon_core.package_identification:_identify(install) by extension 'ignore'
+[0.799s] Level 1:colcon.colcon_core.package_identification:_identify(install) ignored
+[0.800s] Level 1:colcon.colcon_core.package_identification:_identify(log) by extensions ['ignore', 'ignore_ament_install']
+[0.800s] Level 1:colcon.colcon_core.package_identification:_identify(log) by extension 'ignore'
+[0.800s] Level 1:colcon.colcon_core.package_identification:_identify(log) ignored
+[0.800s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['ignore', 'ignore_ament_install']
+[0.800s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'ignore'
+[0.801s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'ignore_ament_install'
+[0.801s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['colcon_pkg']
+[0.801s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'colcon_pkg'
+[0.801s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['colcon_meta']
+[0.801s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'colcon_meta'
+[0.801s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['ros']
+[0.801s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'ros'
+[0.801s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['cmake', 'python']
+[0.801s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'cmake'
+[0.801s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'python'
+[0.801s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['python_setup_py']
+[0.801s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'python_setup_py'
+[0.809s] Level 1:colcon.colcon_core.package_identification:_identify(src/build) by extensions ['ignore', 'ignore_ament_install']
+[0.809s] Level 1:colcon.colcon_core.package_identification:_identify(src/build) by extension 'ignore'
+[0.809s] Level 1:colcon.colcon_core.package_identification:_identify(src/build) ignored
+[0.809s] Level 1:colcon.colcon_core.package_identification:_identify(src/install) by extensions ['ignore', 'ignore_ament_install']
+[0.810s] Level 1:colcon.colcon_core.package_identification:_identify(src/install) by extension 'ignore'
+[0.810s] Level 1:colcon.colcon_core.package_identification:_identify(src/install) ignored
+[0.810s] Level 1:colcon.colcon_core.package_identification:_identify(src/log) by extensions ['ignore', 'ignore_ament_install']
+[0.810s] Level 1:colcon.colcon_core.package_identification:_identify(src/log) by extension 'ignore'
+[0.810s] Level 1:colcon.colcon_core.package_identification:_identify(src/log) ignored
+[0.811s] Level 1:colcon.colcon_core.package_identification:_identify(src/robobin) by extensions ['ignore', 'ignore_ament_install']
+[0.811s] Level 1:colcon.colcon_core.package_identification:_identify(src/robobin) by extension 'ignore'
+[0.811s] Level 1:colcon.colcon_core.package_identification:_identify(src/robobin) by extension 'ignore_ament_install'
+[0.811s] Level 1:colcon.colcon_core.package_identification:_identify(src/robobin) by extensions ['colcon_pkg']
+[0.811s] Level 1:colcon.colcon_core.package_identification:_identify(src/robobin) by extension 'colcon_pkg'
+[0.811s] Level 1:colcon.colcon_core.package_identification:_identify(src/robobin) by extensions ['colcon_meta']
+[0.811s] Level 1:colcon.colcon_core.package_identification:_identify(src/robobin) by extension 'colcon_meta'
+[0.811s] Level 1:colcon.colcon_core.package_identification:_identify(src/robobin) by extensions ['ros']
+[0.811s] Level 1:colcon.colcon_core.package_identification:_identify(src/robobin) by extension 'ros'
+[0.818s] DEBUG:colcon.colcon_core.package_identification:Package 'src/robobin' with type 'ros.ament_python' and name 'robobin'
+[0.819s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) using defaults
+[0.819s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) discover
+[0.819s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) using defaults
+[0.819s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) discover
+[0.819s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) using defaults
+[0.867s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) check parameters
+[0.867s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) discover
+[0.874s] DEBUG:colcon.colcon_installed_package_information.package_discovery:Found 4 installed packages in /home/robobin/Robobin_Project/ros2/robobin_main/install
+[0.877s] DEBUG:colcon.colcon_installed_package_information.package_discovery:Found 335 installed packages in /opt/ros/jazzy
+[0.880s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) using defaults
+[0.958s] Level 5:colcon.colcon_core.verb:set package 'robobin' build argument 'cmake_args' from command line to 'None'
+[0.958s] Level 5:colcon.colcon_core.verb:set package 'robobin' build argument 'cmake_target' from command line to 'None'
+[0.958s] Level 5:colcon.colcon_core.verb:set package 'robobin' build argument 'cmake_target_skip_unavailable' from command line to 'False'
+[0.958s] Level 5:colcon.colcon_core.verb:set package 'robobin' build argument 'cmake_clean_cache' from command line to 'False'
+[0.958s] Level 5:colcon.colcon_core.verb:set package 'robobin' build argument 'cmake_clean_first' from command line to 'False'
+[0.958s] Level 5:colcon.colcon_core.verb:set package 'robobin' build argument 'cmake_force_configure' from command line to 'False'
+[0.958s] Level 5:colcon.colcon_core.verb:set package 'robobin' build argument 'ament_cmake_args' from command line to 'None'
+[0.958s] Level 5:colcon.colcon_core.verb:set package 'robobin' build argument 'catkin_cmake_args' from command line to 'None'
+[0.958s] Level 5:colcon.colcon_core.verb:set package 'robobin' build argument 'catkin_skip_building_tests' from command line to 'False'
+[0.959s] DEBUG:colcon.colcon_core.verb:Building package 'robobin' with the following arguments: {'ament_cmake_args': None, 'build_base': '/home/robobin/robobin/ros2/build/robobin', 'catkin_cmake_args': None, 'catkin_skip_building_tests': False, 'cmake_args': None, 'cmake_clean_cache': False, 'cmake_clean_first': False, 'cmake_force_configure': False, 'cmake_target': None, 'cmake_target_skip_unavailable': False, 'install_base': '/home/robobin/robobin/ros2/install/robobin', 'merge_install': False, 'path': '/home/robobin/robobin/ros2/src/robobin', 'symlink_install': False, 'test_result_base': None}
+[0.959s] INFO:colcon.colcon_core.executor:Executing jobs using 'parallel' executor
+[0.960s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete
+[0.960s] INFO:colcon.colcon_ros.task.ament_python.build:Building ROS package in '/home/robobin/robobin/ros2/src/robobin' with build type 'ament_python'
+[0.961s] Level 1:colcon.colcon_core.shell:create_environment_hook('robobin', 'ament_prefix_path')
+[0.971s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_core.shell.bat': Not used on non-Windows systems
+[0.972s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/robobin/robobin/ros2/install/robobin/share/robobin/hook/ament_prefix_path.ps1'
+[0.976s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/robobin/robobin/ros2/install/robobin/share/robobin/hook/ament_prefix_path.dsv'
+[0.978s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/robobin/robobin/ros2/install/robobin/share/robobin/hook/ament_prefix_path.sh'
+[0.980s] INFO:colcon.colcon_core.shell:Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell
+[0.980s] DEBUG:colcon.colcon_core.shell:Skip shell extension 'dsv' for command environment
+[1.340s] INFO:colcon.colcon_core.task.python.build:Building Python package in '/home/robobin/robobin/ros2/src/robobin'
+[1.341s] INFO:colcon.colcon_core.shell:Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell
+[1.341s] DEBUG:colcon.colcon_core.shell:Skip shell extension 'dsv' for command environment
+[2.920s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoking command in '/home/robobin/robobin/ros2/src/robobin': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/ros2/build/robobin/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../../build/robobin build --build-base /home/robobin/robobin/ros2/build/robobin/build install --record /home/robobin/robobin/ros2/build/robobin/install.log --single-version-externally-managed install_data
+[3.756s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoked command in '/home/robobin/robobin/ros2/src/robobin' returned '0': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/ros2/build/robobin/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../../build/robobin build --build-base /home/robobin/robobin/ros2/build/robobin/build install --record /home/robobin/robobin/ros2/build/robobin/install.log --single-version-externally-managed install_data
+[3.769s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/ros2/install/robobin' for CMake module files
+[3.770s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/ros2/install/robobin' for CMake config files
+[3.773s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/ros2/install/robobin/lib'
+[3.773s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/ros2/install/robobin/bin'
+[3.773s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/ros2/install/robobin/lib/pkgconfig/robobin.pc'
+[3.774s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages'
+[3.774s] Level 1:colcon.colcon_core.shell:create_environment_hook('robobin', 'pythonpath')
+[3.774s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/robobin/robobin/ros2/install/robobin/share/robobin/hook/pythonpath.ps1'
+[3.775s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/robobin/robobin/ros2/install/robobin/share/robobin/hook/pythonpath.dsv'
+[3.776s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/robobin/robobin/ros2/install/robobin/share/robobin/hook/pythonpath.sh'
+[3.779s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/ros2/install/robobin/bin'
+[3.779s] Level 1:colcon.colcon_core.environment:create_environment_scripts_only(robobin)
+[3.780s] INFO:colcon.colcon_core.shell:Creating package script '/home/robobin/robobin/ros2/install/robobin/share/robobin/package.ps1'
+[3.781s] INFO:colcon.colcon_core.shell:Creating package descriptor '/home/robobin/robobin/ros2/install/robobin/share/robobin/package.dsv'
+[3.784s] INFO:colcon.colcon_core.shell:Creating package script '/home/robobin/robobin/ros2/install/robobin/share/robobin/package.sh'
+[3.787s] INFO:colcon.colcon_core.shell:Creating package script '/home/robobin/robobin/ros2/install/robobin/share/robobin/package.bash'
+[3.791s] INFO:colcon.colcon_core.shell:Creating package script '/home/robobin/robobin/ros2/install/robobin/share/robobin/package.zsh'
+[3.794s] Level 1:colcon.colcon_core.environment:create_file_with_runtime_dependencies(/home/robobin/robobin/ros2/install/robobin/share/colcon-core/packages/robobin)
+[3.795s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:closing loop
+[3.796s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:loop closed
+[3.796s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete finished with '0'
+[3.796s] DEBUG:colcon.colcon_core.event_reactor:joining thread
+[3.808s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.terminal_notifier': Not used on non-Darwin systems
+[3.808s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.win32': Not used on non-Windows systems
+[3.809s] INFO:colcon.colcon_notification.desktop_notification:Sending desktop notification using 'notify2'
+[3.836s] DEBUG:colcon.colcon_core.event_reactor:joined thread
+[3.837s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/robobin/robobin/ros2/install/local_setup.ps1'
+[3.839s] INFO:colcon.colcon_core.shell:Creating prefix util module '/home/robobin/robobin/ros2/install/_local_setup_util_ps1.py'
+[3.842s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/robobin/robobin/ros2/install/setup.ps1'
+[3.844s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/robobin/robobin/ros2/install/local_setup.sh'
+[3.846s] INFO:colcon.colcon_core.shell:Creating prefix util module '/home/robobin/robobin/ros2/install/_local_setup_util_sh.py'
+[3.847s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/robobin/robobin/ros2/install/setup.sh'
+[3.852s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/robobin/robobin/ros2/install/local_setup.bash'
+[3.855s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/robobin/robobin/ros2/install/setup.bash'
+[3.858s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/robobin/robobin/ros2/install/local_setup.zsh'
+[3.861s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/robobin/robobin/ros2/install/setup.zsh'
diff --git a/ros2/log/build_2024-12-18_16-49-48/robobin/command.log b/ros2/log/build_2024-12-18_16-49-48/robobin/command.log
new file mode 100644
index 00000000..077114c6
--- /dev/null
+++ b/ros2/log/build_2024-12-18_16-49-48/robobin/command.log
@@ -0,0 +1,2 @@
+Invoking command in '/home/robobin/robobin/ros2/src/robobin': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/ros2/build/robobin/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../../build/robobin build --build-base /home/robobin/robobin/ros2/build/robobin/build install --record /home/robobin/robobin/ros2/build/robobin/install.log --single-version-externally-managed install_data
+Invoked command in '/home/robobin/robobin/ros2/src/robobin' returned '0': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/ros2/build/robobin/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../../build/robobin build --build-base /home/robobin/robobin/ros2/build/robobin/build install --record /home/robobin/robobin/ros2/build/robobin/install.log --single-version-externally-managed install_data
diff --git a/ros2/log/build_2024-12-18_16-49-48/robobin/stderr.log b/ros2/log/build_2024-12-18_16-49-48/robobin/stderr.log
new file mode 100644
index 00000000..e69de29b
diff --git a/ros2/log/build_2024-12-18_16-49-48/robobin/stdout.log b/ros2/log/build_2024-12-18_16-49-48/robobin/stdout.log
new file mode 100644
index 00000000..355022e9
--- /dev/null
+++ b/ros2/log/build_2024-12-18_16-49-48/robobin/stdout.log
@@ -0,0 +1,26 @@
+running egg_info
+writing ../../build/robobin/robobin.egg-info/PKG-INFO
+writing dependency_links to ../../build/robobin/robobin.egg-info/dependency_links.txt
+writing entry points to ../../build/robobin/robobin.egg-info/entry_points.txt
+writing requirements to ../../build/robobin/robobin.egg-info/requires.txt
+writing top-level names to ../../build/robobin/robobin.egg-info/top_level.txt
+reading manifest file '../../build/robobin/robobin.egg-info/SOURCES.txt'
+writing manifest file '../../build/robobin/robobin.egg-info/SOURCES.txt'
+running build
+running build_py
+running install
+running install_lib
+running install_data
+running install_egg_info
+removing '/home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin-0.0.0-py3.12.egg-info' (and everything under it)
+Copying ../../build/robobin/robobin.egg-info to /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin-0.0.0-py3.12.egg-info
+running install_scripts
+Installing api_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+Installing control_feedback script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+Installing encoder_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+Installing imu_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+Installing motor_control_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+Installing motor_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+Installing uwb_navigation_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+Installing uwb_pathing_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+writing list of installed files to '/home/robobin/robobin/ros2/build/robobin/install.log'
diff --git a/ros2/log/build_2024-12-18_16-49-48/robobin/stdout_stderr.log b/ros2/log/build_2024-12-18_16-49-48/robobin/stdout_stderr.log
new file mode 100644
index 00000000..355022e9
--- /dev/null
+++ b/ros2/log/build_2024-12-18_16-49-48/robobin/stdout_stderr.log
@@ -0,0 +1,26 @@
+running egg_info
+writing ../../build/robobin/robobin.egg-info/PKG-INFO
+writing dependency_links to ../../build/robobin/robobin.egg-info/dependency_links.txt
+writing entry points to ../../build/robobin/robobin.egg-info/entry_points.txt
+writing requirements to ../../build/robobin/robobin.egg-info/requires.txt
+writing top-level names to ../../build/robobin/robobin.egg-info/top_level.txt
+reading manifest file '../../build/robobin/robobin.egg-info/SOURCES.txt'
+writing manifest file '../../build/robobin/robobin.egg-info/SOURCES.txt'
+running build
+running build_py
+running install
+running install_lib
+running install_data
+running install_egg_info
+removing '/home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin-0.0.0-py3.12.egg-info' (and everything under it)
+Copying ../../build/robobin/robobin.egg-info to /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin-0.0.0-py3.12.egg-info
+running install_scripts
+Installing api_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+Installing control_feedback script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+Installing encoder_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+Installing imu_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+Installing motor_control_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+Installing motor_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+Installing uwb_navigation_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+Installing uwb_pathing_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+writing list of installed files to '/home/robobin/robobin/ros2/build/robobin/install.log'
diff --git a/ros2/log/build_2024-12-18_16-49-48/robobin/streams.log b/ros2/log/build_2024-12-18_16-49-48/robobin/streams.log
new file mode 100644
index 00000000..bc46c9a7
--- /dev/null
+++ b/ros2/log/build_2024-12-18_16-49-48/robobin/streams.log
@@ -0,0 +1,28 @@
+[1.959s] Invoking command in '/home/robobin/robobin/ros2/src/robobin': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/ros2/build/robobin/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../../build/robobin build --build-base /home/robobin/robobin/ros2/build/robobin/build install --record /home/robobin/robobin/ros2/build/robobin/install.log --single-version-externally-managed install_data
+[2.338s] running egg_info
+[2.365s] writing ../../build/robobin/robobin.egg-info/PKG-INFO
+[2.366s] writing dependency_links to ../../build/robobin/robobin.egg-info/dependency_links.txt
+[2.367s] writing entry points to ../../build/robobin/robobin.egg-info/entry_points.txt
+[2.368s] writing requirements to ../../build/robobin/robobin.egg-info/requires.txt
+[2.368s] writing top-level names to ../../build/robobin/robobin.egg-info/top_level.txt
+[2.425s] reading manifest file '../../build/robobin/robobin.egg-info/SOURCES.txt'
+[2.427s] writing manifest file '../../build/robobin/robobin.egg-info/SOURCES.txt'
+[2.427s] running build
+[2.427s] running build_py
+[2.431s] running install
+[2.441s] running install_lib
+[2.473s] running install_data
+[2.476s] running install_egg_info
+[2.507s] removing '/home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin-0.0.0-py3.12.egg-info' (and everything under it)
+[2.508s] Copying ../../build/robobin/robobin.egg-info to /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin-0.0.0-py3.12.egg-info
+[2.510s] running install_scripts
+[2.702s] Installing api_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+[2.703s] Installing control_feedback script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+[2.704s] Installing encoder_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+[2.704s] Installing imu_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+[2.706s] Installing motor_control_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+[2.707s] Installing motor_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+[2.709s] Installing uwb_navigation_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+[2.710s] Installing uwb_pathing_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+[2.713s] writing list of installed files to '/home/robobin/robobin/ros2/build/robobin/install.log'
+[2.795s] Invoked command in '/home/robobin/robobin/ros2/src/robobin' returned '0': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/ros2/build/robobin/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../../build/robobin build --build-base /home/robobin/robobin/ros2/build/robobin/build install --record /home/robobin/robobin/ros2/build/robobin/install.log --single-version-externally-managed install_data
diff --git a/ros2/log/build_2024-12-18_22-30-58/events.log b/ros2/log/build_2024-12-18_22-30-58/events.log
new file mode 100644
index 00000000..388d46d0
--- /dev/null
+++ b/ros2/log/build_2024-12-18_22-30-58/events.log
@@ -0,0 +1,62 @@
+[0.000000] (-) TimerEvent: {}
+[0.000271] (robobin) JobQueued: {'identifier': 'robobin', 'dependencies': OrderedDict()}
+[0.001009] (robobin) JobStarted: {'identifier': 'robobin'}
+[0.099657] (-) TimerEvent: {}
+[0.199975] (-) TimerEvent: {}
+[0.300292] (-) TimerEvent: {}
+[0.400609] (-) TimerEvent: {}
+[0.500919] (-) TimerEvent: {}
+[0.601220] (-) TimerEvent: {}
+[0.701480] (-) TimerEvent: {}
+[0.801735] (-) TimerEvent: {}
+[0.902007] (-) TimerEvent: {}
+[1.002258] (-) TimerEvent: {}
+[1.102495] (-) TimerEvent: {}
+[1.202802] (-) TimerEvent: {}
+[1.214054] (robobin) Command: {'cmd': ['/usr/bin/python3', '-W', 'ignore:setup.py install is deprecated', '-W', 'ignore:easy_install command is deprecated', 'setup.py', 'egg_info', '--egg-base', '../../build/robobin', 'build', '--build-base', '/home/robobin/robobin/ros2/build/robobin/build', 'install', '--record', '/home/robobin/robobin/ros2/build/robobin/install.log', '--single-version-externally-managed', 'install_data'], 'cwd': '/home/robobin/robobin/ros2/src/robobin', 'env': {'LESSOPEN': '| /usr/bin/lesspipe %s', 'USER': 'robobin', 'SSH_CLIENT': '192.168.73.238 48861 22', 'GZ_CONFIG_PATH': '/opt/ros/jazzy/opt/sdformat_vendor/share/gz', 'XDG_SESSION_TYPE': 'tty', 'SHLVL': '1', 'LD_LIBRARY_PATH': '/opt/ros/jazzy/opt/sdformat_vendor/lib:/opt/ros/jazzy/opt/rviz_ogre_vendor/lib:/opt/ros/jazzy/lib/aarch64-linux-gnu:/opt/ros/jazzy/opt/gz_math_vendor/lib:/opt/ros/jazzy/opt/gz_utils_vendor/lib:/opt/ros/jazzy/opt/gz_tools_vendor/lib:/opt/ros/jazzy/opt/gz_cmake_vendor/lib:/opt/ros/jazzy/lib', 'HOME': '/home/robobin', 'OLDPWD': '/home/robobin/robobin', 'SSH_TTY': '/dev/pts/0', 'ROS_PYTHON_VERSION': '3', 'DBUS_SESSION_BUS_ADDRESS': 'unix:path=/run/user/1002/bus', 'DEBUGINFOD_URLS': 'https://debuginfod.ubuntu.com', 'COLCON_PREFIX_PATH': '/home/robobin/Robobin_Project/ros2/robobin_main/install', 'ROS_DISTRO': 'jazzy', 'LOGNAME': 'robobin', '_': '/usr/bin/colcon', 'ROS_VERSION': '2', 'XDG_SESSION_CLASS': 'user', 'TERM': 'xterm-256color', 'XDG_SESSION_ID': '17', 'PATH': '/opt/ros/jazzy/opt/gz_tools_vendor/bin:/opt/ros/jazzy/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin', 'XDG_RUNTIME_DIR': '/run/user/1002', 'LANG': 'en_US.UTF-8', 'LS_COLORS': 'rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=00:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.zst=01;31:*.tzst=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.avif=01;35:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.webp=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:*~=00;90:*#=00;90:*.bak=00;90:*.crdownload=00;90:*.dpkg-dist=00;90:*.dpkg-new=00;90:*.dpkg-old=00;90:*.dpkg-tmp=00;90:*.old=00;90:*.orig=00;90:*.part=00;90:*.rej=00;90:*.rpmnew=00;90:*.rpmorig=00;90:*.rpmsave=00;90:*.swp=00;90:*.tmp=00;90:*.ucf-dist=00;90:*.ucf-new=00;90:*.ucf-old=00;90:', 'ROS_DOMAIN_ID': '3', 'AMENT_PREFIX_PATH': '/home/robobin/Robobin_Project/ros2/robobin_main/install/testing:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_localization_ekf:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_description:/home/robobin/Robobin_Project/ros2/robobin_main/install/odometry_publisher:/opt/ros/jazzy', 'SHELL': '/bin/bash', 'LESSCLOSE': '/usr/bin/lesspipe %s %s', 'ROS_AUTOMATIC_DISCOVERY_RANGE': 'SUBNET', 'PWD': '/home/robobin/robobin/ros2/build/robobin', 'LC_ALL': 'en_US.UTF-8', 'SSH_CONNECTION': '192.168.73.238 48861 192.168.73.109 22', 'XDG_DATA_DIRS': '/usr/share/gnome:/usr/local/share:/usr/share:/var/lib/snapd/desktop', 'PYTHONPATH': '/home/robobin/robobin/ros2/build/robobin/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages:/home/robobin/Robobin_Project/ros2/robobin_main/build/testing:/home/robobin/Robobin_Project/ros2/robobin_main/install/testing/lib/python3.12/site-packages:/home/robobin/Robobin_Project/ros2/robobin_main/build/robot_localization_ekf:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_localization_ekf/lib/python3.12/site-packages:/home/robobin/Robobin_Project/ros2/robobin_main/build/robot_description:/home/robobin/Robobin_Project/ros2/robobin_main/install/robot_description/lib/python3.12/site-packages:/home/robobin/Robobin_Project/ros2/robobin_main/build/odometry_publisher:/home/robobin/Robobin_Project/ros2/robobin_main/install/odometry_publisher/lib/python3.12/site-packages:/opt/ros/jazzy/lib/python3.12/site-packages', 'COLCON': '1', 'CMAKE_PREFIX_PATH': '/opt/ros/jazzy/opt/sdformat_vendor:/opt/ros/jazzy/opt/gz_math_vendor:/opt/ros/jazzy/opt/gz_utils_vendor:/opt/ros/jazzy/opt/gz_tools_vendor:/opt/ros/jazzy/opt/gz_cmake_vendor'}, 'shell': False}
+[1.302890] (-) TimerEvent: {}
+[1.403188] (-) TimerEvent: {}
+[1.503446] (-) TimerEvent: {}
+[1.591107] (robobin) StdoutLine: {'line': b'running egg_info\n'}
+[1.603517] (-) TimerEvent: {}
+[1.617451] (robobin) StdoutLine: {'line': b'writing ../../build/robobin/robobin.egg-info/PKG-INFO\n'}
+[1.617875] (robobin) StdoutLine: {'line': b'writing dependency_links to ../../build/robobin/robobin.egg-info/dependency_links.txt\n'}
+[1.618926] (robobin) StdoutLine: {'line': b'writing entry points to ../../build/robobin/robobin.egg-info/entry_points.txt\n'}
+[1.619539] (robobin) StdoutLine: {'line': b'writing requirements to ../../build/robobin/robobin.egg-info/requires.txt\n'}
+[1.620291] (robobin) StdoutLine: {'line': b'writing top-level names to ../../build/robobin/robobin.egg-info/top_level.txt\n'}
+[1.674804] (robobin) StdoutLine: {'line': b"reading manifest file '../../build/robobin/robobin.egg-info/SOURCES.txt'\n"}
+[1.675984] (robobin) StdoutLine: {'line': b"writing manifest file '../../build/robobin/robobin.egg-info/SOURCES.txt'\n"}
+[1.676238] (robobin) StdoutLine: {'line': b'running build\n'}
+[1.676372] (robobin) StdoutLine: {'line': b'running build_py\n'}
+[1.676673] (robobin) StdoutLine: {'line': b'copying robobin/uwb_navigation_node.py -> /home/robobin/robobin/ros2/build/robobin/build/lib/robobin\n'}
+[1.677375] (robobin) StdoutLine: {'line': b'copying robobin/helpers/realtime_location_cli_only.py -> /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/helpers\n'}
+[1.677630] (robobin) StdoutLine: {'line': b'copying robobin/helpers/graph_maker.py -> /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/helpers\n'}
+[1.678152] (robobin) StdoutLine: {'line': b'running install\n'}
+[1.687303] (robobin) StdoutLine: {'line': b'running install_lib\n'}
+[1.703590] (-) TimerEvent: {}
+[1.714356] (robobin) StdoutLine: {'line': b'copying /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/uwb_navigation_node.py -> /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin\n'}
+[1.714781] (robobin) StdoutLine: {'line': b'copying /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/helpers/realtime_location_cli_only.py -> /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/helpers\n'}
+[1.715037] (robobin) StdoutLine: {'line': b'copying /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/helpers/graph_maker.py -> /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/helpers\n'}
+[1.716123] (robobin) StdoutLine: {'line': b'byte-compiling /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/uwb_navigation_node.py to uwb_navigation_node.cpython-312.pyc\n'}
+[1.726408] (robobin) StdoutLine: {'line': b'byte-compiling /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/helpers/realtime_location_cli_only.py to realtime_location_cli_only.cpython-312.pyc\n'}
+[1.730290] (robobin) StdoutLine: {'line': b'byte-compiling /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/helpers/graph_maker.py to graph_maker.cpython-312.pyc\n'}
+[1.732655] (robobin) StdoutLine: {'line': b'running install_data\n'}
+[1.732903] (robobin) StdoutLine: {'line': b'running install_egg_info\n'}
+[1.762056] (robobin) StdoutLine: {'line': b"removing '/home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin-0.0.0-py3.12.egg-info' (and everything under it)\n"}
+[1.762495] (robobin) StdoutLine: {'line': b'Copying ../../build/robobin/robobin.egg-info to /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin-0.0.0-py3.12.egg-info\n'}
+[1.763704] (robobin) StdoutLine: {'line': b'running install_scripts\n'}
+[1.803685] (-) TimerEvent: {}
+[1.903945] (-) TimerEvent: {}
+[1.951549] (robobin) StdoutLine: {'line': b'Installing api_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin\n'}
+[1.951857] (robobin) StdoutLine: {'line': b'Installing control_feedback script to /home/robobin/robobin/ros2/install/robobin/lib/robobin\n'}
+[1.953369] (robobin) StdoutLine: {'line': b'Installing encoder_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin\n'}
+[1.955803] (robobin) StdoutLine: {'line': b'Installing imu_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin\n'}
+[1.956952] (robobin) StdoutLine: {'line': b'Installing motor_control_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin\n'}
+[1.958275] (robobin) StdoutLine: {'line': b'Installing motor_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin\n'}
+[1.959621] (robobin) StdoutLine: {'line': b'Installing uwb_navigation_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin\n'}
+[1.962102] (robobin) StdoutLine: {'line': b'Installing uwb_pathing_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin\n'}
+[1.963733] (robobin) StdoutLine: {'line': b"writing list of installed files to '/home/robobin/robobin/ros2/build/robobin/install.log'\n"}
+[2.004066] (-) TimerEvent: {}
+[2.044318] (robobin) CommandEnded: {'returncode': 0}
+[2.058955] (robobin) JobEnded: {'identifier': 'robobin', 'rc': 0}
+[2.060211] (-) EventReactorShutdown: {}
diff --git a/ros2/log/build_2024-12-18_22-30-58/logger_all.log b/ros2/log/build_2024-12-18_22-30-58/logger_all.log
new file mode 100644
index 00000000..621aad22
--- /dev/null
+++ b/ros2/log/build_2024-12-18_22-30-58/logger_all.log
@@ -0,0 +1,136 @@
+[0.150s] DEBUG:colcon:Command line arguments: ['/usr/bin/colcon', 'build']
+[0.150s] DEBUG:colcon:Parsed command line arguments: Namespace(log_base=None, log_level=None, verb_name='build', build_base='build', install_base='install', merge_install=False, symlink_install=False, test_result_base=None, continue_on_error=False, executor='parallel', parallel_workers=4, event_handlers=None, ignore_user_meta=False, metas=['./colcon.meta'], base_paths=['.'], packages_ignore=None, packages_ignore_regex=None, paths=None, packages_up_to=None, packages_up_to_regex=None, packages_above=None, packages_above_and_dependencies=None, packages_above_depth=None, packages_select_by_dep=None, packages_skip_by_dep=None, packages_skip_up_to=None, packages_select_build_failed=False, packages_skip_build_finished=False, packages_select_test_failures=False, packages_skip_test_passed=False, packages_select=None, packages_skip=None, packages_select_regex=None, packages_skip_regex=None, packages_start=None, packages_end=None, allow_overriding=[], cmake_args=None, cmake_target=None, cmake_target_skip_unavailable=False, cmake_clean_cache=False, cmake_clean_first=False, cmake_force_configure=False, ament_cmake_args=None, catkin_cmake_args=None, catkin_skip_building_tests=False, mixin_files=None, mixin=None, verb_parser=<colcon_mixin.mixin.mixin_argument.MixinArgumentDecorator object at 0xffff89430b30>, verb_extension=<colcon_core.verb.build.BuildVerb object at 0xffff894307d0>, main=<bound method BuildVerb.main of <colcon_core.verb.build.BuildVerb object at 0xffff894307d0>>, mixin_verb=('build',))
+[0.205s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) check parameters
+[0.206s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) check parameters
+[0.206s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) check parameters
+[0.206s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) check parameters
+[0.206s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) discover
+[0.206s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) discover
+[0.206s] INFO:colcon.colcon_core.package_discovery:Crawling recursively for packages in '/home/robobin/robobin/ros2'
+[0.206s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ignore', 'ignore_ament_install']
+[0.206s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore'
+[0.206s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore_ament_install'
+[0.206s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_pkg']
+[0.206s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_pkg'
+[0.206s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_meta']
+[0.206s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_meta'
+[0.206s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ros']
+[0.206s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ros'
+[0.244s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['cmake', 'python']
+[0.244s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'cmake'
+[0.244s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'python'
+[0.244s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['python_setup_py']
+[0.244s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'python_setup_py'
+[0.245s] Level 1:colcon.colcon_core.package_identification:_identify(build) by extensions ['ignore', 'ignore_ament_install']
+[0.245s] Level 1:colcon.colcon_core.package_identification:_identify(build) by extension 'ignore'
+[0.245s] Level 1:colcon.colcon_core.package_identification:_identify(build) ignored
+[0.245s] Level 1:colcon.colcon_core.package_identification:_identify(install) by extensions ['ignore', 'ignore_ament_install']
+[0.245s] Level 1:colcon.colcon_core.package_identification:_identify(install) by extension 'ignore'
+[0.245s] Level 1:colcon.colcon_core.package_identification:_identify(install) ignored
+[0.245s] Level 1:colcon.colcon_core.package_identification:_identify(log) by extensions ['ignore', 'ignore_ament_install']
+[0.245s] Level 1:colcon.colcon_core.package_identification:_identify(log) by extension 'ignore'
+[0.245s] Level 1:colcon.colcon_core.package_identification:_identify(log) ignored
+[0.245s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['ignore', 'ignore_ament_install']
+[0.245s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'ignore'
+[0.246s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'ignore_ament_install'
+[0.246s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['colcon_pkg']
+[0.246s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'colcon_pkg'
+[0.246s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['colcon_meta']
+[0.246s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'colcon_meta'
+[0.246s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['ros']
+[0.246s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'ros'
+[0.246s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['cmake', 'python']
+[0.246s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'cmake'
+[0.246s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'python'
+[0.246s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['python_setup_py']
+[0.246s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'python_setup_py'
+[0.246s] Level 1:colcon.colcon_core.package_identification:_identify(src/build) by extensions ['ignore', 'ignore_ament_install']
+[0.246s] Level 1:colcon.colcon_core.package_identification:_identify(src/build) by extension 'ignore'
+[0.246s] Level 1:colcon.colcon_core.package_identification:_identify(src/build) ignored
+[0.246s] Level 1:colcon.colcon_core.package_identification:_identify(src/install) by extensions ['ignore', 'ignore_ament_install']
+[0.246s] Level 1:colcon.colcon_core.package_identification:_identify(src/install) by extension 'ignore'
+[0.246s] Level 1:colcon.colcon_core.package_identification:_identify(src/install) ignored
+[0.247s] Level 1:colcon.colcon_core.package_identification:_identify(src/log) by extensions ['ignore', 'ignore_ament_install']
+[0.247s] Level 1:colcon.colcon_core.package_identification:_identify(src/log) by extension 'ignore'
+[0.247s] Level 1:colcon.colcon_core.package_identification:_identify(src/log) ignored
+[0.247s] Level 1:colcon.colcon_core.package_identification:_identify(src/robobin) by extensions ['ignore', 'ignore_ament_install']
+[0.247s] Level 1:colcon.colcon_core.package_identification:_identify(src/robobin) by extension 'ignore'
+[0.247s] Level 1:colcon.colcon_core.package_identification:_identify(src/robobin) by extension 'ignore_ament_install'
+[0.247s] Level 1:colcon.colcon_core.package_identification:_identify(src/robobin) by extensions ['colcon_pkg']
+[0.247s] Level 1:colcon.colcon_core.package_identification:_identify(src/robobin) by extension 'colcon_pkg'
+[0.247s] Level 1:colcon.colcon_core.package_identification:_identify(src/robobin) by extensions ['colcon_meta']
+[0.247s] Level 1:colcon.colcon_core.package_identification:_identify(src/robobin) by extension 'colcon_meta'
+[0.247s] Level 1:colcon.colcon_core.package_identification:_identify(src/robobin) by extensions ['ros']
+[0.247s] Level 1:colcon.colcon_core.package_identification:_identify(src/robobin) by extension 'ros'
+[0.250s] DEBUG:colcon.colcon_core.package_identification:Package 'src/robobin' with type 'ros.ament_python' and name 'robobin'
+[0.250s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) using defaults
+[0.250s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) discover
+[0.250s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) using defaults
+[0.250s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) discover
+[0.250s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) using defaults
+[0.275s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) check parameters
+[0.275s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) discover
+[0.277s] DEBUG:colcon.colcon_installed_package_information.package_discovery:Found 4 installed packages in /home/robobin/Robobin_Project/ros2/robobin_main/install
+[0.279s] DEBUG:colcon.colcon_installed_package_information.package_discovery:Found 335 installed packages in /opt/ros/jazzy
+[0.282s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) using defaults
+[0.349s] Level 5:colcon.colcon_core.verb:set package 'robobin' build argument 'cmake_args' from command line to 'None'
+[0.349s] Level 5:colcon.colcon_core.verb:set package 'robobin' build argument 'cmake_target' from command line to 'None'
+[0.349s] Level 5:colcon.colcon_core.verb:set package 'robobin' build argument 'cmake_target_skip_unavailable' from command line to 'False'
+[0.349s] Level 5:colcon.colcon_core.verb:set package 'robobin' build argument 'cmake_clean_cache' from command line to 'False'
+[0.349s] Level 5:colcon.colcon_core.verb:set package 'robobin' build argument 'cmake_clean_first' from command line to 'False'
+[0.349s] Level 5:colcon.colcon_core.verb:set package 'robobin' build argument 'cmake_force_configure' from command line to 'False'
+[0.349s] Level 5:colcon.colcon_core.verb:set package 'robobin' build argument 'ament_cmake_args' from command line to 'None'
+[0.349s] Level 5:colcon.colcon_core.verb:set package 'robobin' build argument 'catkin_cmake_args' from command line to 'None'
+[0.349s] Level 5:colcon.colcon_core.verb:set package 'robobin' build argument 'catkin_skip_building_tests' from command line to 'False'
+[0.349s] DEBUG:colcon.colcon_core.verb:Building package 'robobin' with the following arguments: {'ament_cmake_args': None, 'build_base': '/home/robobin/robobin/ros2/build/robobin', 'catkin_cmake_args': None, 'catkin_skip_building_tests': False, 'cmake_args': None, 'cmake_clean_cache': False, 'cmake_clean_first': False, 'cmake_force_configure': False, 'cmake_target': None, 'cmake_target_skip_unavailable': False, 'install_base': '/home/robobin/robobin/ros2/install/robobin', 'merge_install': False, 'path': '/home/robobin/robobin/ros2/src/robobin', 'symlink_install': False, 'test_result_base': None}
+[0.349s] INFO:colcon.colcon_core.executor:Executing jobs using 'parallel' executor
+[0.351s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete
+[0.351s] INFO:colcon.colcon_ros.task.ament_python.build:Building ROS package in '/home/robobin/robobin/ros2/src/robobin' with build type 'ament_python'
+[0.351s] Level 1:colcon.colcon_core.shell:create_environment_hook('robobin', 'ament_prefix_path')
+[0.353s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_core.shell.bat': Not used on non-Windows systems
+[0.354s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/robobin/robobin/ros2/install/robobin/share/robobin/hook/ament_prefix_path.ps1'
+[0.355s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/robobin/robobin/ros2/install/robobin/share/robobin/hook/ament_prefix_path.dsv'
+[0.356s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/robobin/robobin/ros2/install/robobin/share/robobin/hook/ament_prefix_path.sh'
+[0.357s] INFO:colcon.colcon_core.shell:Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell
+[0.357s] DEBUG:colcon.colcon_core.shell:Skip shell extension 'dsv' for command environment
+[0.689s] INFO:colcon.colcon_core.task.python.build:Building Python package in '/home/robobin/robobin/ros2/src/robobin'
+[0.690s] INFO:colcon.colcon_core.shell:Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell
+[0.690s] DEBUG:colcon.colcon_core.shell:Skip shell extension 'dsv' for command environment
+[1.567s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoking command in '/home/robobin/robobin/ros2/src/robobin': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/ros2/build/robobin/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../../build/robobin build --build-base /home/robobin/robobin/ros2/build/robobin/build install --record /home/robobin/robobin/ros2/build/robobin/install.log --single-version-externally-managed install_data
+[2.395s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoked command in '/home/robobin/robobin/ros2/src/robobin' returned '0': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/ros2/build/robobin/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../../build/robobin build --build-base /home/robobin/robobin/ros2/build/robobin/build install --record /home/robobin/robobin/ros2/build/robobin/install.log --single-version-externally-managed install_data
+[2.398s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/ros2/install/robobin' for CMake module files
+[2.398s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/ros2/install/robobin' for CMake config files
+[2.399s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/ros2/install/robobin/lib'
+[2.399s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/ros2/install/robobin/bin'
+[2.399s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/ros2/install/robobin/lib/pkgconfig/robobin.pc'
+[2.400s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages'
+[2.400s] Level 1:colcon.colcon_core.shell:create_environment_hook('robobin', 'pythonpath')
+[2.400s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/robobin/robobin/ros2/install/robobin/share/robobin/hook/pythonpath.ps1'
+[2.401s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/robobin/robobin/ros2/install/robobin/share/robobin/hook/pythonpath.dsv'
+[2.402s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/robobin/robobin/ros2/install/robobin/share/robobin/hook/pythonpath.sh'
+[2.403s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/ros2/install/robobin/bin'
+[2.403s] Level 1:colcon.colcon_core.environment:create_environment_scripts_only(robobin)
+[2.403s] INFO:colcon.colcon_core.shell:Creating package script '/home/robobin/robobin/ros2/install/robobin/share/robobin/package.ps1'
+[2.405s] INFO:colcon.colcon_core.shell:Creating package descriptor '/home/robobin/robobin/ros2/install/robobin/share/robobin/package.dsv'
+[2.405s] INFO:colcon.colcon_core.shell:Creating package script '/home/robobin/robobin/ros2/install/robobin/share/robobin/package.sh'
+[2.406s] INFO:colcon.colcon_core.shell:Creating package script '/home/robobin/robobin/ros2/install/robobin/share/robobin/package.bash'
+[2.407s] INFO:colcon.colcon_core.shell:Creating package script '/home/robobin/robobin/ros2/install/robobin/share/robobin/package.zsh'
+[2.408s] Level 1:colcon.colcon_core.environment:create_file_with_runtime_dependencies(/home/robobin/robobin/ros2/install/robobin/share/colcon-core/packages/robobin)
+[2.409s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:closing loop
+[2.410s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:loop closed
+[2.410s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete finished with '0'
+[2.410s] DEBUG:colcon.colcon_core.event_reactor:joining thread
+[2.418s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.terminal_notifier': Not used on non-Darwin systems
+[2.418s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.win32': Not used on non-Windows systems
+[2.418s] INFO:colcon.colcon_notification.desktop_notification:Sending desktop notification using 'notify2'
+[2.437s] DEBUG:colcon.colcon_core.event_reactor:joined thread
+[2.437s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/robobin/robobin/ros2/install/local_setup.ps1'
+[2.439s] INFO:colcon.colcon_core.shell:Creating prefix util module '/home/robobin/robobin/ros2/install/_local_setup_util_ps1.py'
+[2.440s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/robobin/robobin/ros2/install/setup.ps1'
+[2.442s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/robobin/robobin/ros2/install/local_setup.sh'
+[2.442s] INFO:colcon.colcon_core.shell:Creating prefix util module '/home/robobin/robobin/ros2/install/_local_setup_util_sh.py'
+[2.443s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/robobin/robobin/ros2/install/setup.sh'
+[2.445s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/robobin/robobin/ros2/install/local_setup.bash'
+[2.446s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/robobin/robobin/ros2/install/setup.bash'
+[2.447s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/robobin/robobin/ros2/install/local_setup.zsh'
+[2.449s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/robobin/robobin/ros2/install/setup.zsh'
diff --git a/ros2/log/build_2024-12-18_22-30-58/robobin/command.log b/ros2/log/build_2024-12-18_22-30-58/robobin/command.log
new file mode 100644
index 00000000..077114c6
--- /dev/null
+++ b/ros2/log/build_2024-12-18_22-30-58/robobin/command.log
@@ -0,0 +1,2 @@
+Invoking command in '/home/robobin/robobin/ros2/src/robobin': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/ros2/build/robobin/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../../build/robobin build --build-base /home/robobin/robobin/ros2/build/robobin/build install --record /home/robobin/robobin/ros2/build/robobin/install.log --single-version-externally-managed install_data
+Invoked command in '/home/robobin/robobin/ros2/src/robobin' returned '0': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/ros2/build/robobin/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../../build/robobin build --build-base /home/robobin/robobin/ros2/build/robobin/build install --record /home/robobin/robobin/ros2/build/robobin/install.log --single-version-externally-managed install_data
diff --git a/ros2/log/build_2024-12-18_22-30-58/robobin/stderr.log b/ros2/log/build_2024-12-18_22-30-58/robobin/stderr.log
new file mode 100644
index 00000000..e69de29b
diff --git a/ros2/log/build_2024-12-18_22-30-58/robobin/stdout.log b/ros2/log/build_2024-12-18_22-30-58/robobin/stdout.log
new file mode 100644
index 00000000..61221a1c
--- /dev/null
+++ b/ros2/log/build_2024-12-18_22-30-58/robobin/stdout.log
@@ -0,0 +1,35 @@
+running egg_info
+writing ../../build/robobin/robobin.egg-info/PKG-INFO
+writing dependency_links to ../../build/robobin/robobin.egg-info/dependency_links.txt
+writing entry points to ../../build/robobin/robobin.egg-info/entry_points.txt
+writing requirements to ../../build/robobin/robobin.egg-info/requires.txt
+writing top-level names to ../../build/robobin/robobin.egg-info/top_level.txt
+reading manifest file '../../build/robobin/robobin.egg-info/SOURCES.txt'
+writing manifest file '../../build/robobin/robobin.egg-info/SOURCES.txt'
+running build
+running build_py
+copying robobin/uwb_navigation_node.py -> /home/robobin/robobin/ros2/build/robobin/build/lib/robobin
+copying robobin/helpers/realtime_location_cli_only.py -> /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/helpers
+copying robobin/helpers/graph_maker.py -> /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/helpers
+running install
+running install_lib
+copying /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/uwb_navigation_node.py -> /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin
+copying /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/helpers/realtime_location_cli_only.py -> /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/helpers
+copying /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/helpers/graph_maker.py -> /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/helpers
+byte-compiling /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/uwb_navigation_node.py to uwb_navigation_node.cpython-312.pyc
+byte-compiling /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/helpers/realtime_location_cli_only.py to realtime_location_cli_only.cpython-312.pyc
+byte-compiling /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/helpers/graph_maker.py to graph_maker.cpython-312.pyc
+running install_data
+running install_egg_info
+removing '/home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin-0.0.0-py3.12.egg-info' (and everything under it)
+Copying ../../build/robobin/robobin.egg-info to /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin-0.0.0-py3.12.egg-info
+running install_scripts
+Installing api_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+Installing control_feedback script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+Installing encoder_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+Installing imu_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+Installing motor_control_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+Installing motor_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+Installing uwb_navigation_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+Installing uwb_pathing_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+writing list of installed files to '/home/robobin/robobin/ros2/build/robobin/install.log'
diff --git a/ros2/log/build_2024-12-18_22-30-58/robobin/stdout_stderr.log b/ros2/log/build_2024-12-18_22-30-58/robobin/stdout_stderr.log
new file mode 100644
index 00000000..61221a1c
--- /dev/null
+++ b/ros2/log/build_2024-12-18_22-30-58/robobin/stdout_stderr.log
@@ -0,0 +1,35 @@
+running egg_info
+writing ../../build/robobin/robobin.egg-info/PKG-INFO
+writing dependency_links to ../../build/robobin/robobin.egg-info/dependency_links.txt
+writing entry points to ../../build/robobin/robobin.egg-info/entry_points.txt
+writing requirements to ../../build/robobin/robobin.egg-info/requires.txt
+writing top-level names to ../../build/robobin/robobin.egg-info/top_level.txt
+reading manifest file '../../build/robobin/robobin.egg-info/SOURCES.txt'
+writing manifest file '../../build/robobin/robobin.egg-info/SOURCES.txt'
+running build
+running build_py
+copying robobin/uwb_navigation_node.py -> /home/robobin/robobin/ros2/build/robobin/build/lib/robobin
+copying robobin/helpers/realtime_location_cli_only.py -> /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/helpers
+copying robobin/helpers/graph_maker.py -> /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/helpers
+running install
+running install_lib
+copying /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/uwb_navigation_node.py -> /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin
+copying /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/helpers/realtime_location_cli_only.py -> /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/helpers
+copying /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/helpers/graph_maker.py -> /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/helpers
+byte-compiling /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/uwb_navigation_node.py to uwb_navigation_node.cpython-312.pyc
+byte-compiling /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/helpers/realtime_location_cli_only.py to realtime_location_cli_only.cpython-312.pyc
+byte-compiling /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/helpers/graph_maker.py to graph_maker.cpython-312.pyc
+running install_data
+running install_egg_info
+removing '/home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin-0.0.0-py3.12.egg-info' (and everything under it)
+Copying ../../build/robobin/robobin.egg-info to /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin-0.0.0-py3.12.egg-info
+running install_scripts
+Installing api_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+Installing control_feedback script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+Installing encoder_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+Installing imu_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+Installing motor_control_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+Installing motor_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+Installing uwb_navigation_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+Installing uwb_pathing_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+writing list of installed files to '/home/robobin/robobin/ros2/build/robobin/install.log'
diff --git a/ros2/log/build_2024-12-18_22-30-58/robobin/streams.log b/ros2/log/build_2024-12-18_22-30-58/robobin/streams.log
new file mode 100644
index 00000000..8d72a192
--- /dev/null
+++ b/ros2/log/build_2024-12-18_22-30-58/robobin/streams.log
@@ -0,0 +1,37 @@
+[1.215s] Invoking command in '/home/robobin/robobin/ros2/src/robobin': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/ros2/build/robobin/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../../build/robobin build --build-base /home/robobin/robobin/ros2/build/robobin/build install --record /home/robobin/robobin/ros2/build/robobin/install.log --single-version-externally-managed install_data
+[1.590s] running egg_info
+[1.617s] writing ../../build/robobin/robobin.egg-info/PKG-INFO
+[1.617s] writing dependency_links to ../../build/robobin/robobin.egg-info/dependency_links.txt
+[1.618s] writing entry points to ../../build/robobin/robobin.egg-info/entry_points.txt
+[1.619s] writing requirements to ../../build/robobin/robobin.egg-info/requires.txt
+[1.619s] writing top-level names to ../../build/robobin/robobin.egg-info/top_level.txt
+[1.674s] reading manifest file '../../build/robobin/robobin.egg-info/SOURCES.txt'
+[1.675s] writing manifest file '../../build/robobin/robobin.egg-info/SOURCES.txt'
+[1.675s] running build
+[1.675s] running build_py
+[1.676s] copying robobin/uwb_navigation_node.py -> /home/robobin/robobin/ros2/build/robobin/build/lib/robobin
+[1.676s] copying robobin/helpers/realtime_location_cli_only.py -> /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/helpers
+[1.677s] copying robobin/helpers/graph_maker.py -> /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/helpers
+[1.677s] running install
+[1.686s] running install_lib
+[1.713s] copying /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/uwb_navigation_node.py -> /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin
+[1.714s] copying /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/helpers/realtime_location_cli_only.py -> /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/helpers
+[1.714s] copying /home/robobin/robobin/ros2/build/robobin/build/lib/robobin/helpers/graph_maker.py -> /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/helpers
+[1.715s] byte-compiling /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/uwb_navigation_node.py to uwb_navigation_node.cpython-312.pyc
+[1.726s] byte-compiling /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/helpers/realtime_location_cli_only.py to realtime_location_cli_only.cpython-312.pyc
+[1.729s] byte-compiling /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin/helpers/graph_maker.py to graph_maker.cpython-312.pyc
+[1.732s] running install_data
+[1.732s] running install_egg_info
+[1.761s] removing '/home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin-0.0.0-py3.12.egg-info' (and everything under it)
+[1.762s] Copying ../../build/robobin/robobin.egg-info to /home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages/robobin-0.0.0-py3.12.egg-info
+[1.763s] running install_scripts
+[1.951s] Installing api_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+[1.951s] Installing control_feedback script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+[1.952s] Installing encoder_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+[1.955s] Installing imu_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+[1.956s] Installing motor_control_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+[1.957s] Installing motor_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+[1.959s] Installing uwb_navigation_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+[1.961s] Installing uwb_pathing_node script to /home/robobin/robobin/ros2/install/robobin/lib/robobin
+[1.963s] writing list of installed files to '/home/robobin/robobin/ros2/build/robobin/install.log'
+[2.044s] Invoked command in '/home/robobin/robobin/ros2/src/robobin' returned '0': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/ros2/build/robobin/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/ros2/install/robobin/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../../build/robobin build --build-base /home/robobin/robobin/ros2/build/robobin/build install --record /home/robobin/robobin/ros2/build/robobin/install.log --single-version-externally-managed install_data
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diff --git a/ros2/src/build/robobin/build/lib/robobin/control_feedback.py b/ros2/src/build/robobin/build/lib/robobin/control_feedback.py
new file mode 100644
index 00000000..78a1edb7
--- /dev/null
+++ b/ros2/src/build/robobin/build/lib/robobin/control_feedback.py
@@ -0,0 +1,320 @@
+import rclpy
+from rclpy.node import Node
+from geometry_msgs.msg import Twist
+from std_msgs.msg import Int64, Float64
+from gpiozero import PWMOutputDevice, DigitalOutputDevice
+import time
+from rclpy.clock import Clock
+from rclpy.time import Time
+import bisect
+
+
+
+# Example of how you could implement a simple PID controller
+class PIDController:
+ def __init__(self, kp, ki, kd):
+ self.kp = kp
+ self.ki = ki
+ self.kd = kd
+ self.prev_error = 0
+ self.integral = 0
+
+ def reset(self):
+ self.prev_error = 0
+ self.integral = 0
+
+ def calculate(self, error, dt):
+ self.integral += error * dt
+ derivative = (error - self.prev_error) / dt
+ output = self.kp * error + self.ki * self.integral + self.kd * derivative
+ self.prev_error = error
+ return output
+
+
+
+
+class MotorControlNode(Node):
+ def __init__(self):
+ super().__init__('control_feedback_node')
+
+ # Initialize encoder values
+ self.encoder_left_steps = 0
+ self.encoder_right_steps = 0
+
+ # Desired speeds from cmd_vel
+ self.desired_linear_speed = 0.0
+ self.desired_angular_speed = 0.0
+
+ self.prev_left_steps = 0
+ self.prev_right_steps = 0
+
+ self.left_pwm = 0
+ self.right_pwm = 0
+
+ self.prev_desired_speed = 0.0
+
+
+ #Time
+ self.prev_time = time.time()
+ #self.prev_time = self.get_clock().now
+
+
+ # Robot parameters
+ self.wheel_base = 0.40
+ self.encoder_steps_per_rotation = 310
+ self.wheel_radius = 0.075
+
+ # Initialize the motors
+ self.motor = Motor(self,14,15,18, 17, 22, 27)
+
+ # PID controllers
+ self.pid_left_forward = PIDController(kp=0.5, ki=0.0, kd=0.001)
+ self.pid_right_forward = PIDController(kp=0.525, ki=0.0, kd=0.001)
+
+ self.pid_left_backward = PIDController(kp=0.525, ki=0.0, kd=0.001)
+ self.pid_right_backward = PIDController(kp=0.5, ki=0.0, kd=0.001)
+
+
+
+
+ # Subscribe to cmd_vel topic
+ self.subscription = self.create_subscription(
+ Twist,
+ '/cmd_vel',
+ self.cmd_vel_callback,
+ 10
+ )
+
+ # Subscribe to encoder data
+ self.left_encoder_sub = self.create_subscription(
+ Int64,
+ 'left_wheel_steps',
+ self.left_encoder_callback,
+ 10
+ )
+ self.right_encoder_sub = self.create_subscription(
+ Int64,
+ 'right_wheel_steps',
+ self.right_encoder_callback,
+ 10
+ )
+
+ self.left_actual_speed_pub = self.create_publisher(Float64, 'left_actual_wheel_speed', 10)
+ self.right_actual_speed_pub = self.create_publisher(Float64, 'right_actual_wheel_speed', 10)
+ self.desired_speed_pub = self.create_publisher(Float64, 'desired_wheel_speed', 10)
+
+ # Timer to update motor speeds
+ self.control_timer = self.create_timer(0.1, self.control_loop)
+
+ self.get_logger().info('Motor control node with encoder feedback has been started.')
+
+ def cmd_vel_callback(self, msg):
+ # Store desired speeds
+ self.desired_linear_speed = msg.linear.x # Forward/backward speed
+ self.desired_angular_speed = msg.angular.z # Turning rate
+
+ # if (self.desired_linear_speed >= 0 and self.prev_desired_speed < 0) or (self.desired_linear_speed < 0 and self.prev_desired_speed >= 0):
+
+ # self.pid_left_forward.reset()
+ # self.pid_right_forward.reset()
+ # self.pid_left_backward.reset()
+ # self.pid_right_backward.reset()
+
+
+
+
+
+ self.prev_desired_speed = self.desired_linear_speed
+
+ def left_encoder_callback(self, msg):
+ self.encoder_left_steps = msg.data
+
+ def right_encoder_callback(self, msg):
+ self.encoder_right_steps = msg.data
+
+
+ def control_loop(self):
+
+ if self.desired_linear_speed >= 0:
+ # Forward motion
+ left_pid = self.pid_left_forward
+ right_pid = self.pid_right_forward
+ else:
+ # Backward motion
+ left_pid = self.pid_left_backward
+ right_pid = self.pid_right_backward
+
+ if (self.desired_linear_speed == 0) and (self.desired_angular_speed == 0):
+ self.stop_motors()
+ self.pid_left_forward.reset()
+ self.pid_right_forward.reset()
+ self.pid_left_backward.reset()
+ self.pid_right_backward.reset()
+ self.left_pwm =0
+ self.right_pwm =0
+ return
+
+
+
+
+ #Calculate the actual speed
+ #-------------------------------
+ # Calculate elapsed time
+ current_time = time.time()
+ #dt = current_time - self.prev_time
+ dt = max(current_time - self.prev_time, 0.01) # Prevent dt from being too small
+ #dt = max(current_time - self.prev_time, 1e-6) # Avoid zero or too small dt
+ if dt == 0:
+ return
+ self.prev_time = current_time
+
+ # self.prev_time = self.get_clock().now()
+ # current_time = self.get_clock().now()
+ # dt = (current_time - self.prev_time).to_sec()
+ # if dt <= 0.0:
+ # return
+ # self.prev_time = current_time
+
+ #Actual Speed calculation
+ #------------------------------------
+ # Calculate change in encoder steps
+ delta_left_steps = self.encoder_left_steps - self.prev_left_steps
+ delta_right_steps = self.encoder_right_steps - self.prev_right_steps
+
+ self.prev_left_steps = self.encoder_left_steps
+ self.prev_right_steps = self.encoder_right_steps
+
+ # Calculate rotational speeds (RPS)
+ left_rps = delta_left_steps / (self.encoder_steps_per_rotation * dt)
+ right_rps = delta_right_steps / (self.encoder_steps_per_rotation * dt)
+
+ # Convert to linear speed (m/s)
+ left_speed_actual = left_rps * 2 * 3.14159 * self.wheel_radius
+ right_speed_actual = right_rps * 2 * 3.14159 * self.wheel_radius
+
+
+
+ #Desired Speed calculation
+ #------------------------------------
+ # Desired speeds for left and right wheels
+ left_speed_desired = self.desired_linear_speed - (self.desired_angular_speed * self.wheel_base / 2.0)
+ right_speed_desired = self.desired_linear_speed + (self.desired_angular_speed * self.wheel_base / 2.0)
+
+
+
+ # Speed Errors calculation
+ #------------------------------------
+ left_error = left_speed_desired - left_speed_actual
+ right_error = right_speed_desired - right_speed_actual
+
+
+
+ # Use PID controllers for left and right wheels
+ left_pwm_error = left_pid.calculate(left_error, dt)
+ right_pwm_error = right_pid.calculate(right_error, dt)
+
+ self.left_pwm += left_pwm_error
+ self.right_pwm += right_pwm_error
+
+
+
+ # Ensure PWM values are within [-1, 1]
+ left_pwm = max(-1, min(1, self.left_pwm))
+ right_pwm = max(-1, min(1, self.right_pwm))
+
+ # Apply PWM values to motors
+ self.motor.set_pwm(left_pwm, right_pwm)
+
+
+
+
+ # Publish actual speeds
+ left_actual_speed_msg = Float64()
+ left_actual_speed_msg.data = left_speed_actual
+ self.left_actual_speed_pub.publish(left_actual_speed_msg)
+
+ right_actual_speed_msg = Float64()
+ right_actual_speed_msg.data = right_speed_actual
+ self.right_actual_speed_pub.publish(right_actual_speed_msg)
+
+ desired_speed_msg = Float64()
+ desired_speed_msg.data = right_speed_desired
+ self.desired_speed_pub.publish(desired_speed_msg)
+
+
+ # Debugging info
+ # self.get_logger().info(f'Left PWM IN: {self.left_pwm:.2f}, Right PWM IN: {right_pwm:.2f}')
+ # self.get_logger().info(f'Left Speed Actual: {left_speed_actual:.2f}, Right Speed Actual: {right_speed_actual:.2f}')
+ # self.get_logger().info(f'Left Error: {left_error:.2f}, Right Error: {left_pwm_error:.2f}')
+ # self.get_logger().info(f'Left_speed_desired: {left_speed_desired:.2f}, Right_speed_desired: {right_speed_desired:.2f}')
+ # self.get_logger().info('-----------------------------------------------------------------')
+
+
+ def stop_motors(self):
+ self.motor.stop()
+ # self.get_logger().info('Motors have been stopped.')
+
+class Motor:
+ def __init__(self,node, EnaA, In1A, In2A, EnaB, In1B, In2B):
+
+ self.node = node
+ # Left motor control pins
+ self.pwmA = PWMOutputDevice(EnaA)
+ self.in1A = DigitalOutputDevice(In1A)
+ self.in2A = DigitalOutputDevice(In2A)
+
+ # Right motor control pins
+ self.pwmB = PWMOutputDevice(EnaB)
+ self.in1B = DigitalOutputDevice(In1B)
+ self.in2B = DigitalOutputDevice(In2B)
+
+ def set_pwm(self, left_pwm, right_pwm):
+
+ #Deadband to prevent the motors from responding to very small PWM values that could cause jitter.
+ DEADZONE = 0.002
+
+ if abs(left_pwm) < DEADZONE:
+ self.pwmA.value = 0
+ self.in1A.off()
+ self.in2A.off()
+ else:
+ self.pwmA.value = abs(left_pwm)
+ self.in1A.value = left_pwm > 0
+ self.in2A.value = left_pwm < 0
+
+ if abs(right_pwm) < DEADZONE:
+ self.pwmB.value = 0
+ self.in1B.off()
+ self.in2B.off()
+ else:
+ self.pwmB.value = abs(right_pwm)
+ self.in1B.value = right_pwm > 0
+ self.in2B.value = right_pwm < 0
+
+ #self.node.get_logger().info(f"Left Motor PWM: Speed={left_pwm}, Right Motor PWM: Speed={right_pwm}")
+
+ def stop(self):
+ # Stop both motors
+ self.pwmA.value = 0
+ self.pwmB.value = 0
+ self.in1A.off()
+ self.in2A.off()
+ self.in1B.off()
+ self.in2B.off()
+
+
+def main(args=None):
+ rclpy.init(args=args)
+ node = MotorControlNode()
+
+ try:
+ rclpy.spin(node)
+ except KeyboardInterrupt:
+ pass
+ finally:
+ node.stop_motors()
+ node.destroy_node()
+ rclpy.shutdown()
+
+if __name__ == '__main__':
+ main()
diff --git a/ros2/src/build/robobin/build/lib/robobin/encoder.py b/ros2/src/build/robobin/build/lib/robobin/encoder.py
new file mode 100644
index 00000000..f646d3dc
--- /dev/null
+++ b/ros2/src/build/robobin/build/lib/robobin/encoder.py
@@ -0,0 +1,63 @@
+import rclpy
+from rclpy.node import Node
+from std_msgs.msg import Int64
+from gpiozero import RotaryEncoder, InputDevice
+
+
+
+class EncoderReaderNode(Node):
+ def __init__(self):
+ super().__init__('encoder_reader_node')
+
+ motor1A = 5
+ motor1B = 6
+ motor2A = 20
+ motor2B = 21
+
+ self.encoder_left = RotaryEncoder(a = motor1A,b = motor1B, max_steps=0)
+ self.encoder_right = RotaryEncoder(a = motor2A,b = motor2B, max_steps=0)
+
+ # Publishers for encoder steps
+ self.left_encoder_pub = self.create_publisher(Int64, 'left_wheel_steps', 10)
+ self.right_encoder_pub = self.create_publisher(Int64, 'right_wheel_steps', 10)
+
+ # Timer to read encoders
+ self.timer = self.create_timer(0.1, self.publish_encoder_steps)
+
+ self.get_logger().info('Encoder reader node has been started.')
+
+ def publish_encoder_steps(self):
+ # Read encoder steps
+ left_steps = self.encoder_left.steps
+ right_steps = -(self.encoder_right.steps)
+
+ # Create messages
+ left_msg = Int64()
+ left_msg.data = left_steps
+
+ right_msg = Int64()
+ right_msg.data = right_steps
+
+ # Publish messages
+ self.left_encoder_pub.publish(left_msg)
+ self.right_encoder_pub.publish(right_msg)
+
+ # Log the steps
+ #self.get_logger().info(f'Left Steps: {left_steps}, Right Steps: {right_steps}')
+
+
+
+def main(args=None):
+ rclpy.init(args=args)
+ node = EncoderReaderNode()
+
+ try:
+ rclpy.spin(node)
+ except KeyboardInterrupt:
+ pass
+ finally:
+ node.destroy_node()
+ rclpy.shutdown()
+
+if __name__ == '__main__':
+ main()
diff --git a/ros2/src/build/robobin/build/lib/robobin/helpers/graph_maker.py b/ros2/src/build/robobin/build/lib/robobin/helpers/graph_maker.py
new file mode 100644
index 00000000..c197c10b
--- /dev/null
+++ b/ros2/src/build/robobin/build/lib/robobin/helpers/graph_maker.py
@@ -0,0 +1,112 @@
+import json
+import time
+import os
+from realtime_location_cli_only import AnchorTagCLI
+
+class GraphMaker:
+ def __init__(self, port="COM11", testing=False):
+ self.app = AnchorTagCLI(port=port, testing=testing)
+ self.graph = {
+ "name": "Lab 1 Extended",
+ "nodes": [],
+ "connections": []
+ }
+ self.previous_node_index = None
+
+ def call_bpm_and_store_anchors(self):
+ self.app.call_bpm()
+ for name, (x, y) in self.app.anchors.items():
+ self.graph["nodes"].append({
+ "name": name,
+ "x": x,
+ "y": y
+ })
+
+ # Initialize connections matrix with False
+ num_nodes = len(self.graph["nodes"])
+ self.graph["connections"] = [[False] * num_nodes for _ in range(num_nodes)]
+
+ print("Anchor coordinates stored successfully.")
+
+ def start_session(self):
+ print("Waiting for 'start' command...")
+ while True:
+ user_input = input("Enter 'start' to begin adding nodes or 'quit' to exit: ").strip().lower()
+ if user_input == "start":
+ print("Session started. Type 'save' to add nodes, 'finish' to save the graph, or 'quit' to exit.")
+ break
+ elif user_input == "quit":
+ print("Exiting...")
+ exit()
+
+ def add_node_and_connect(self):
+ print(self.app.tag_distances)
+ distances = self.app.serial_buffer.getRangingDistances()
+
+ tag1_x, tag1_y = self.app.update_distances_and_calculate_tags()
+ print(f"{tag1_x}, {tag1_y}")
+ if tag1_x is None or tag1_y is None:
+ print("Failed to determine tag position. Skipping node creation.")
+ return
+
+ new_node_index = len(self.graph["nodes"])
+
+ # Add new node
+ self.graph["nodes"].append({
+ "name": f"Node{new_node_index+1}",
+ "x": tag1_x,
+ "y": tag1_y
+ })
+
+ # Dynamically resize the connections matrix
+ for row in self.graph["connections"]:
+ row.append(False) # Add a column for the new node
+ self.graph["connections"].append([False] * (new_node_index + 1)) # Add a new row
+
+ # Update connections
+ if self.previous_node_index is not None:
+ self.graph["connections"][self.previous_node_index][new_node_index] = True
+ self.graph["connections"][new_node_index][self.previous_node_index] = True
+
+ self.previous_node_index = new_node_index
+
+ print(f"Node {new_node_index+1} added at ({tag1_x:.2f}, {tag1_y:.2f}).")
+
+ def save_graph(self):
+ directory = r"D:\Github\robobin\ros2\src\robobin\robobin\graphs" #Replace with whereever your graphs folder is in the ros2 workspace
+ os.makedirs(directory, exist_ok=True) # Create the directory if it doesn't exist
+ file_path = os.path.join(directory, "graph.json")
+ with open(file_path, "w") as f:
+ json.dump(self.graph, f, indent=2)
+ print(f"Graph saved to '{file_path}'.")
+
+
+ def run(self):
+ while True:
+ user_input = input("Enter command ('bpm', 'start', 'save', 'finish', 'quit'): ").strip().lower()
+ if user_input == "bpm":
+ self.call_bpm_and_store_anchors()
+ elif user_input == "start":
+ self.start_session()
+ while True:
+ user_input = input("Enter 'save' to add a node, 'finish' to save and exit, or 'quit' to exit: ").strip().lower()
+ if user_input == "save":
+ self.add_node_and_connect()
+ elif user_input == "finish":
+ self.save_graph()
+ print("Session finished.")
+ exit()
+ elif user_input == "quit":
+ print("Exiting without saving.")
+ exit()
+ else:
+ print("Invalid command. Try 'save', 'finish', or 'quit'.")
+ elif user_input == "quit":
+ print("Exiting...")
+ break
+ else:
+ print("Invalid command. Try 'bpm', 'start', 'save', 'finish', or 'quit'.")
+
+if __name__ == "__main__":
+ graph_maker = GraphMaker(port="/dev/tty.usbmodem14101", testing=False)
+ graph_maker.run()
diff --git a/ros2/src/build/robobin/build/lib/robobin/helpers/realtime_location_cli_only.py b/ros2/src/build/robobin/build/lib/robobin/helpers/realtime_location_cli_only.py
new file mode 100644
index 00000000..a314cec3
--- /dev/null
+++ b/ros2/src/build/robobin/build/lib/robobin/helpers/realtime_location_cli_only.py
@@ -0,0 +1,263 @@
+import time
+import numpy as np
+import serial
+from scipy.optimize import least_squares
+
+# Define test values at the top of the file for easy modification
+TEST_MEASURED_DISTANCES = [302, 463, 286, 304, 418, 328]
+TEST_TAG1_DISTANCES = [22, 107, 246, 295]
+TEST_TAG2_DISTANCES = [100, 100, 100, 100]
+
+class SerialBuffer:
+ def __init__(self, port):
+ self.ser = serial.Serial(port, 115200, timeout=1)
+
+ def readFromDevice(self, expectedLines=1):
+ lines = []
+ # Attempt to read expected lines; if device is slow, you may need retries
+ while len(lines) < expectedLines:
+ if self.ser.in_waiting:
+ line = self.ser.readline().decode().strip()
+ if line:
+ lines.append(line)
+ else:
+ time.sleep(0.01)
+ return lines
+
+ def getBeaconPositioningDistances(self):
+ """Reads the measured distances (A,E,D,B,F,C) from the device."""
+ self.writeToDevice("bpm")
+ buffer = self.readFromDevice(1)[0]
+ values = list(map(float, buffer.split(" ")))
+ return values
+
+ def getRangingDistances(self):
+ """Reads the distances from the tags to the anchors."""
+ self.writeToDevice("rng")
+ lines = self.readFromDevice(2)
+ print(lines)
+ distances = []
+ # First line: Tag 1 distances
+ distances.append(list(map(float, lines[0][1:].split(" "))))
+ # Second line: Tag 2 distances or "0"
+ if lines[1] != "1":
+ distances.append(list(map(float, lines[1][1:].split(" "))))
+ else:
+ distances.append(None)
+ return distances
+
+ def writeToDevice(self, value):
+ self.ser.write((value + "\n").encode())
+
+ def __del__(self):
+ print("Closing port")
+ self.ser.close()
+
+
+class AnchorTagCLI:
+ def __init__(self, port="/dev/tty.usbmodem14101", testing=False):
+ self.testing = testing
+ self.serial_buffer = SerialBuffer(port)
+
+ # Distances between anchors (A,E,D,B,F,C)
+ # Corresponding to the measured_distances in original code.
+ self.measured_distances = [0.0]*6
+
+ # Distances from Tag 1 to anchors: A1, A2, A3, A4
+ self.tag_distances = {"A1": 0.0, "A2": 0.0, "A3": 0.0, "A4": 0.0}
+
+ # Distances from Tag 2 to anchors: A1, A2, A3, A4
+ self.tag2_distances = {"A1": 0.0, "A2": 0.0, "A3": 0.0, "A4": 0.0}
+
+ self.anchors = {}
+ self.anchors_coords_known = False
+
+ if self.testing:
+ # Set predefined test distances
+ for i, dist in enumerate(TEST_MEASURED_DISTANCES):
+ self.measured_distances[i] = dist
+
+ for (anchor, dist) in zip(self.tag_distances.keys(), TEST_TAG1_DISTANCES):
+ self.tag_distances[anchor] = dist
+
+ for (anchor, dist) in zip(self.tag2_distances.keys(), TEST_TAG2_DISTANCES):
+ self.tag2_distances[anchor] = dist
+
+ def determine_anchor_coords(self):
+ try:
+ measured_distances = np.array(self.measured_distances)
+ noise_level = 0.0
+ measured_distances_noisy = measured_distances + np.random.uniform(-noise_level, noise_level, size=len(measured_distances))
+
+ # Variables: x_B, y_B, x_C, y_C, y_A
+ initial_guess = [120, 100, 150, 200, 50] # [x_B, y_B, x_C, y_C, y_A]
+ maxBounds = 30000
+ bounds = ([0, 0, 0, 0, 0], [maxBounds] * 5)
+
+ def error_function(variables, measured):
+ x_B, y_B, x_C, y_C, y_A = variables
+ # measured: [A, E, D, B, F, C]
+ a_measured = measured[0]
+ e_measured = measured[1]
+ d_measured = measured[2]
+ b_measured = measured[3]
+ f_measured = measured[4]
+ c_measured = measured[5]
+
+ # A=(0,y_A), B=(x_B,y_B), C=(x_C,y_C), D=(0,0)
+ a_calc = np.sqrt((x_B - 0)**2 + (y_B - y_A)**2) # A-B
+ b_calc = np.sqrt((x_C - x_B)**2 + (y_C - y_B)**2) # B-C
+ c_calc = np.sqrt(x_C**2 + y_C**2) # C-D
+ d_calc = y_A # A-D
+ e_calc = np.sqrt(x_C**2 + (y_C - y_A)**2) # A-C
+ f_calc = np.sqrt(x_B**2 + y_B**2) # B-D
+
+ return [
+ a_calc - a_measured,
+ b_calc - b_measured,
+ c_calc - c_measured,
+ d_calc - d_measured,
+ e_calc - e_measured,
+ f_calc - f_measured
+ ]
+
+ # Run least squares optimization
+ result_noisy = least_squares(
+ error_function,
+ initial_guess,
+ args=(measured_distances_noisy,),
+ bounds=bounds,
+ loss='soft_l1'
+ )
+ optimized_coords_noisy = result_noisy.x
+
+ self.anchors = {
+ "A1": (0, optimized_coords_noisy[4]),
+ "A2": (optimized_coords_noisy[0], optimized_coords_noisy[1]),
+ "A3": (optimized_coords_noisy[2], optimized_coords_noisy[3]),
+ "A4": (0, 0),
+ }
+ return {k: (round(v[0], 2), round(v[1], 2)) for k, v in self.anchors.items()}
+ except Exception as e:
+ print(f"Error generating anchors: {e}")
+
+ def calculate_tag_coordinates(self, tag_distances):
+ if not self.anchors_coords_known or len(self.anchors) < 3:
+ return None, None
+
+ available_beacons = []
+ available_distances = []
+ for key in tag_distances.keys():
+ d = max(float(tag_distances[key]), 0)
+ available_distances.append(d)
+ available_beacons.append(self.anchors[key])
+
+ if len(available_beacons) < 3:
+ return None, None
+
+ def error_function(vars):
+ x, y = vars
+ residuals = []
+ for (bx, by), d_measured in zip(available_beacons, available_distances):
+ d_computed = np.sqrt((x - bx)**2 + (y - by)**2)
+ residuals.append(d_computed - d_measured)
+ return residuals
+
+ beacon_xs = [b[0] for b in available_beacons]
+ beacon_ys = [b[1] for b in available_beacons]
+ initial_guess = [np.mean(beacon_xs), np.mean(beacon_ys)]
+
+ x_min = min(beacon_xs) - 100
+ x_max = max(beacon_xs) + 100
+ y_min = min(beacon_ys) - 100
+ y_max = max(beacon_ys) + 100
+ bounds = ([x_min, y_min], [x_max, y_max])
+
+ result = least_squares(error_function, initial_guess, bounds=bounds, loss='soft_l1')
+ x_tag, y_tag = result.x
+ return x_tag, y_tag
+
+ def call_bpm(self):
+ if self.testing:
+ beacon_distances = TEST_MEASURED_DISTANCES
+ else:
+ beacon_distances = self.serial_buffer.getBeaconPositioningDistances()
+
+ for i, distance in enumerate(beacon_distances):
+ if i < len(self.measured_distances):
+ self.measured_distances[i] = distance
+
+ determined_anchor_coords = self.determine_anchor_coords()
+ if determined_anchor_coords:
+ self.anchors_coords_known = True
+ print("Anchor coordinates determined:")
+ for anchor, coords in determined_anchor_coords.items():
+ print(f"{anchor}: {coords}")
+
+ def update_distances_and_calculate_tags(self):
+ if not self.anchors_coords_known:
+ return
+
+ if self.testing:
+ ranging_distances = [TEST_TAG1_DISTANCES, TEST_TAG2_DISTANCES]
+ else:
+ ranging_distances = self.serial_buffer.getRangingDistances()
+
+ # Update tag 1 distances
+ if ranging_distances[0] is not None:
+ for i, distance in enumerate(ranging_distances[0]):
+ anchor = list(self.tag_distances.keys())[i]
+ self.tag_distances[anchor] = distance
+
+ # Update tag 2 distances
+ if ranging_distances[1] is not None:
+ for i, distance in enumerate(ranging_distances[1]):
+ anchor = list(self.tag2_distances.keys())[i]
+ self.tag2_distances[anchor] = distance
+
+ # Now calculate both tags
+ tag1_x, tag1_y = self.calculate_tag_coordinates(self.tag_distances)
+ valid_tag2_distances = [dist for dist in self.tag2_distances.values() if dist > 0]
+
+ # Check if there are enough valid distances for Tag 2
+ if len(valid_tag2_distances) < 3:
+ print(f"Insufficient valid distances for Tag 2: {len(valid_tag2_distances)} provided.")
+ tag2_x, tag2_y = None, None
+ else:
+ tag2_x, tag2_y = self.calculate_tag_coordinates(self.tag2_distances)
+
+ print("Tag Positions:")
+ if tag1_x is not None and tag1_y is not None:
+ print(f"Tag 1: ({tag1_x:.2f}, {tag1_y:.2f})")
+ else:
+ print("Tag 1: Not enough data")
+
+ if tag2_x is not None and tag2_y is not None:
+ print(f"Tag 2: ({tag2_x:.2f}, {tag2_y:.2f})")
+ else:
+ print("Tag 2: Not enough data")
+
+
+ if tag1_x is not None and tag1_y is not None and tag2_x is not None and tag2_y is not None:
+ dx = tag2_x - tag1_x
+ dy = tag2_y - tag1_y
+ displacement = np.sqrt(dx**2 + dy**2)
+ angle_deg = np.degrees(np.arctan2(dy, dx))
+ if angle_deg < 0:
+ angle_deg += 360
+ print(f"Direction from Tag1 to Tag2: dx={dx:.2f}, dy={dy:.2f}, displacement={displacement:.2f}, angle={angle_deg:.2f}°")
+ return tag1_x, tag1_y
+
+if __name__ == "__main__":
+ app = AnchorTagCLI(port="/dev/tty.usbmodem14101", testing=False)
+ while True:
+ user_input = input("Enter command ('bpm' to set anchors, or 'quit' to exit): ").strip().lower()
+ if user_input == "bpm":
+ app.call_bpm()
+ print("Switching to continuous ranging updates (simulating 'rng' messages)...")
+ while True:
+ app.update_distances_and_calculate_tags()
+ time.sleep(1)
+ elif user_input == "quit":
+ print("Exiting program.")
+ break
\ No newline at end of file
diff --git a/ros2/src/build/robobin/build/lib/robobin/imu_node.py b/ros2/src/build/robobin/build/lib/robobin/imu_node.py
new file mode 100644
index 00000000..d20c2dad
--- /dev/null
+++ b/ros2/src/build/robobin/build/lib/robobin/imu_node.py
@@ -0,0 +1,95 @@
+#!/usr/bin/env python3
+
+import rclpy
+from rclpy.node import Node
+from sensor_msgs.msg import Imu
+from smbus2 import SMBus
+import time
+import math
+
+class BNO055Publisher(Node):
+ def __init__(self):
+ super().__init__('imu_node')
+ self.publisher_ = self.create_publisher(Imu, 'imu', 10)
+ self.timer = self.create_timer(0.1, self.timer_callback)
+ self.bus = SMBus(1)
+ self.address = 0x28
+ self.init_bno055()
+ time.sleep(1)
+
+ def write_register(self, register, value):
+ self.bus.write_byte_data(self.address, register, value)
+
+ def read_register(self, register, length=1):
+ if length == 1:
+ return self.bus.read_byte_data(self.address, register)
+ else:
+ return self.bus.read_i2c_block_data(self.address, register, length)
+
+ def init_bno055(self):
+ # Switch to CONFIG mode
+ self.write_register(0x3D, 0x00)
+ time.sleep(0.05)
+ # Set power mode to Normal
+ self.write_register(0x3E, 0x00)
+ # Set to NDOF mode
+ self.write_register(0x3D, 0x0C)
+ time.sleep(0.5)
+
+ def read_euler_angles(self):
+ data = self.read_register(0x1A, 6)
+ yaw = (data[1] << 8) | data[0]
+ roll = (data[3] << 8) | data[2]
+ pitch = (data[5] << 8) | data[4]
+ yaw = yaw if yaw < 32768 else yaw - 65536
+ roll = roll if roll < 32768 else roll - 65536
+ pitch = pitch if pitch < 32768 else pitch - 65536
+ yaw = yaw / 16.0
+ roll = roll / 16.0
+ pitch = pitch / 16.0
+ return yaw, pitch, roll
+
+ def timer_callback(self):
+ yaw, pitch, roll = self.read_euler_angles()
+ imu_msg = Imu()
+ imu_msg.header.stamp = self.get_clock().now().to_msg()
+ imu_msg.header.frame_id = 'imu_link'
+ # Convert degrees to radians
+ yaw_rad = -(math.radians(yaw))
+ roll_rad = -(math.radians(pitch))
+ pitch_rad = -(math.radians(roll))
+ # Compute quaternion
+ cy = math.cos(yaw_rad * 0.5)
+ sy = math.sin(yaw_rad * 0.5)
+ cp = math.cos(pitch_rad * 0.5)
+ sp = math.sin(pitch_rad * 0.5)
+ cr = math.cos(roll_rad * 0.5)
+ sr = math.sin(roll_rad * 0.5)
+ imu_msg.orientation.w = cr * cp * cy + sr * sp * sy
+ imu_msg.orientation.x = sr * cp * cy - cr * sp * sy
+ imu_msg.orientation.y = cr * sp * cy + sr * cp * sy
+ imu_msg.orientation.z = cr * cp * sy - sr * sp * cy
+
+ imu_msg.orientation_covariance = [0.0025, 0, 0,
+ 0, 0.0025, 0,
+ 0, 0, 0.0025]
+ imu_msg.angular_velocity_covariance = [0.02, 0, 0,
+ 0, 0.02, 0,
+ 0, 0, 0.02]
+ imu_msg.linear_acceleration_covariance = [0.04, 0, 0,
+ 0, 0.04, 0,
+ 0, 0, 0.04]
+
+
+ self.publisher_.publish(imu_msg)
+ #self.get_logger().info(f'Publishing: Yaw={yaw:.2f}, Pitch={pitch:.2f}, Roll={roll:.2f}')
+
+def main(args=None):
+ rclpy.init(args=args)
+ bno055_publisher = BNO055Publisher()
+ rclpy.spin(bno055_publisher)
+ bno055_publisher.destroy_node()
+ rclpy.shutdown()
+
+if __name__ == '__main__':
+ main()
\ No newline at end of file
diff --git a/ros2/src/build/robobin/build/lib/robobin/uwb_pathing_node.py b/ros2/src/build/robobin/build/lib/robobin/uwb_pathing_node.py
new file mode 100644
index 00000000..dec8b955
--- /dev/null
+++ b/ros2/src/build/robobin/build/lib/robobin/uwb_pathing_node.py
@@ -0,0 +1,122 @@
+import rclpy
+from rclpy.node import Node
+from geometry_msgs.msg import Twist, Point
+from math import sqrt, pow, atan2, radians, sin, cos
+import time
+
+
+class UWBPathingNode(Node):
+ def __init__(self):
+ super().__init__('uwb_pathing_node')
+
+ # Publisher for cmd_vel
+ self.cmd_vel_pub = self.create_publisher(Twist, '/cmd_vel', 10)
+
+ # Subscriptions
+ self.create_subscription(Point, '/start_location', self.current_location_callback, 10)
+ self.create_subscription(Point, '/target_location', self.target_location_callback, 10)
+
+ # Current and target positions
+ self.current_x = None
+ self.current_y = None
+ self.target_x = None
+ self.target_y = None
+
+ # Navigation thresholds
+ self.distance_threshold = 0.25 # meters
+ self.angle_threshold = radians(0.5) # radians
+
+ self.kp_linear = 0.5 # Proportional gain for linear movement
+ self.kp_angular = 1.0 # Proportional gain for angular movement
+
+ self.get_logger().info('UWB Pathing Node started and waiting for positions.')
+
+ def current_location_callback(self, msg: Point):
+ """Callback to update the robot's current position."""
+ self.current_x = msg.x
+ self.current_y = msg.y
+ self.get_logger().info(f"Current Location Updated: x={self.current_x:.2f}, y={self.current_y:.2f}")
+ self.check_and_navigate()
+
+ def target_location_callback(self, msg: Point):
+ """Callback to update the target position."""
+ self.target_x = msg.x
+ self.target_y = msg.y
+ self.get_logger().info(f"Target Location Updated: x={self.target_x:.2f}, y={self.target_y:.2f}")
+ self.check_and_navigate()
+
+ def check_and_navigate(self):
+ """Check if both positions are available and navigate to the target."""
+ if self.current_x is not None and self.current_y is not None and self.target_x is not None and self.target_y is not None:
+ self.get_logger().info("Navigating to target...")
+ self.navigate_to_target()
+ else:
+ self.get_logger().warning("Waiting for both current and target positions to be available...")
+
+ def navigate_to_target(self):
+ # Ensure positions are known
+ if self.current_x is None or self.current_y is None or self.target_x is None or self.target_y is None:
+ self.get_logger().warning("Positions not fully known yet.")
+ return
+
+ # Calculate distance and angle to the target
+ displacement_x = self.target_x - self.current_x
+ displacement_y = self.target_y - self.current_y
+ distance_to_target = sqrt(pow(displacement_x, 2) + pow(displacement_y, 2))
+ angle_to_target = atan2(displacement_y, displacement_x)
+
+
+ # Check if we are close enough to the target
+ if distance_to_target <= self.distance_threshold:
+ self.stop_robot()
+ self.get_logger().info("Target reached successfully.")
+ return
+
+ # Calculate yaw error (assuming robot orientation 0 = facing x-axis)
+ # If you don't have actual orientation, you might assume the robot always faces the target directly
+ yaw_error = angle_to_target
+ yaw_error = atan2(sin(yaw_error), cos(yaw_error)) # Normalize angle
+ self.get_logger().info(f"Current Position: x={self.current_x:.2f}, y={self.current_y:.2f}")
+ self.get_logger().info(f"Target Position: x={self.target_x:.2f}, y={self.target_y:.2f}")
+ self.get_logger().info(f"Distance to Target: distance_to_target={distance_to_target:.2f} meters")
+ self.get_logger().info(f"Angle to Target: angle_to_target={angle_to_target:.2f} radians")
+ twist = Twist()
+
+ # Decide on angular velocity first
+ if abs(yaw_error) > self.angle_threshold:
+ angular_speed = self.kp_angular * abs(yaw_error)
+ twist.angular.z = angular_speed if yaw_error > 0 else -angular_speed
+ self.get_logger().info(f"Correcting Heading: yaw_error={yaw_error:.2f} radians")
+ else:
+ # Move forward when aligned with the target
+ linear_speed = self.kp_linear * distance_to_target
+ twist.linear.x = min(0.2, linear_speed) # Limit max speed
+ self.get_logger().info(f"Moving to Target: distance={distance_to_target:.2f} meters")
+
+ # # Publish movement command
+ # self.cmd_vel_pub.publish(twist)
+
+
+ def stop_robot(self):
+ """Stops the robot by publishing zero velocities."""
+ twist = Twist()
+ self.cmd_vel_pub.publish(twist)
+ time.sleep(0.5)
+ self.get_logger().info("Robot stopped.")
+
+
+def main(args=None):
+ rclpy.init(args=args)
+ node = UWBPathingNode()
+
+ try:
+ rclpy.spin(node)
+ except KeyboardInterrupt:
+ pass
+ finally:
+ node.destroy_node()
+ rclpy.shutdown()
+
+
+if __name__ == '__main__':
+ main()
diff --git a/ros2/src/install/robobin/lib/python3.12/site-packages/robobin/__pycache__/control_feedback.cpython-312.pyc b/ros2/src/install/robobin/lib/python3.12/site-packages/robobin/__pycache__/control_feedback.cpython-312.pyc
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diff --git a/ros2/src/install/robobin/lib/python3.12/site-packages/robobin/control_feedback.py b/ros2/src/install/robobin/lib/python3.12/site-packages/robobin/control_feedback.py
new file mode 100644
index 00000000..78a1edb7
--- /dev/null
+++ b/ros2/src/install/robobin/lib/python3.12/site-packages/robobin/control_feedback.py
@@ -0,0 +1,320 @@
+import rclpy
+from rclpy.node import Node
+from geometry_msgs.msg import Twist
+from std_msgs.msg import Int64, Float64
+from gpiozero import PWMOutputDevice, DigitalOutputDevice
+import time
+from rclpy.clock import Clock
+from rclpy.time import Time
+import bisect
+
+
+
+# Example of how you could implement a simple PID controller
+class PIDController:
+ def __init__(self, kp, ki, kd):
+ self.kp = kp
+ self.ki = ki
+ self.kd = kd
+ self.prev_error = 0
+ self.integral = 0
+
+ def reset(self):
+ self.prev_error = 0
+ self.integral = 0
+
+ def calculate(self, error, dt):
+ self.integral += error * dt
+ derivative = (error - self.prev_error) / dt
+ output = self.kp * error + self.ki * self.integral + self.kd * derivative
+ self.prev_error = error
+ return output
+
+
+
+
+class MotorControlNode(Node):
+ def __init__(self):
+ super().__init__('control_feedback_node')
+
+ # Initialize encoder values
+ self.encoder_left_steps = 0
+ self.encoder_right_steps = 0
+
+ # Desired speeds from cmd_vel
+ self.desired_linear_speed = 0.0
+ self.desired_angular_speed = 0.0
+
+ self.prev_left_steps = 0
+ self.prev_right_steps = 0
+
+ self.left_pwm = 0
+ self.right_pwm = 0
+
+ self.prev_desired_speed = 0.0
+
+
+ #Time
+ self.prev_time = time.time()
+ #self.prev_time = self.get_clock().now
+
+
+ # Robot parameters
+ self.wheel_base = 0.40
+ self.encoder_steps_per_rotation = 310
+ self.wheel_radius = 0.075
+
+ # Initialize the motors
+ self.motor = Motor(self,14,15,18, 17, 22, 27)
+
+ # PID controllers
+ self.pid_left_forward = PIDController(kp=0.5, ki=0.0, kd=0.001)
+ self.pid_right_forward = PIDController(kp=0.525, ki=0.0, kd=0.001)
+
+ self.pid_left_backward = PIDController(kp=0.525, ki=0.0, kd=0.001)
+ self.pid_right_backward = PIDController(kp=0.5, ki=0.0, kd=0.001)
+
+
+
+
+ # Subscribe to cmd_vel topic
+ self.subscription = self.create_subscription(
+ Twist,
+ '/cmd_vel',
+ self.cmd_vel_callback,
+ 10
+ )
+
+ # Subscribe to encoder data
+ self.left_encoder_sub = self.create_subscription(
+ Int64,
+ 'left_wheel_steps',
+ self.left_encoder_callback,
+ 10
+ )
+ self.right_encoder_sub = self.create_subscription(
+ Int64,
+ 'right_wheel_steps',
+ self.right_encoder_callback,
+ 10
+ )
+
+ self.left_actual_speed_pub = self.create_publisher(Float64, 'left_actual_wheel_speed', 10)
+ self.right_actual_speed_pub = self.create_publisher(Float64, 'right_actual_wheel_speed', 10)
+ self.desired_speed_pub = self.create_publisher(Float64, 'desired_wheel_speed', 10)
+
+ # Timer to update motor speeds
+ self.control_timer = self.create_timer(0.1, self.control_loop)
+
+ self.get_logger().info('Motor control node with encoder feedback has been started.')
+
+ def cmd_vel_callback(self, msg):
+ # Store desired speeds
+ self.desired_linear_speed = msg.linear.x # Forward/backward speed
+ self.desired_angular_speed = msg.angular.z # Turning rate
+
+ # if (self.desired_linear_speed >= 0 and self.prev_desired_speed < 0) or (self.desired_linear_speed < 0 and self.prev_desired_speed >= 0):
+
+ # self.pid_left_forward.reset()
+ # self.pid_right_forward.reset()
+ # self.pid_left_backward.reset()
+ # self.pid_right_backward.reset()
+
+
+
+
+
+ self.prev_desired_speed = self.desired_linear_speed
+
+ def left_encoder_callback(self, msg):
+ self.encoder_left_steps = msg.data
+
+ def right_encoder_callback(self, msg):
+ self.encoder_right_steps = msg.data
+
+
+ def control_loop(self):
+
+ if self.desired_linear_speed >= 0:
+ # Forward motion
+ left_pid = self.pid_left_forward
+ right_pid = self.pid_right_forward
+ else:
+ # Backward motion
+ left_pid = self.pid_left_backward
+ right_pid = self.pid_right_backward
+
+ if (self.desired_linear_speed == 0) and (self.desired_angular_speed == 0):
+ self.stop_motors()
+ self.pid_left_forward.reset()
+ self.pid_right_forward.reset()
+ self.pid_left_backward.reset()
+ self.pid_right_backward.reset()
+ self.left_pwm =0
+ self.right_pwm =0
+ return
+
+
+
+
+ #Calculate the actual speed
+ #-------------------------------
+ # Calculate elapsed time
+ current_time = time.time()
+ #dt = current_time - self.prev_time
+ dt = max(current_time - self.prev_time, 0.01) # Prevent dt from being too small
+ #dt = max(current_time - self.prev_time, 1e-6) # Avoid zero or too small dt
+ if dt == 0:
+ return
+ self.prev_time = current_time
+
+ # self.prev_time = self.get_clock().now()
+ # current_time = self.get_clock().now()
+ # dt = (current_time - self.prev_time).to_sec()
+ # if dt <= 0.0:
+ # return
+ # self.prev_time = current_time
+
+ #Actual Speed calculation
+ #------------------------------------
+ # Calculate change in encoder steps
+ delta_left_steps = self.encoder_left_steps - self.prev_left_steps
+ delta_right_steps = self.encoder_right_steps - self.prev_right_steps
+
+ self.prev_left_steps = self.encoder_left_steps
+ self.prev_right_steps = self.encoder_right_steps
+
+ # Calculate rotational speeds (RPS)
+ left_rps = delta_left_steps / (self.encoder_steps_per_rotation * dt)
+ right_rps = delta_right_steps / (self.encoder_steps_per_rotation * dt)
+
+ # Convert to linear speed (m/s)
+ left_speed_actual = left_rps * 2 * 3.14159 * self.wheel_radius
+ right_speed_actual = right_rps * 2 * 3.14159 * self.wheel_radius
+
+
+
+ #Desired Speed calculation
+ #------------------------------------
+ # Desired speeds for left and right wheels
+ left_speed_desired = self.desired_linear_speed - (self.desired_angular_speed * self.wheel_base / 2.0)
+ right_speed_desired = self.desired_linear_speed + (self.desired_angular_speed * self.wheel_base / 2.0)
+
+
+
+ # Speed Errors calculation
+ #------------------------------------
+ left_error = left_speed_desired - left_speed_actual
+ right_error = right_speed_desired - right_speed_actual
+
+
+
+ # Use PID controllers for left and right wheels
+ left_pwm_error = left_pid.calculate(left_error, dt)
+ right_pwm_error = right_pid.calculate(right_error, dt)
+
+ self.left_pwm += left_pwm_error
+ self.right_pwm += right_pwm_error
+
+
+
+ # Ensure PWM values are within [-1, 1]
+ left_pwm = max(-1, min(1, self.left_pwm))
+ right_pwm = max(-1, min(1, self.right_pwm))
+
+ # Apply PWM values to motors
+ self.motor.set_pwm(left_pwm, right_pwm)
+
+
+
+
+ # Publish actual speeds
+ left_actual_speed_msg = Float64()
+ left_actual_speed_msg.data = left_speed_actual
+ self.left_actual_speed_pub.publish(left_actual_speed_msg)
+
+ right_actual_speed_msg = Float64()
+ right_actual_speed_msg.data = right_speed_actual
+ self.right_actual_speed_pub.publish(right_actual_speed_msg)
+
+ desired_speed_msg = Float64()
+ desired_speed_msg.data = right_speed_desired
+ self.desired_speed_pub.publish(desired_speed_msg)
+
+
+ # Debugging info
+ # self.get_logger().info(f'Left PWM IN: {self.left_pwm:.2f}, Right PWM IN: {right_pwm:.2f}')
+ # self.get_logger().info(f'Left Speed Actual: {left_speed_actual:.2f}, Right Speed Actual: {right_speed_actual:.2f}')
+ # self.get_logger().info(f'Left Error: {left_error:.2f}, Right Error: {left_pwm_error:.2f}')
+ # self.get_logger().info(f'Left_speed_desired: {left_speed_desired:.2f}, Right_speed_desired: {right_speed_desired:.2f}')
+ # self.get_logger().info('-----------------------------------------------------------------')
+
+
+ def stop_motors(self):
+ self.motor.stop()
+ # self.get_logger().info('Motors have been stopped.')
+
+class Motor:
+ def __init__(self,node, EnaA, In1A, In2A, EnaB, In1B, In2B):
+
+ self.node = node
+ # Left motor control pins
+ self.pwmA = PWMOutputDevice(EnaA)
+ self.in1A = DigitalOutputDevice(In1A)
+ self.in2A = DigitalOutputDevice(In2A)
+
+ # Right motor control pins
+ self.pwmB = PWMOutputDevice(EnaB)
+ self.in1B = DigitalOutputDevice(In1B)
+ self.in2B = DigitalOutputDevice(In2B)
+
+ def set_pwm(self, left_pwm, right_pwm):
+
+ #Deadband to prevent the motors from responding to very small PWM values that could cause jitter.
+ DEADZONE = 0.002
+
+ if abs(left_pwm) < DEADZONE:
+ self.pwmA.value = 0
+ self.in1A.off()
+ self.in2A.off()
+ else:
+ self.pwmA.value = abs(left_pwm)
+ self.in1A.value = left_pwm > 0
+ self.in2A.value = left_pwm < 0
+
+ if abs(right_pwm) < DEADZONE:
+ self.pwmB.value = 0
+ self.in1B.off()
+ self.in2B.off()
+ else:
+ self.pwmB.value = abs(right_pwm)
+ self.in1B.value = right_pwm > 0
+ self.in2B.value = right_pwm < 0
+
+ #self.node.get_logger().info(f"Left Motor PWM: Speed={left_pwm}, Right Motor PWM: Speed={right_pwm}")
+
+ def stop(self):
+ # Stop both motors
+ self.pwmA.value = 0
+ self.pwmB.value = 0
+ self.in1A.off()
+ self.in2A.off()
+ self.in1B.off()
+ self.in2B.off()
+
+
+def main(args=None):
+ rclpy.init(args=args)
+ node = MotorControlNode()
+
+ try:
+ rclpy.spin(node)
+ except KeyboardInterrupt:
+ pass
+ finally:
+ node.stop_motors()
+ node.destroy_node()
+ rclpy.shutdown()
+
+if __name__ == '__main__':
+ main()
diff --git a/ros2/src/install/robobin/lib/python3.12/site-packages/robobin/encoder.py b/ros2/src/install/robobin/lib/python3.12/site-packages/robobin/encoder.py
new file mode 100644
index 00000000..f646d3dc
--- /dev/null
+++ b/ros2/src/install/robobin/lib/python3.12/site-packages/robobin/encoder.py
@@ -0,0 +1,63 @@
+import rclpy
+from rclpy.node import Node
+from std_msgs.msg import Int64
+from gpiozero import RotaryEncoder, InputDevice
+
+
+
+class EncoderReaderNode(Node):
+ def __init__(self):
+ super().__init__('encoder_reader_node')
+
+ motor1A = 5
+ motor1B = 6
+ motor2A = 20
+ motor2B = 21
+
+ self.encoder_left = RotaryEncoder(a = motor1A,b = motor1B, max_steps=0)
+ self.encoder_right = RotaryEncoder(a = motor2A,b = motor2B, max_steps=0)
+
+ # Publishers for encoder steps
+ self.left_encoder_pub = self.create_publisher(Int64, 'left_wheel_steps', 10)
+ self.right_encoder_pub = self.create_publisher(Int64, 'right_wheel_steps', 10)
+
+ # Timer to read encoders
+ self.timer = self.create_timer(0.1, self.publish_encoder_steps)
+
+ self.get_logger().info('Encoder reader node has been started.')
+
+ def publish_encoder_steps(self):
+ # Read encoder steps
+ left_steps = self.encoder_left.steps
+ right_steps = -(self.encoder_right.steps)
+
+ # Create messages
+ left_msg = Int64()
+ left_msg.data = left_steps
+
+ right_msg = Int64()
+ right_msg.data = right_steps
+
+ # Publish messages
+ self.left_encoder_pub.publish(left_msg)
+ self.right_encoder_pub.publish(right_msg)
+
+ # Log the steps
+ #self.get_logger().info(f'Left Steps: {left_steps}, Right Steps: {right_steps}')
+
+
+
+def main(args=None):
+ rclpy.init(args=args)
+ node = EncoderReaderNode()
+
+ try:
+ rclpy.spin(node)
+ except KeyboardInterrupt:
+ pass
+ finally:
+ node.destroy_node()
+ rclpy.shutdown()
+
+if __name__ == '__main__':
+ main()
diff --git a/ros2/src/install/robobin/lib/python3.12/site-packages/robobin/helpers/__pycache__/graph_maker.cpython-312.pyc b/ros2/src/install/robobin/lib/python3.12/site-packages/robobin/helpers/__pycache__/graph_maker.cpython-312.pyc
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diff --git a/ros2/src/install/robobin/lib/python3.12/site-packages/robobin/helpers/graph_maker.py b/ros2/src/install/robobin/lib/python3.12/site-packages/robobin/helpers/graph_maker.py
new file mode 100644
index 00000000..c197c10b
--- /dev/null
+++ b/ros2/src/install/robobin/lib/python3.12/site-packages/robobin/helpers/graph_maker.py
@@ -0,0 +1,112 @@
+import json
+import time
+import os
+from realtime_location_cli_only import AnchorTagCLI
+
+class GraphMaker:
+ def __init__(self, port="COM11", testing=False):
+ self.app = AnchorTagCLI(port=port, testing=testing)
+ self.graph = {
+ "name": "Lab 1 Extended",
+ "nodes": [],
+ "connections": []
+ }
+ self.previous_node_index = None
+
+ def call_bpm_and_store_anchors(self):
+ self.app.call_bpm()
+ for name, (x, y) in self.app.anchors.items():
+ self.graph["nodes"].append({
+ "name": name,
+ "x": x,
+ "y": y
+ })
+
+ # Initialize connections matrix with False
+ num_nodes = len(self.graph["nodes"])
+ self.graph["connections"] = [[False] * num_nodes for _ in range(num_nodes)]
+
+ print("Anchor coordinates stored successfully.")
+
+ def start_session(self):
+ print("Waiting for 'start' command...")
+ while True:
+ user_input = input("Enter 'start' to begin adding nodes or 'quit' to exit: ").strip().lower()
+ if user_input == "start":
+ print("Session started. Type 'save' to add nodes, 'finish' to save the graph, or 'quit' to exit.")
+ break
+ elif user_input == "quit":
+ print("Exiting...")
+ exit()
+
+ def add_node_and_connect(self):
+ print(self.app.tag_distances)
+ distances = self.app.serial_buffer.getRangingDistances()
+
+ tag1_x, tag1_y = self.app.update_distances_and_calculate_tags()
+ print(f"{tag1_x}, {tag1_y}")
+ if tag1_x is None or tag1_y is None:
+ print("Failed to determine tag position. Skipping node creation.")
+ return
+
+ new_node_index = len(self.graph["nodes"])
+
+ # Add new node
+ self.graph["nodes"].append({
+ "name": f"Node{new_node_index+1}",
+ "x": tag1_x,
+ "y": tag1_y
+ })
+
+ # Dynamically resize the connections matrix
+ for row in self.graph["connections"]:
+ row.append(False) # Add a column for the new node
+ self.graph["connections"].append([False] * (new_node_index + 1)) # Add a new row
+
+ # Update connections
+ if self.previous_node_index is not None:
+ self.graph["connections"][self.previous_node_index][new_node_index] = True
+ self.graph["connections"][new_node_index][self.previous_node_index] = True
+
+ self.previous_node_index = new_node_index
+
+ print(f"Node {new_node_index+1} added at ({tag1_x:.2f}, {tag1_y:.2f}).")
+
+ def save_graph(self):
+ directory = r"D:\Github\robobin\ros2\src\robobin\robobin\graphs" #Replace with whereever your graphs folder is in the ros2 workspace
+ os.makedirs(directory, exist_ok=True) # Create the directory if it doesn't exist
+ file_path = os.path.join(directory, "graph.json")
+ with open(file_path, "w") as f:
+ json.dump(self.graph, f, indent=2)
+ print(f"Graph saved to '{file_path}'.")
+
+
+ def run(self):
+ while True:
+ user_input = input("Enter command ('bpm', 'start', 'save', 'finish', 'quit'): ").strip().lower()
+ if user_input == "bpm":
+ self.call_bpm_and_store_anchors()
+ elif user_input == "start":
+ self.start_session()
+ while True:
+ user_input = input("Enter 'save' to add a node, 'finish' to save and exit, or 'quit' to exit: ").strip().lower()
+ if user_input == "save":
+ self.add_node_and_connect()
+ elif user_input == "finish":
+ self.save_graph()
+ print("Session finished.")
+ exit()
+ elif user_input == "quit":
+ print("Exiting without saving.")
+ exit()
+ else:
+ print("Invalid command. Try 'save', 'finish', or 'quit'.")
+ elif user_input == "quit":
+ print("Exiting...")
+ break
+ else:
+ print("Invalid command. Try 'bpm', 'start', 'save', 'finish', or 'quit'.")
+
+if __name__ == "__main__":
+ graph_maker = GraphMaker(port="/dev/tty.usbmodem14101", testing=False)
+ graph_maker.run()
diff --git a/ros2/src/install/robobin/lib/python3.12/site-packages/robobin/helpers/realtime_location_cli_only.py b/ros2/src/install/robobin/lib/python3.12/site-packages/robobin/helpers/realtime_location_cli_only.py
new file mode 100644
index 00000000..a314cec3
--- /dev/null
+++ b/ros2/src/install/robobin/lib/python3.12/site-packages/robobin/helpers/realtime_location_cli_only.py
@@ -0,0 +1,263 @@
+import time
+import numpy as np
+import serial
+from scipy.optimize import least_squares
+
+# Define test values at the top of the file for easy modification
+TEST_MEASURED_DISTANCES = [302, 463, 286, 304, 418, 328]
+TEST_TAG1_DISTANCES = [22, 107, 246, 295]
+TEST_TAG2_DISTANCES = [100, 100, 100, 100]
+
+class SerialBuffer:
+ def __init__(self, port):
+ self.ser = serial.Serial(port, 115200, timeout=1)
+
+ def readFromDevice(self, expectedLines=1):
+ lines = []
+ # Attempt to read expected lines; if device is slow, you may need retries
+ while len(lines) < expectedLines:
+ if self.ser.in_waiting:
+ line = self.ser.readline().decode().strip()
+ if line:
+ lines.append(line)
+ else:
+ time.sleep(0.01)
+ return lines
+
+ def getBeaconPositioningDistances(self):
+ """Reads the measured distances (A,E,D,B,F,C) from the device."""
+ self.writeToDevice("bpm")
+ buffer = self.readFromDevice(1)[0]
+ values = list(map(float, buffer.split(" ")))
+ return values
+
+ def getRangingDistances(self):
+ """Reads the distances from the tags to the anchors."""
+ self.writeToDevice("rng")
+ lines = self.readFromDevice(2)
+ print(lines)
+ distances = []
+ # First line: Tag 1 distances
+ distances.append(list(map(float, lines[0][1:].split(" "))))
+ # Second line: Tag 2 distances or "0"
+ if lines[1] != "1":
+ distances.append(list(map(float, lines[1][1:].split(" "))))
+ else:
+ distances.append(None)
+ return distances
+
+ def writeToDevice(self, value):
+ self.ser.write((value + "\n").encode())
+
+ def __del__(self):
+ print("Closing port")
+ self.ser.close()
+
+
+class AnchorTagCLI:
+ def __init__(self, port="/dev/tty.usbmodem14101", testing=False):
+ self.testing = testing
+ self.serial_buffer = SerialBuffer(port)
+
+ # Distances between anchors (A,E,D,B,F,C)
+ # Corresponding to the measured_distances in original code.
+ self.measured_distances = [0.0]*6
+
+ # Distances from Tag 1 to anchors: A1, A2, A3, A4
+ self.tag_distances = {"A1": 0.0, "A2": 0.0, "A3": 0.0, "A4": 0.0}
+
+ # Distances from Tag 2 to anchors: A1, A2, A3, A4
+ self.tag2_distances = {"A1": 0.0, "A2": 0.0, "A3": 0.0, "A4": 0.0}
+
+ self.anchors = {}
+ self.anchors_coords_known = False
+
+ if self.testing:
+ # Set predefined test distances
+ for i, dist in enumerate(TEST_MEASURED_DISTANCES):
+ self.measured_distances[i] = dist
+
+ for (anchor, dist) in zip(self.tag_distances.keys(), TEST_TAG1_DISTANCES):
+ self.tag_distances[anchor] = dist
+
+ for (anchor, dist) in zip(self.tag2_distances.keys(), TEST_TAG2_DISTANCES):
+ self.tag2_distances[anchor] = dist
+
+ def determine_anchor_coords(self):
+ try:
+ measured_distances = np.array(self.measured_distances)
+ noise_level = 0.0
+ measured_distances_noisy = measured_distances + np.random.uniform(-noise_level, noise_level, size=len(measured_distances))
+
+ # Variables: x_B, y_B, x_C, y_C, y_A
+ initial_guess = [120, 100, 150, 200, 50] # [x_B, y_B, x_C, y_C, y_A]
+ maxBounds = 30000
+ bounds = ([0, 0, 0, 0, 0], [maxBounds] * 5)
+
+ def error_function(variables, measured):
+ x_B, y_B, x_C, y_C, y_A = variables
+ # measured: [A, E, D, B, F, C]
+ a_measured = measured[0]
+ e_measured = measured[1]
+ d_measured = measured[2]
+ b_measured = measured[3]
+ f_measured = measured[4]
+ c_measured = measured[5]
+
+ # A=(0,y_A), B=(x_B,y_B), C=(x_C,y_C), D=(0,0)
+ a_calc = np.sqrt((x_B - 0)**2 + (y_B - y_A)**2) # A-B
+ b_calc = np.sqrt((x_C - x_B)**2 + (y_C - y_B)**2) # B-C
+ c_calc = np.sqrt(x_C**2 + y_C**2) # C-D
+ d_calc = y_A # A-D
+ e_calc = np.sqrt(x_C**2 + (y_C - y_A)**2) # A-C
+ f_calc = np.sqrt(x_B**2 + y_B**2) # B-D
+
+ return [
+ a_calc - a_measured,
+ b_calc - b_measured,
+ c_calc - c_measured,
+ d_calc - d_measured,
+ e_calc - e_measured,
+ f_calc - f_measured
+ ]
+
+ # Run least squares optimization
+ result_noisy = least_squares(
+ error_function,
+ initial_guess,
+ args=(measured_distances_noisy,),
+ bounds=bounds,
+ loss='soft_l1'
+ )
+ optimized_coords_noisy = result_noisy.x
+
+ self.anchors = {
+ "A1": (0, optimized_coords_noisy[4]),
+ "A2": (optimized_coords_noisy[0], optimized_coords_noisy[1]),
+ "A3": (optimized_coords_noisy[2], optimized_coords_noisy[3]),
+ "A4": (0, 0),
+ }
+ return {k: (round(v[0], 2), round(v[1], 2)) for k, v in self.anchors.items()}
+ except Exception as e:
+ print(f"Error generating anchors: {e}")
+
+ def calculate_tag_coordinates(self, tag_distances):
+ if not self.anchors_coords_known or len(self.anchors) < 3:
+ return None, None
+
+ available_beacons = []
+ available_distances = []
+ for key in tag_distances.keys():
+ d = max(float(tag_distances[key]), 0)
+ available_distances.append(d)
+ available_beacons.append(self.anchors[key])
+
+ if len(available_beacons) < 3:
+ return None, None
+
+ def error_function(vars):
+ x, y = vars
+ residuals = []
+ for (bx, by), d_measured in zip(available_beacons, available_distances):
+ d_computed = np.sqrt((x - bx)**2 + (y - by)**2)
+ residuals.append(d_computed - d_measured)
+ return residuals
+
+ beacon_xs = [b[0] for b in available_beacons]
+ beacon_ys = [b[1] for b in available_beacons]
+ initial_guess = [np.mean(beacon_xs), np.mean(beacon_ys)]
+
+ x_min = min(beacon_xs) - 100
+ x_max = max(beacon_xs) + 100
+ y_min = min(beacon_ys) - 100
+ y_max = max(beacon_ys) + 100
+ bounds = ([x_min, y_min], [x_max, y_max])
+
+ result = least_squares(error_function, initial_guess, bounds=bounds, loss='soft_l1')
+ x_tag, y_tag = result.x
+ return x_tag, y_tag
+
+ def call_bpm(self):
+ if self.testing:
+ beacon_distances = TEST_MEASURED_DISTANCES
+ else:
+ beacon_distances = self.serial_buffer.getBeaconPositioningDistances()
+
+ for i, distance in enumerate(beacon_distances):
+ if i < len(self.measured_distances):
+ self.measured_distances[i] = distance
+
+ determined_anchor_coords = self.determine_anchor_coords()
+ if determined_anchor_coords:
+ self.anchors_coords_known = True
+ print("Anchor coordinates determined:")
+ for anchor, coords in determined_anchor_coords.items():
+ print(f"{anchor}: {coords}")
+
+ def update_distances_and_calculate_tags(self):
+ if not self.anchors_coords_known:
+ return
+
+ if self.testing:
+ ranging_distances = [TEST_TAG1_DISTANCES, TEST_TAG2_DISTANCES]
+ else:
+ ranging_distances = self.serial_buffer.getRangingDistances()
+
+ # Update tag 1 distances
+ if ranging_distances[0] is not None:
+ for i, distance in enumerate(ranging_distances[0]):
+ anchor = list(self.tag_distances.keys())[i]
+ self.tag_distances[anchor] = distance
+
+ # Update tag 2 distances
+ if ranging_distances[1] is not None:
+ for i, distance in enumerate(ranging_distances[1]):
+ anchor = list(self.tag2_distances.keys())[i]
+ self.tag2_distances[anchor] = distance
+
+ # Now calculate both tags
+ tag1_x, tag1_y = self.calculate_tag_coordinates(self.tag_distances)
+ valid_tag2_distances = [dist for dist in self.tag2_distances.values() if dist > 0]
+
+ # Check if there are enough valid distances for Tag 2
+ if len(valid_tag2_distances) < 3:
+ print(f"Insufficient valid distances for Tag 2: {len(valid_tag2_distances)} provided.")
+ tag2_x, tag2_y = None, None
+ else:
+ tag2_x, tag2_y = self.calculate_tag_coordinates(self.tag2_distances)
+
+ print("Tag Positions:")
+ if tag1_x is not None and tag1_y is not None:
+ print(f"Tag 1: ({tag1_x:.2f}, {tag1_y:.2f})")
+ else:
+ print("Tag 1: Not enough data")
+
+ if tag2_x is not None and tag2_y is not None:
+ print(f"Tag 2: ({tag2_x:.2f}, {tag2_y:.2f})")
+ else:
+ print("Tag 2: Not enough data")
+
+
+ if tag1_x is not None and tag1_y is not None and tag2_x is not None and tag2_y is not None:
+ dx = tag2_x - tag1_x
+ dy = tag2_y - tag1_y
+ displacement = np.sqrt(dx**2 + dy**2)
+ angle_deg = np.degrees(np.arctan2(dy, dx))
+ if angle_deg < 0:
+ angle_deg += 360
+ print(f"Direction from Tag1 to Tag2: dx={dx:.2f}, dy={dy:.2f}, displacement={displacement:.2f}, angle={angle_deg:.2f}°")
+ return tag1_x, tag1_y
+
+if __name__ == "__main__":
+ app = AnchorTagCLI(port="/dev/tty.usbmodem14101", testing=False)
+ while True:
+ user_input = input("Enter command ('bpm' to set anchors, or 'quit' to exit): ").strip().lower()
+ if user_input == "bpm":
+ app.call_bpm()
+ print("Switching to continuous ranging updates (simulating 'rng' messages)...")
+ while True:
+ app.update_distances_and_calculate_tags()
+ time.sleep(1)
+ elif user_input == "quit":
+ print("Exiting program.")
+ break
\ No newline at end of file
diff --git a/ros2/src/install/robobin/lib/python3.12/site-packages/robobin/imu_node.py b/ros2/src/install/robobin/lib/python3.12/site-packages/robobin/imu_node.py
new file mode 100644
index 00000000..d20c2dad
--- /dev/null
+++ b/ros2/src/install/robobin/lib/python3.12/site-packages/robobin/imu_node.py
@@ -0,0 +1,95 @@
+#!/usr/bin/env python3
+
+import rclpy
+from rclpy.node import Node
+from sensor_msgs.msg import Imu
+from smbus2 import SMBus
+import time
+import math
+
+class BNO055Publisher(Node):
+ def __init__(self):
+ super().__init__('imu_node')
+ self.publisher_ = self.create_publisher(Imu, 'imu', 10)
+ self.timer = self.create_timer(0.1, self.timer_callback)
+ self.bus = SMBus(1)
+ self.address = 0x28
+ self.init_bno055()
+ time.sleep(1)
+
+ def write_register(self, register, value):
+ self.bus.write_byte_data(self.address, register, value)
+
+ def read_register(self, register, length=1):
+ if length == 1:
+ return self.bus.read_byte_data(self.address, register)
+ else:
+ return self.bus.read_i2c_block_data(self.address, register, length)
+
+ def init_bno055(self):
+ # Switch to CONFIG mode
+ self.write_register(0x3D, 0x00)
+ time.sleep(0.05)
+ # Set power mode to Normal
+ self.write_register(0x3E, 0x00)
+ # Set to NDOF mode
+ self.write_register(0x3D, 0x0C)
+ time.sleep(0.5)
+
+ def read_euler_angles(self):
+ data = self.read_register(0x1A, 6)
+ yaw = (data[1] << 8) | data[0]
+ roll = (data[3] << 8) | data[2]
+ pitch = (data[5] << 8) | data[4]
+ yaw = yaw if yaw < 32768 else yaw - 65536
+ roll = roll if roll < 32768 else roll - 65536
+ pitch = pitch if pitch < 32768 else pitch - 65536
+ yaw = yaw / 16.0
+ roll = roll / 16.0
+ pitch = pitch / 16.0
+ return yaw, pitch, roll
+
+ def timer_callback(self):
+ yaw, pitch, roll = self.read_euler_angles()
+ imu_msg = Imu()
+ imu_msg.header.stamp = self.get_clock().now().to_msg()
+ imu_msg.header.frame_id = 'imu_link'
+ # Convert degrees to radians
+ yaw_rad = -(math.radians(yaw))
+ roll_rad = -(math.radians(pitch))
+ pitch_rad = -(math.radians(roll))
+ # Compute quaternion
+ cy = math.cos(yaw_rad * 0.5)
+ sy = math.sin(yaw_rad * 0.5)
+ cp = math.cos(pitch_rad * 0.5)
+ sp = math.sin(pitch_rad * 0.5)
+ cr = math.cos(roll_rad * 0.5)
+ sr = math.sin(roll_rad * 0.5)
+ imu_msg.orientation.w = cr * cp * cy + sr * sp * sy
+ imu_msg.orientation.x = sr * cp * cy - cr * sp * sy
+ imu_msg.orientation.y = cr * sp * cy + sr * cp * sy
+ imu_msg.orientation.z = cr * cp * sy - sr * sp * cy
+
+ imu_msg.orientation_covariance = [0.0025, 0, 0,
+ 0, 0.0025, 0,
+ 0, 0, 0.0025]
+ imu_msg.angular_velocity_covariance = [0.02, 0, 0,
+ 0, 0.02, 0,
+ 0, 0, 0.02]
+ imu_msg.linear_acceleration_covariance = [0.04, 0, 0,
+ 0, 0.04, 0,
+ 0, 0, 0.04]
+
+
+ self.publisher_.publish(imu_msg)
+ #self.get_logger().info(f'Publishing: Yaw={yaw:.2f}, Pitch={pitch:.2f}, Roll={roll:.2f}')
+
+def main(args=None):
+ rclpy.init(args=args)
+ bno055_publisher = BNO055Publisher()
+ rclpy.spin(bno055_publisher)
+ bno055_publisher.destroy_node()
+ rclpy.shutdown()
+
+if __name__ == '__main__':
+ main()
\ No newline at end of file
diff --git a/ros2/src/install/robobin/lib/python3.12/site-packages/robobin/uwb_pathing_node.py b/ros2/src/install/robobin/lib/python3.12/site-packages/robobin/uwb_pathing_node.py
new file mode 100644
index 00000000..dec8b955
--- /dev/null
+++ b/ros2/src/install/robobin/lib/python3.12/site-packages/robobin/uwb_pathing_node.py
@@ -0,0 +1,122 @@
+import rclpy
+from rclpy.node import Node
+from geometry_msgs.msg import Twist, Point
+from math import sqrt, pow, atan2, radians, sin, cos
+import time
+
+
+class UWBPathingNode(Node):
+ def __init__(self):
+ super().__init__('uwb_pathing_node')
+
+ # Publisher for cmd_vel
+ self.cmd_vel_pub = self.create_publisher(Twist, '/cmd_vel', 10)
+
+ # Subscriptions
+ self.create_subscription(Point, '/start_location', self.current_location_callback, 10)
+ self.create_subscription(Point, '/target_location', self.target_location_callback, 10)
+
+ # Current and target positions
+ self.current_x = None
+ self.current_y = None
+ self.target_x = None
+ self.target_y = None
+
+ # Navigation thresholds
+ self.distance_threshold = 0.25 # meters
+ self.angle_threshold = radians(0.5) # radians
+
+ self.kp_linear = 0.5 # Proportional gain for linear movement
+ self.kp_angular = 1.0 # Proportional gain for angular movement
+
+ self.get_logger().info('UWB Pathing Node started and waiting for positions.')
+
+ def current_location_callback(self, msg: Point):
+ """Callback to update the robot's current position."""
+ self.current_x = msg.x
+ self.current_y = msg.y
+ self.get_logger().info(f"Current Location Updated: x={self.current_x:.2f}, y={self.current_y:.2f}")
+ self.check_and_navigate()
+
+ def target_location_callback(self, msg: Point):
+ """Callback to update the target position."""
+ self.target_x = msg.x
+ self.target_y = msg.y
+ self.get_logger().info(f"Target Location Updated: x={self.target_x:.2f}, y={self.target_y:.2f}")
+ self.check_and_navigate()
+
+ def check_and_navigate(self):
+ """Check if both positions are available and navigate to the target."""
+ if self.current_x is not None and self.current_y is not None and self.target_x is not None and self.target_y is not None:
+ self.get_logger().info("Navigating to target...")
+ self.navigate_to_target()
+ else:
+ self.get_logger().warning("Waiting for both current and target positions to be available...")
+
+ def navigate_to_target(self):
+ # Ensure positions are known
+ if self.current_x is None or self.current_y is None or self.target_x is None or self.target_y is None:
+ self.get_logger().warning("Positions not fully known yet.")
+ return
+
+ # Calculate distance and angle to the target
+ displacement_x = self.target_x - self.current_x
+ displacement_y = self.target_y - self.current_y
+ distance_to_target = sqrt(pow(displacement_x, 2) + pow(displacement_y, 2))
+ angle_to_target = atan2(displacement_y, displacement_x)
+
+
+ # Check if we are close enough to the target
+ if distance_to_target <= self.distance_threshold:
+ self.stop_robot()
+ self.get_logger().info("Target reached successfully.")
+ return
+
+ # Calculate yaw error (assuming robot orientation 0 = facing x-axis)
+ # If you don't have actual orientation, you might assume the robot always faces the target directly
+ yaw_error = angle_to_target
+ yaw_error = atan2(sin(yaw_error), cos(yaw_error)) # Normalize angle
+ self.get_logger().info(f"Current Position: x={self.current_x:.2f}, y={self.current_y:.2f}")
+ self.get_logger().info(f"Target Position: x={self.target_x:.2f}, y={self.target_y:.2f}")
+ self.get_logger().info(f"Distance to Target: distance_to_target={distance_to_target:.2f} meters")
+ self.get_logger().info(f"Angle to Target: angle_to_target={angle_to_target:.2f} radians")
+ twist = Twist()
+
+ # Decide on angular velocity first
+ if abs(yaw_error) > self.angle_threshold:
+ angular_speed = self.kp_angular * abs(yaw_error)
+ twist.angular.z = angular_speed if yaw_error > 0 else -angular_speed
+ self.get_logger().info(f"Correcting Heading: yaw_error={yaw_error:.2f} radians")
+ else:
+ # Move forward when aligned with the target
+ linear_speed = self.kp_linear * distance_to_target
+ twist.linear.x = min(0.2, linear_speed) # Limit max speed
+ self.get_logger().info(f"Moving to Target: distance={distance_to_target:.2f} meters")
+
+ # # Publish movement command
+ # self.cmd_vel_pub.publish(twist)
+
+
+ def stop_robot(self):
+ """Stops the robot by publishing zero velocities."""
+ twist = Twist()
+ self.cmd_vel_pub.publish(twist)
+ time.sleep(0.5)
+ self.get_logger().info("Robot stopped.")
+
+
+def main(args=None):
+ rclpy.init(args=args)
+ node = UWBPathingNode()
+
+ try:
+ rclpy.spin(node)
+ except KeyboardInterrupt:
+ pass
+ finally:
+ node.destroy_node()
+ rclpy.shutdown()
+
+
+if __name__ == '__main__':
+ main()
diff --git a/ros2/src/install/robobin/lib/robobin/control_feedback b/ros2/src/install/robobin/lib/robobin/control_feedback
new file mode 100755
index 00000000..fda03c81
--- /dev/null
+++ b/ros2/src/install/robobin/lib/robobin/control_feedback
@@ -0,0 +1,33 @@
+#!/usr/bin/python3
+# EASY-INSTALL-ENTRY-SCRIPT: 'robobin==0.0.0','console_scripts','control_feedback'
+import re
+import sys
+
+# for compatibility with easy_install; see #2198
+__requires__ = 'robobin==0.0.0'
+
+try:
+ from importlib.metadata import distribution
+except ImportError:
+ try:
+ from importlib_metadata import distribution
+ except ImportError:
+ from pkg_resources import load_entry_point
+
+
+def importlib_load_entry_point(spec, group, name):
+ dist_name, _, _ = spec.partition('==')
+ matches = (
+ entry_point
+ for entry_point in distribution(dist_name).entry_points
+ if entry_point.group == group and entry_point.name == name
+ )
+ return next(matches).load()
+
+
+globals().setdefault('load_entry_point', importlib_load_entry_point)
+
+
+if __name__ == '__main__':
+ sys.argv[0] = re.sub(r'(-script\.pyw?|\.exe)?$', '', sys.argv[0])
+ sys.exit(load_entry_point('robobin==0.0.0', 'console_scripts', 'control_feedback')())
diff --git a/ros2/src/install/robobin/lib/robobin/encoder_node b/ros2/src/install/robobin/lib/robobin/encoder_node
new file mode 100755
index 00000000..306c6407
--- /dev/null
+++ b/ros2/src/install/robobin/lib/robobin/encoder_node
@@ -0,0 +1,33 @@
+#!/usr/bin/python3
+# EASY-INSTALL-ENTRY-SCRIPT: 'robobin==0.0.0','console_scripts','encoder_node'
+import re
+import sys
+
+# for compatibility with easy_install; see #2198
+__requires__ = 'robobin==0.0.0'
+
+try:
+ from importlib.metadata import distribution
+except ImportError:
+ try:
+ from importlib_metadata import distribution
+ except ImportError:
+ from pkg_resources import load_entry_point
+
+
+def importlib_load_entry_point(spec, group, name):
+ dist_name, _, _ = spec.partition('==')
+ matches = (
+ entry_point
+ for entry_point in distribution(dist_name).entry_points
+ if entry_point.group == group and entry_point.name == name
+ )
+ return next(matches).load()
+
+
+globals().setdefault('load_entry_point', importlib_load_entry_point)
+
+
+if __name__ == '__main__':
+ sys.argv[0] = re.sub(r'(-script\.pyw?|\.exe)?$', '', sys.argv[0])
+ sys.exit(load_entry_point('robobin==0.0.0', 'console_scripts', 'encoder_node')())
diff --git a/ros2/src/install/robobin/lib/robobin/imu_node b/ros2/src/install/robobin/lib/robobin/imu_node
new file mode 100755
index 00000000..ba00b16a
--- /dev/null
+++ b/ros2/src/install/robobin/lib/robobin/imu_node
@@ -0,0 +1,33 @@
+#!/usr/bin/python3
+# EASY-INSTALL-ENTRY-SCRIPT: 'robobin==0.0.0','console_scripts','imu_node'
+import re
+import sys
+
+# for compatibility with easy_install; see #2198
+__requires__ = 'robobin==0.0.0'
+
+try:
+ from importlib.metadata import distribution
+except ImportError:
+ try:
+ from importlib_metadata import distribution
+ except ImportError:
+ from pkg_resources import load_entry_point
+
+
+def importlib_load_entry_point(spec, group, name):
+ dist_name, _, _ = spec.partition('==')
+ matches = (
+ entry_point
+ for entry_point in distribution(dist_name).entry_points
+ if entry_point.group == group and entry_point.name == name
+ )
+ return next(matches).load()
+
+
+globals().setdefault('load_entry_point', importlib_load_entry_point)
+
+
+if __name__ == '__main__':
+ sys.argv[0] = re.sub(r'(-script\.pyw?|\.exe)?$', '', sys.argv[0])
+ sys.exit(load_entry_point('robobin==0.0.0', 'console_scripts', 'imu_node')())
diff --git a/ros2/src/install/robobin/lib/robobin/motor_node b/ros2/src/install/robobin/lib/robobin/motor_node
new file mode 100755
index 00000000..0fbb76f5
--- /dev/null
+++ b/ros2/src/install/robobin/lib/robobin/motor_node
@@ -0,0 +1,33 @@
+#!/usr/bin/python3
+# EASY-INSTALL-ENTRY-SCRIPT: 'robobin==0.0.0','console_scripts','motor_node'
+import re
+import sys
+
+# for compatibility with easy_install; see #2198
+__requires__ = 'robobin==0.0.0'
+
+try:
+ from importlib.metadata import distribution
+except ImportError:
+ try:
+ from importlib_metadata import distribution
+ except ImportError:
+ from pkg_resources import load_entry_point
+
+
+def importlib_load_entry_point(spec, group, name):
+ dist_name, _, _ = spec.partition('==')
+ matches = (
+ entry_point
+ for entry_point in distribution(dist_name).entry_points
+ if entry_point.group == group and entry_point.name == name
+ )
+ return next(matches).load()
+
+
+globals().setdefault('load_entry_point', importlib_load_entry_point)
+
+
+if __name__ == '__main__':
+ sys.argv[0] = re.sub(r'(-script\.pyw?|\.exe)?$', '', sys.argv[0])
+ sys.exit(load_entry_point('robobin==0.0.0', 'console_scripts', 'motor_node')())
diff --git a/ros2/src/install/robobin/lib/robobin/uwb_pathing_node b/ros2/src/install/robobin/lib/robobin/uwb_pathing_node
new file mode 100755
index 00000000..30066a0e
--- /dev/null
+++ b/ros2/src/install/robobin/lib/robobin/uwb_pathing_node
@@ -0,0 +1,33 @@
+#!/usr/bin/python3
+# EASY-INSTALL-ENTRY-SCRIPT: 'robobin==0.0.0','console_scripts','uwb_pathing_node'
+import re
+import sys
+
+# for compatibility with easy_install; see #2198
+__requires__ = 'robobin==0.0.0'
+
+try:
+ from importlib.metadata import distribution
+except ImportError:
+ try:
+ from importlib_metadata import distribution
+ except ImportError:
+ from pkg_resources import load_entry_point
+
+
+def importlib_load_entry_point(spec, group, name):
+ dist_name, _, _ = spec.partition('==')
+ matches = (
+ entry_point
+ for entry_point in distribution(dist_name).entry_points
+ if entry_point.group == group and entry_point.name == name
+ )
+ return next(matches).load()
+
+
+globals().setdefault('load_entry_point', importlib_load_entry_point)
+
+
+if __name__ == '__main__':
+ sys.argv[0] = re.sub(r'(-script\.pyw?|\.exe)?$', '', sys.argv[0])
+ sys.exit(load_entry_point('robobin==0.0.0', 'console_scripts', 'uwb_pathing_node')())
diff --git a/ros2/src/install/robobin/share/robobin/launch/robobin_no_components_launch.py b/ros2/src/install/robobin/share/robobin/launch/robobin_no_components_launch.py
new file mode 100644
index 00000000..cea86516
--- /dev/null
+++ b/ros2/src/install/robobin/share/robobin/launch/robobin_no_components_launch.py
@@ -0,0 +1,31 @@
+# ~/GitLab/robobin/ros2/src/robobin/launch/robobin_no_components_launch.py
+
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+def generate_launch_description():
+ return LaunchDescription([
+ Node(
+ package='robobin',
+ executable='api_node',
+ name='api_node',
+ output='screen',
+ emulate_tty=True
+
+ ),
+
+ Node(
+ package='robobin',
+ executable='uwb_navigation_node',
+ name='uwb_navigation_node',
+ output='screen',
+ emulate_tty=True
+ ),
+ Node(
+ package='robobin',
+ executable='motor_control_node',
+ name='motor_control_node',
+ output='screen',
+ emulate_tty=True
+ ),
+ ])
\ No newline at end of file
diff --git a/ros2/src/log/build_2024-12-18_16-50-13/events.log b/ros2/src/log/build_2024-12-18_16-50-13/events.log
new file mode 100644
index 00000000..9be8dbd4
--- /dev/null
+++ b/ros2/src/log/build_2024-12-18_16-50-13/events.log
@@ -0,0 +1,90 @@
+[0.000000] (-) TimerEvent: {}
+[0.000433] (robobin) JobQueued: {'identifier': 'robobin', 'dependencies': OrderedDict()}
+[0.000733] (robobin) JobStarted: {'identifier': 'robobin'}
+[0.099676] (-) TimerEvent: {}
+[0.200003] (-) TimerEvent: {}
+[0.300315] (-) TimerEvent: {}
+[0.400642] (-) TimerEvent: {}
+[0.501002] (-) TimerEvent: {}
+[0.601332] (-) TimerEvent: {}
+[0.701634] (-) TimerEvent: {}
+[0.801956] (-) TimerEvent: {}
+[0.902265] (-) TimerEvent: {}
+[1.002594] (-) TimerEvent: {}
+[1.102912] (-) TimerEvent: {}
+[1.203250] (-) TimerEvent: {}
+[1.303653] (-) TimerEvent: {}
+[1.327107] (robobin) Command: {'cmd': ['/usr/bin/python3', '-W', 'ignore:setup.py install is deprecated', '-W', 'ignore:easy_install command is deprecated', 'setup.py', 'egg_info', '--egg-base', '../build/robobin', 'build', '--build-base', '/home/robobin/robobin/ros2/src/build/robobin/build', 'install', '--record', '/home/robobin/robobin/ros2/src/build/robobin/install.log', '--single-version-externally-managed', 'install_data'], 'cwd': '/home/robobin/robobin/ros2/src/robobin', 'env': {'LESSOPEN': '| /usr/bin/lesspipe %s', 'USER': 'robobin', 'SSH_CLIENT': '192.168.73.238 47996 22', 'GZ_CONFIG_PATH': '/opt/ros/jazzy/opt/sdformat_vendor/share/gz', 'XDG_SESSION_TYPE': 'tty', 'SHLVL': '1', 'LD_LIBRARY_PATH': 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diff --git a/ros2/src/log/build_2024-12-18_16-50-13/logger_all.log b/ros2/src/log/build_2024-12-18_16-50-13/logger_all.log
new file mode 100644
index 00000000..df5c3d20
--- /dev/null
+++ b/ros2/src/log/build_2024-12-18_16-50-13/logger_all.log
@@ -0,0 +1,113 @@
+[0.172s] DEBUG:colcon:Command line arguments: ['/usr/bin/colcon', 'build']
+[0.172s] DEBUG:colcon:Parsed command line arguments: Namespace(log_base=None, log_level=None, verb_name='build', build_base='build', install_base='install', merge_install=False, symlink_install=False, test_result_base=None, continue_on_error=False, executor='parallel', parallel_workers=4, event_handlers=None, ignore_user_meta=False, metas=['./colcon.meta'], base_paths=['.'], packages_ignore=None, packages_ignore_regex=None, paths=None, packages_up_to=None, packages_up_to_regex=None, packages_above=None, packages_above_and_dependencies=None, packages_above_depth=None, packages_select_by_dep=None, packages_skip_by_dep=None, packages_skip_up_to=None, packages_select_build_failed=False, packages_skip_build_finished=False, packages_select_test_failures=False, packages_skip_test_passed=False, packages_select=None, packages_skip=None, packages_select_regex=None, packages_skip_regex=None, packages_start=None, packages_end=None, allow_overriding=[], cmake_args=None, cmake_target=None, cmake_target_skip_unavailable=False, cmake_clean_cache=False, cmake_clean_first=False, cmake_force_configure=False, ament_cmake_args=None, catkin_cmake_args=None, catkin_skip_building_tests=False, mixin_files=None, mixin=None, verb_parser=<colcon_mixin.mixin.mixin_argument.MixinArgumentDecorator object at 0xffffa9f14e00>, verb_extension=<colcon_core.verb.build.BuildVerb object at 0xffffa9f148c0>, main=<bound method BuildVerb.main of <colcon_core.verb.build.BuildVerb object at 0xffffa9f148c0>>, mixin_verb=('build',))
+[0.238s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) check parameters
+[0.238s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) check parameters
+[0.238s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) check parameters
+[0.238s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) check parameters
+[0.238s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) discover
+[0.238s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) discover
+[0.238s] INFO:colcon.colcon_core.package_discovery:Crawling recursively for packages in '/home/robobin/robobin/ros2/src'
+[0.238s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ignore', 'ignore_ament_install']
+[0.239s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore'
+[0.239s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore_ament_install'
+[0.239s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_pkg']
+[0.239s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_pkg'
+[0.239s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_meta']
+[0.239s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_meta'
+[0.239s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ros']
+[0.239s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ros'
+[0.285s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['cmake', 'python']
+[0.285s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'cmake'
+[0.285s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'python'
+[0.285s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['python_setup_py']
+[0.285s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'python_setup_py'
+[0.286s] Level 1:colcon.colcon_core.package_identification:_identify(build) by extensions ['ignore', 'ignore_ament_install']
+[0.286s] Level 1:colcon.colcon_core.package_identification:_identify(build) by extension 'ignore'
+[0.286s] Level 1:colcon.colcon_core.package_identification:_identify(build) ignored
+[0.286s] Level 1:colcon.colcon_core.package_identification:_identify(install) by extensions ['ignore', 'ignore_ament_install']
+[0.286s] Level 1:colcon.colcon_core.package_identification:_identify(install) by extension 'ignore'
+[0.286s] Level 1:colcon.colcon_core.package_identification:_identify(install) ignored
+[0.286s] Level 1:colcon.colcon_core.package_identification:_identify(log) by extensions ['ignore', 'ignore_ament_install']
+[0.286s] Level 1:colcon.colcon_core.package_identification:_identify(log) by extension 'ignore'
+[0.286s] Level 1:colcon.colcon_core.package_identification:_identify(log) ignored
+[0.287s] Level 1:colcon.colcon_core.package_identification:_identify(robobin) by extensions ['ignore', 'ignore_ament_install']
+[0.287s] Level 1:colcon.colcon_core.package_identification:_identify(robobin) by extension 'ignore'
+[0.287s] Level 1:colcon.colcon_core.package_identification:_identify(robobin) by extension 'ignore_ament_install'
+[0.287s] Level 1:colcon.colcon_core.package_identification:_identify(robobin) by extensions ['colcon_pkg']
+[0.287s] Level 1:colcon.colcon_core.package_identification:_identify(robobin) by extension 'colcon_pkg'
+[0.287s] Level 1:colcon.colcon_core.package_identification:_identify(robobin) by extensions ['colcon_meta']
+[0.287s] Level 1:colcon.colcon_core.package_identification:_identify(robobin) by extension 'colcon_meta'
+[0.287s] Level 1:colcon.colcon_core.package_identification:_identify(robobin) by extensions ['ros']
+[0.287s] Level 1:colcon.colcon_core.package_identification:_identify(robobin) by extension 'ros'
+[0.291s] DEBUG:colcon.colcon_core.package_identification:Package 'robobin' with type 'ros.ament_python' and name 'robobin'
+[0.291s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) using defaults
+[0.291s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) discover
+[0.291s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) using defaults
+[0.291s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) discover
+[0.291s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) using defaults
+[0.319s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) check parameters
+[0.319s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) discover
+[0.321s] DEBUG:colcon.colcon_installed_package_information.package_discovery:Found 4 installed packages in /home/robobin/Robobin_Project/ros2/robobin_main/install
+[0.324s] DEBUG:colcon.colcon_installed_package_information.package_discovery:Found 335 installed packages in /opt/ros/jazzy
+[0.328s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) using defaults
+[0.400s] Level 5:colcon.colcon_core.verb:set package 'robobin' build argument 'cmake_args' from command line to 'None'
+[0.400s] Level 5:colcon.colcon_core.verb:set package 'robobin' build argument 'cmake_target' from command line to 'None'
+[0.400s] Level 5:colcon.colcon_core.verb:set package 'robobin' build argument 'cmake_target_skip_unavailable' from command line to 'False'
+[0.400s] Level 5:colcon.colcon_core.verb:set package 'robobin' build argument 'cmake_clean_cache' from command line to 'False'
+[0.401s] Level 5:colcon.colcon_core.verb:set package 'robobin' build argument 'cmake_clean_first' from command line to 'False'
+[0.401s] Level 5:colcon.colcon_core.verb:set package 'robobin' build argument 'cmake_force_configure' from command line to 'False'
+[0.401s] Level 5:colcon.colcon_core.verb:set package 'robobin' build argument 'ament_cmake_args' from command line to 'None'
+[0.401s] Level 5:colcon.colcon_core.verb:set package 'robobin' build argument 'catkin_cmake_args' from command line to 'None'
+[0.401s] Level 5:colcon.colcon_core.verb:set package 'robobin' build argument 'catkin_skip_building_tests' from command line to 'False'
+[0.401s] DEBUG:colcon.colcon_core.verb:Building package 'robobin' with the following arguments: {'ament_cmake_args': None, 'build_base': '/home/robobin/robobin/ros2/src/build/robobin', 'catkin_cmake_args': None, 'catkin_skip_building_tests': False, 'cmake_args': None, 'cmake_clean_cache': False, 'cmake_clean_first': False, 'cmake_force_configure': False, 'cmake_target': None, 'cmake_target_skip_unavailable': False, 'install_base': '/home/robobin/robobin/ros2/src/install/robobin', 'merge_install': False, 'path': '/home/robobin/robobin/ros2/src/robobin', 'symlink_install': False, 'test_result_base': None}
+[0.401s] INFO:colcon.colcon_core.executor:Executing jobs using 'parallel' executor
+[0.402s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete
+[0.403s] INFO:colcon.colcon_ros.task.ament_python.build:Building ROS package in '/home/robobin/robobin/ros2/src/robobin' with build type 'ament_python'
+[0.403s] Level 1:colcon.colcon_core.shell:create_environment_hook('robobin', 'ament_prefix_path')
+[0.405s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_core.shell.bat': Not used on non-Windows systems
+[0.405s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/robobin/robobin/ros2/src/install/robobin/share/robobin/hook/ament_prefix_path.ps1'
+[0.408s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/robobin/robobin/ros2/src/install/robobin/share/robobin/hook/ament_prefix_path.dsv'
+[0.409s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/robobin/robobin/ros2/src/install/robobin/share/robobin/hook/ament_prefix_path.sh'
+[0.410s] INFO:colcon.colcon_core.shell:Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell
+[0.410s] DEBUG:colcon.colcon_core.shell:Skip shell extension 'dsv' for command environment
+[0.779s] INFO:colcon.colcon_core.task.python.build:Building Python package in '/home/robobin/robobin/ros2/src/robobin'
+[0.780s] INFO:colcon.colcon_core.shell:Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell
+[0.780s] DEBUG:colcon.colcon_core.shell:Skip shell extension 'dsv' for command environment
+[1.732s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoking command in '/home/robobin/robobin/ros2/src/robobin': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/ros2/src/build/robobin/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/ros2/src/install/robobin/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../build/robobin build --build-base /home/robobin/robobin/ros2/src/build/robobin/build install --record /home/robobin/robobin/ros2/src/build/robobin/install.log --single-version-externally-managed install_data
+[2.652s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoked command in '/home/robobin/robobin/ros2/src/robobin' returned '0': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/ros2/src/build/robobin/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/ros2/src/install/robobin/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../build/robobin build --build-base /home/robobin/robobin/ros2/src/build/robobin/build install --record /home/robobin/robobin/ros2/src/build/robobin/install.log --single-version-externally-managed install_data
+[2.654s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/ros2/src/install/robobin' for CMake module files
+[2.655s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/ros2/src/install/robobin' for CMake config files
+[2.657s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/ros2/src/install/robobin/lib'
+[2.657s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/ros2/src/install/robobin/bin'
+[2.658s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/ros2/src/install/robobin/lib/pkgconfig/robobin.pc'
+[2.658s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/ros2/src/install/robobin/lib/python3.12/site-packages'
+[2.658s] Level 1:colcon.colcon_core.shell:create_environment_hook('robobin', 'pythonpath')
+[2.659s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/robobin/robobin/ros2/src/install/robobin/share/robobin/hook/pythonpath.ps1'
+[2.659s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/robobin/robobin/ros2/src/install/robobin/share/robobin/hook/pythonpath.dsv'
+[2.660s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/robobin/robobin/ros2/src/install/robobin/share/robobin/hook/pythonpath.sh'
+[2.662s] Level 1:colcon.colcon_core.environment:checking '/home/robobin/robobin/ros2/src/install/robobin/bin'
+[2.662s] Level 1:colcon.colcon_core.environment:create_environment_scripts_only(robobin)
+[2.663s] INFO:colcon.colcon_core.shell:Creating package script '/home/robobin/robobin/ros2/src/install/robobin/share/robobin/package.ps1'
+[2.664s] INFO:colcon.colcon_core.shell:Creating package descriptor '/home/robobin/robobin/ros2/src/install/robobin/share/robobin/package.dsv'
+[2.666s] INFO:colcon.colcon_core.shell:Creating package script '/home/robobin/robobin/ros2/src/install/robobin/share/robobin/package.sh'
+[2.667s] INFO:colcon.colcon_core.shell:Creating package script '/home/robobin/robobin/ros2/src/install/robobin/share/robobin/package.bash'
+[2.668s] INFO:colcon.colcon_core.shell:Creating package script '/home/robobin/robobin/ros2/src/install/robobin/share/robobin/package.zsh'
+[2.669s] Level 1:colcon.colcon_core.environment:create_file_with_runtime_dependencies(/home/robobin/robobin/ros2/src/install/robobin/share/colcon-core/packages/robobin)
+[2.671s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:closing loop
+[2.671s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:loop closed
+[2.672s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete finished with '0'
+[2.672s] DEBUG:colcon.colcon_core.event_reactor:joining thread
+[2.681s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.terminal_notifier': Not used on non-Darwin systems
+[2.682s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.win32': Not used on non-Windows systems
+[2.682s] INFO:colcon.colcon_notification.desktop_notification:Sending desktop notification using 'notify2'
+[2.700s] DEBUG:colcon.colcon_core.event_reactor:joined thread
+[2.700s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/robobin/robobin/ros2/src/install/local_setup.ps1'
+[2.702s] INFO:colcon.colcon_core.shell:Creating prefix util module '/home/robobin/robobin/ros2/src/install/_local_setup_util_ps1.py'
+[2.704s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/robobin/robobin/ros2/src/install/setup.ps1'
+[2.706s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/robobin/robobin/ros2/src/install/local_setup.sh'
+[2.708s] INFO:colcon.colcon_core.shell:Creating prefix util module '/home/robobin/robobin/ros2/src/install/_local_setup_util_sh.py'
+[2.709s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/robobin/robobin/ros2/src/install/setup.sh'
+[2.712s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/robobin/robobin/ros2/src/install/local_setup.bash'
+[2.715s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/robobin/robobin/ros2/src/install/setup.bash'
+[2.716s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/robobin/robobin/ros2/src/install/local_setup.zsh'
+[2.718s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/robobin/robobin/ros2/src/install/setup.zsh'
diff --git a/ros2/src/log/build_2024-12-18_16-50-13/robobin/command.log b/ros2/src/log/build_2024-12-18_16-50-13/robobin/command.log
new file mode 100644
index 00000000..f3802c6a
--- /dev/null
+++ b/ros2/src/log/build_2024-12-18_16-50-13/robobin/command.log
@@ -0,0 +1,2 @@
+Invoking command in '/home/robobin/robobin/ros2/src/robobin': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/ros2/src/build/robobin/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/ros2/src/install/robobin/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../build/robobin build --build-base /home/robobin/robobin/ros2/src/build/robobin/build install --record /home/robobin/robobin/ros2/src/build/robobin/install.log --single-version-externally-managed install_data
+Invoked command in '/home/robobin/robobin/ros2/src/robobin' returned '0': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/ros2/src/build/robobin/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/ros2/src/install/robobin/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../build/robobin build --build-base /home/robobin/robobin/ros2/src/build/robobin/build install --record /home/robobin/robobin/ros2/src/build/robobin/install.log --single-version-externally-managed install_data
diff --git a/ros2/src/log/build_2024-12-18_16-50-13/robobin/stderr.log b/ros2/src/log/build_2024-12-18_16-50-13/robobin/stderr.log
new file mode 100644
index 00000000..e69de29b
diff --git a/ros2/src/log/build_2024-12-18_16-50-13/robobin/stdout.log b/ros2/src/log/build_2024-12-18_16-50-13/robobin/stdout.log
new file mode 100644
index 00000000..c4f70284
--- /dev/null
+++ b/ros2/src/log/build_2024-12-18_16-50-13/robobin/stdout.log
@@ -0,0 +1,61 @@
+running egg_info
+writing ../build/robobin/robobin.egg-info/PKG-INFO
+writing dependency_links to ../build/robobin/robobin.egg-info/dependency_links.txt
+writing entry points to ../build/robobin/robobin.egg-info/entry_points.txt
+writing requirements to ../build/robobin/robobin.egg-info/requires.txt
+writing top-level names to ../build/robobin/robobin.egg-info/top_level.txt
+reading manifest file '../build/robobin/robobin.egg-info/SOURCES.txt'
+writing manifest file '../build/robobin/robobin.egg-info/SOURCES.txt'
+running build
+running build_py
+copying robobin/encoder.py -> /home/robobin/robobin/ros2/src/build/robobin/build/lib/robobin
+copying robobin/motor_control_node.py -> /home/robobin/robobin/ros2/src/build/robobin/build/lib/robobin
+copying robobin/uwb_navigation_node.py -> /home/robobin/robobin/ros2/src/build/robobin/build/lib/robobin
+copying robobin/imu_node.py -> /home/robobin/robobin/ros2/src/build/robobin/build/lib/robobin
+copying robobin/api_node.py -> /home/robobin/robobin/ros2/src/build/robobin/build/lib/robobin
+copying robobin/control_feedback.py -> /home/robobin/robobin/ros2/src/build/robobin/build/lib/robobin
+copying robobin/uwb_pathing_node.py -> /home/robobin/robobin/ros2/src/build/robobin/build/lib/robobin
+copying robobin/helpers/message_handler.py -> /home/robobin/robobin/ros2/src/build/robobin/build/lib/robobin/helpers
+copying robobin/helpers/realtime_location_cli_only.py -> /home/robobin/robobin/ros2/src/build/robobin/build/lib/robobin/helpers
+copying robobin/helpers/graph_maker.py -> /home/robobin/robobin/ros2/src/build/robobin/build/lib/robobin/helpers
+copying robobin/helpers/connection_manager.py -> /home/robobin/robobin/ros2/src/build/robobin/build/lib/robobin/helpers
+running install
+running install_lib
+copying /home/robobin/robobin/ros2/src/build/robobin/build/lib/robobin/encoder.py -> /home/robobin/robobin/ros2/src/install/robobin/lib/python3.12/site-packages/robobin
+copying /home/robobin/robobin/ros2/src/build/robobin/build/lib/robobin/motor_control_node.py -> /home/robobin/robobin/ros2/src/install/robobin/lib/python3.12/site-packages/robobin
+copying /home/robobin/robobin/ros2/src/build/robobin/build/lib/robobin/uwb_navigation_node.py -> /home/robobin/robobin/ros2/src/install/robobin/lib/python3.12/site-packages/robobin
+copying /home/robobin/robobin/ros2/src/build/robobin/build/lib/robobin/helpers/message_handler.py -> /home/robobin/robobin/ros2/src/install/robobin/lib/python3.12/site-packages/robobin/helpers
+copying /home/robobin/robobin/ros2/src/build/robobin/build/lib/robobin/helpers/realtime_location_cli_only.py -> /home/robobin/robobin/ros2/src/install/robobin/lib/python3.12/site-packages/robobin/helpers
+copying /home/robobin/robobin/ros2/src/build/robobin/build/lib/robobin/helpers/graph_maker.py -> /home/robobin/robobin/ros2/src/install/robobin/lib/python3.12/site-packages/robobin/helpers
+copying /home/robobin/robobin/ros2/src/build/robobin/build/lib/robobin/helpers/connection_manager.py -> /home/robobin/robobin/ros2/src/install/robobin/lib/python3.12/site-packages/robobin/helpers
+copying /home/robobin/robobin/ros2/src/build/robobin/build/lib/robobin/imu_node.py -> /home/robobin/robobin/ros2/src/install/robobin/lib/python3.12/site-packages/robobin
+copying /home/robobin/robobin/ros2/src/build/robobin/build/lib/robobin/api_node.py -> /home/robobin/robobin/ros2/src/install/robobin/lib/python3.12/site-packages/robobin
+copying /home/robobin/robobin/ros2/src/build/robobin/build/lib/robobin/control_feedback.py -> /home/robobin/robobin/ros2/src/install/robobin/lib/python3.12/site-packages/robobin
+copying /home/robobin/robobin/ros2/src/build/robobin/build/lib/robobin/uwb_pathing_node.py -> /home/robobin/robobin/ros2/src/install/robobin/lib/python3.12/site-packages/robobin
+byte-compiling /home/robobin/robobin/ros2/src/install/robobin/lib/python3.12/site-packages/robobin/encoder.py to encoder.cpython-312.pyc
+byte-compiling /home/robobin/robobin/ros2/src/install/robobin/lib/python3.12/site-packages/robobin/motor_control_node.py to motor_control_node.cpython-312.pyc
+byte-compiling /home/robobin/robobin/ros2/src/install/robobin/lib/python3.12/site-packages/robobin/uwb_navigation_node.py to uwb_navigation_node.cpython-312.pyc
+byte-compiling /home/robobin/robobin/ros2/src/install/robobin/lib/python3.12/site-packages/robobin/helpers/message_handler.py to message_handler.cpython-312.pyc
+byte-compiling /home/robobin/robobin/ros2/src/install/robobin/lib/python3.12/site-packages/robobin/helpers/realtime_location_cli_only.py to realtime_location_cli_only.cpython-312.pyc
+byte-compiling /home/robobin/robobin/ros2/src/install/robobin/lib/python3.12/site-packages/robobin/helpers/graph_maker.py to graph_maker.cpython-312.pyc
+byte-compiling /home/robobin/robobin/ros2/src/install/robobin/lib/python3.12/site-packages/robobin/helpers/connection_manager.py to connection_manager.cpython-312.pyc
+byte-compiling /home/robobin/robobin/ros2/src/install/robobin/lib/python3.12/site-packages/robobin/imu_node.py to imu_node.cpython-312.pyc
+byte-compiling /home/robobin/robobin/ros2/src/install/robobin/lib/python3.12/site-packages/robobin/api_node.py to api_node.cpython-312.pyc
+byte-compiling /home/robobin/robobin/ros2/src/install/robobin/lib/python3.12/site-packages/robobin/control_feedback.py to control_feedback.cpython-312.pyc
+byte-compiling /home/robobin/robobin/ros2/src/install/robobin/lib/python3.12/site-packages/robobin/uwb_pathing_node.py to uwb_pathing_node.cpython-312.pyc
+running install_data
+copying launch/robobin_launch.py -> /home/robobin/robobin/ros2/src/install/robobin/share/robobin/launch
+copying launch/robobin_no_components_launch.py -> /home/robobin/robobin/ros2/src/install/robobin/share/robobin/launch
+running install_egg_info
+removing '/home/robobin/robobin/ros2/src/install/robobin/lib/python3.12/site-packages/robobin-0.0.0-py3.12.egg-info' (and everything under it)
+Copying ../build/robobin/robobin.egg-info to /home/robobin/robobin/ros2/src/install/robobin/lib/python3.12/site-packages/robobin-0.0.0-py3.12.egg-info
+running install_scripts
+Installing api_node script to /home/robobin/robobin/ros2/src/install/robobin/lib/robobin
+Installing control_feedback script to /home/robobin/robobin/ros2/src/install/robobin/lib/robobin
+Installing encoder_node script to /home/robobin/robobin/ros2/src/install/robobin/lib/robobin
+Installing imu_node script to /home/robobin/robobin/ros2/src/install/robobin/lib/robobin
+Installing motor_control_node script to /home/robobin/robobin/ros2/src/install/robobin/lib/robobin
+Installing motor_node script to /home/robobin/robobin/ros2/src/install/robobin/lib/robobin
+Installing uwb_navigation_node script to /home/robobin/robobin/ros2/src/install/robobin/lib/robobin
+Installing uwb_pathing_node script to /home/robobin/robobin/ros2/src/install/robobin/lib/robobin
+writing list of installed files to '/home/robobin/robobin/ros2/src/build/robobin/install.log'
diff --git a/ros2/src/log/build_2024-12-18_16-50-13/robobin/stdout_stderr.log b/ros2/src/log/build_2024-12-18_16-50-13/robobin/stdout_stderr.log
new file mode 100644
index 00000000..c4f70284
--- /dev/null
+++ b/ros2/src/log/build_2024-12-18_16-50-13/robobin/stdout_stderr.log
@@ -0,0 +1,61 @@
+running egg_info
+writing ../build/robobin/robobin.egg-info/PKG-INFO
+writing dependency_links to ../build/robobin/robobin.egg-info/dependency_links.txt
+writing entry points to ../build/robobin/robobin.egg-info/entry_points.txt
+writing requirements to ../build/robobin/robobin.egg-info/requires.txt
+writing top-level names to ../build/robobin/robobin.egg-info/top_level.txt
+reading manifest file '../build/robobin/robobin.egg-info/SOURCES.txt'
+writing manifest file '../build/robobin/robobin.egg-info/SOURCES.txt'
+running build
+running build_py
+copying robobin/encoder.py -> /home/robobin/robobin/ros2/src/build/robobin/build/lib/robobin
+copying robobin/motor_control_node.py -> /home/robobin/robobin/ros2/src/build/robobin/build/lib/robobin
+copying robobin/uwb_navigation_node.py -> /home/robobin/robobin/ros2/src/build/robobin/build/lib/robobin
+copying robobin/imu_node.py -> /home/robobin/robobin/ros2/src/build/robobin/build/lib/robobin
+copying robobin/api_node.py -> /home/robobin/robobin/ros2/src/build/robobin/build/lib/robobin
+copying robobin/control_feedback.py -> /home/robobin/robobin/ros2/src/build/robobin/build/lib/robobin
+copying robobin/uwb_pathing_node.py -> /home/robobin/robobin/ros2/src/build/robobin/build/lib/robobin
+copying robobin/helpers/message_handler.py -> /home/robobin/robobin/ros2/src/build/robobin/build/lib/robobin/helpers
+copying robobin/helpers/realtime_location_cli_only.py -> /home/robobin/robobin/ros2/src/build/robobin/build/lib/robobin/helpers
+copying robobin/helpers/graph_maker.py -> /home/robobin/robobin/ros2/src/build/robobin/build/lib/robobin/helpers
+copying robobin/helpers/connection_manager.py -> /home/robobin/robobin/ros2/src/build/robobin/build/lib/robobin/helpers
+running install
+running install_lib
+copying /home/robobin/robobin/ros2/src/build/robobin/build/lib/robobin/encoder.py -> /home/robobin/robobin/ros2/src/install/robobin/lib/python3.12/site-packages/robobin
+copying /home/robobin/robobin/ros2/src/build/robobin/build/lib/robobin/motor_control_node.py -> /home/robobin/robobin/ros2/src/install/robobin/lib/python3.12/site-packages/robobin
+copying /home/robobin/robobin/ros2/src/build/robobin/build/lib/robobin/uwb_navigation_node.py -> /home/robobin/robobin/ros2/src/install/robobin/lib/python3.12/site-packages/robobin
+copying /home/robobin/robobin/ros2/src/build/robobin/build/lib/robobin/helpers/message_handler.py -> /home/robobin/robobin/ros2/src/install/robobin/lib/python3.12/site-packages/robobin/helpers
+copying /home/robobin/robobin/ros2/src/build/robobin/build/lib/robobin/helpers/realtime_location_cli_only.py -> /home/robobin/robobin/ros2/src/install/robobin/lib/python3.12/site-packages/robobin/helpers
+copying /home/robobin/robobin/ros2/src/build/robobin/build/lib/robobin/helpers/graph_maker.py -> /home/robobin/robobin/ros2/src/install/robobin/lib/python3.12/site-packages/robobin/helpers
+copying /home/robobin/robobin/ros2/src/build/robobin/build/lib/robobin/helpers/connection_manager.py -> /home/robobin/robobin/ros2/src/install/robobin/lib/python3.12/site-packages/robobin/helpers
+copying /home/robobin/robobin/ros2/src/build/robobin/build/lib/robobin/imu_node.py -> /home/robobin/robobin/ros2/src/install/robobin/lib/python3.12/site-packages/robobin
+copying /home/robobin/robobin/ros2/src/build/robobin/build/lib/robobin/api_node.py -> /home/robobin/robobin/ros2/src/install/robobin/lib/python3.12/site-packages/robobin
+copying /home/robobin/robobin/ros2/src/build/robobin/build/lib/robobin/control_feedback.py -> /home/robobin/robobin/ros2/src/install/robobin/lib/python3.12/site-packages/robobin
+copying /home/robobin/robobin/ros2/src/build/robobin/build/lib/robobin/uwb_pathing_node.py -> /home/robobin/robobin/ros2/src/install/robobin/lib/python3.12/site-packages/robobin
+byte-compiling /home/robobin/robobin/ros2/src/install/robobin/lib/python3.12/site-packages/robobin/encoder.py to encoder.cpython-312.pyc
+byte-compiling /home/robobin/robobin/ros2/src/install/robobin/lib/python3.12/site-packages/robobin/motor_control_node.py to motor_control_node.cpython-312.pyc
+byte-compiling /home/robobin/robobin/ros2/src/install/robobin/lib/python3.12/site-packages/robobin/uwb_navigation_node.py to uwb_navigation_node.cpython-312.pyc
+byte-compiling /home/robobin/robobin/ros2/src/install/robobin/lib/python3.12/site-packages/robobin/helpers/message_handler.py to message_handler.cpython-312.pyc
+byte-compiling /home/robobin/robobin/ros2/src/install/robobin/lib/python3.12/site-packages/robobin/helpers/realtime_location_cli_only.py to realtime_location_cli_only.cpython-312.pyc
+byte-compiling /home/robobin/robobin/ros2/src/install/robobin/lib/python3.12/site-packages/robobin/helpers/graph_maker.py to graph_maker.cpython-312.pyc
+byte-compiling /home/robobin/robobin/ros2/src/install/robobin/lib/python3.12/site-packages/robobin/helpers/connection_manager.py to connection_manager.cpython-312.pyc
+byte-compiling /home/robobin/robobin/ros2/src/install/robobin/lib/python3.12/site-packages/robobin/imu_node.py to imu_node.cpython-312.pyc
+byte-compiling /home/robobin/robobin/ros2/src/install/robobin/lib/python3.12/site-packages/robobin/api_node.py to api_node.cpython-312.pyc
+byte-compiling /home/robobin/robobin/ros2/src/install/robobin/lib/python3.12/site-packages/robobin/control_feedback.py to control_feedback.cpython-312.pyc
+byte-compiling /home/robobin/robobin/ros2/src/install/robobin/lib/python3.12/site-packages/robobin/uwb_pathing_node.py to uwb_pathing_node.cpython-312.pyc
+running install_data
+copying launch/robobin_launch.py -> /home/robobin/robobin/ros2/src/install/robobin/share/robobin/launch
+copying launch/robobin_no_components_launch.py -> /home/robobin/robobin/ros2/src/install/robobin/share/robobin/launch
+running install_egg_info
+removing '/home/robobin/robobin/ros2/src/install/robobin/lib/python3.12/site-packages/robobin-0.0.0-py3.12.egg-info' (and everything under it)
+Copying ../build/robobin/robobin.egg-info to /home/robobin/robobin/ros2/src/install/robobin/lib/python3.12/site-packages/robobin-0.0.0-py3.12.egg-info
+running install_scripts
+Installing api_node script to /home/robobin/robobin/ros2/src/install/robobin/lib/robobin
+Installing control_feedback script to /home/robobin/robobin/ros2/src/install/robobin/lib/robobin
+Installing encoder_node script to /home/robobin/robobin/ros2/src/install/robobin/lib/robobin
+Installing imu_node script to /home/robobin/robobin/ros2/src/install/robobin/lib/robobin
+Installing motor_control_node script to /home/robobin/robobin/ros2/src/install/robobin/lib/robobin
+Installing motor_node script to /home/robobin/robobin/ros2/src/install/robobin/lib/robobin
+Installing uwb_navigation_node script to /home/robobin/robobin/ros2/src/install/robobin/lib/robobin
+Installing uwb_pathing_node script to /home/robobin/robobin/ros2/src/install/robobin/lib/robobin
+writing list of installed files to '/home/robobin/robobin/ros2/src/build/robobin/install.log'
diff --git a/ros2/src/log/build_2024-12-18_16-50-13/robobin/streams.log b/ros2/src/log/build_2024-12-18_16-50-13/robobin/streams.log
new file mode 100644
index 00000000..d33cf71f
--- /dev/null
+++ b/ros2/src/log/build_2024-12-18_16-50-13/robobin/streams.log
@@ -0,0 +1,63 @@
+[1.329s] Invoking command in '/home/robobin/robobin/ros2/src/robobin': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/ros2/src/build/robobin/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/ros2/src/install/robobin/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../build/robobin build --build-base /home/robobin/robobin/ros2/src/build/robobin/build install --record /home/robobin/robobin/ros2/src/build/robobin/install.log --single-version-externally-managed install_data
+[1.730s] running egg_info
+[1.758s] writing ../build/robobin/robobin.egg-info/PKG-INFO
+[1.759s] writing dependency_links to ../build/robobin/robobin.egg-info/dependency_links.txt
+[1.760s] writing entry points to ../build/robobin/robobin.egg-info/entry_points.txt
+[1.761s] writing requirements to ../build/robobin/robobin.egg-info/requires.txt
+[1.761s] writing top-level names to ../build/robobin/robobin.egg-info/top_level.txt
+[1.820s] reading manifest file '../build/robobin/robobin.egg-info/SOURCES.txt'
+[1.822s] writing manifest file '../build/robobin/robobin.egg-info/SOURCES.txt'
+[1.822s] running build
+[1.822s] running build_py
+[1.824s] copying robobin/encoder.py -> /home/robobin/robobin/ros2/src/build/robobin/build/lib/robobin
+[1.825s] copying robobin/motor_control_node.py -> /home/robobin/robobin/ros2/src/build/robobin/build/lib/robobin
+[1.826s] copying robobin/uwb_navigation_node.py -> /home/robobin/robobin/ros2/src/build/robobin/build/lib/robobin
+[1.827s] copying robobin/imu_node.py -> /home/robobin/robobin/ros2/src/build/robobin/build/lib/robobin
+[1.828s] copying robobin/api_node.py -> /home/robobin/robobin/ros2/src/build/robobin/build/lib/robobin
+[1.828s] copying robobin/control_feedback.py -> /home/robobin/robobin/ros2/src/build/robobin/build/lib/robobin
+[1.829s] copying robobin/uwb_pathing_node.py -> /home/robobin/robobin/ros2/src/build/robobin/build/lib/robobin
+[1.830s] copying robobin/helpers/message_handler.py -> /home/robobin/robobin/ros2/src/build/robobin/build/lib/robobin/helpers
+[1.831s] copying robobin/helpers/realtime_location_cli_only.py -> /home/robobin/robobin/ros2/src/build/robobin/build/lib/robobin/helpers
+[1.832s] copying robobin/helpers/graph_maker.py -> /home/robobin/robobin/ros2/src/build/robobin/build/lib/robobin/helpers
+[1.833s] copying robobin/helpers/connection_manager.py -> /home/robobin/robobin/ros2/src/build/robobin/build/lib/robobin/helpers
+[1.834s] running install
+[1.846s] running install_lib
+[1.876s] copying /home/robobin/robobin/ros2/src/build/robobin/build/lib/robobin/encoder.py -> /home/robobin/robobin/ros2/src/install/robobin/lib/python3.12/site-packages/robobin
+[1.876s] copying /home/robobin/robobin/ros2/src/build/robobin/build/lib/robobin/motor_control_node.py -> /home/robobin/robobin/ros2/src/install/robobin/lib/python3.12/site-packages/robobin
+[1.876s] copying /home/robobin/robobin/ros2/src/build/robobin/build/lib/robobin/uwb_navigation_node.py -> /home/robobin/robobin/ros2/src/install/robobin/lib/python3.12/site-packages/robobin
+[1.877s] copying /home/robobin/robobin/ros2/src/build/robobin/build/lib/robobin/helpers/message_handler.py -> /home/robobin/robobin/ros2/src/install/robobin/lib/python3.12/site-packages/robobin/helpers
+[1.877s] copying /home/robobin/robobin/ros2/src/build/robobin/build/lib/robobin/helpers/realtime_location_cli_only.py -> /home/robobin/robobin/ros2/src/install/robobin/lib/python3.12/site-packages/robobin/helpers
+[1.878s] copying /home/robobin/robobin/ros2/src/build/robobin/build/lib/robobin/helpers/graph_maker.py -> /home/robobin/robobin/ros2/src/install/robobin/lib/python3.12/site-packages/robobin/helpers
+[1.878s] copying /home/robobin/robobin/ros2/src/build/robobin/build/lib/robobin/helpers/connection_manager.py -> /home/robobin/robobin/ros2/src/install/robobin/lib/python3.12/site-packages/robobin/helpers
+[1.878s] copying /home/robobin/robobin/ros2/src/build/robobin/build/lib/robobin/imu_node.py -> /home/robobin/robobin/ros2/src/install/robobin/lib/python3.12/site-packages/robobin
+[1.878s] copying /home/robobin/robobin/ros2/src/build/robobin/build/lib/robobin/api_node.py -> /home/robobin/robobin/ros2/src/install/robobin/lib/python3.12/site-packages/robobin
+[1.878s] copying /home/robobin/robobin/ros2/src/build/robobin/build/lib/robobin/control_feedback.py -> /home/robobin/robobin/ros2/src/install/robobin/lib/python3.12/site-packages/robobin
+[1.879s] copying /home/robobin/robobin/ros2/src/build/robobin/build/lib/robobin/uwb_pathing_node.py -> /home/robobin/robobin/ros2/src/install/robobin/lib/python3.12/site-packages/robobin
+[1.880s] byte-compiling /home/robobin/robobin/ros2/src/install/robobin/lib/python3.12/site-packages/robobin/encoder.py to encoder.cpython-312.pyc
+[1.881s] byte-compiling /home/robobin/robobin/ros2/src/install/robobin/lib/python3.12/site-packages/robobin/motor_control_node.py to motor_control_node.cpython-312.pyc
+[1.882s] byte-compiling /home/robobin/robobin/ros2/src/install/robobin/lib/python3.12/site-packages/robobin/uwb_navigation_node.py to uwb_navigation_node.cpython-312.pyc
+[1.892s] byte-compiling /home/robobin/robobin/ros2/src/install/robobin/lib/python3.12/site-packages/robobin/helpers/message_handler.py to message_handler.cpython-312.pyc
+[1.895s] byte-compiling /home/robobin/robobin/ros2/src/install/robobin/lib/python3.12/site-packages/robobin/helpers/realtime_location_cli_only.py to realtime_location_cli_only.cpython-312.pyc
+[1.898s] byte-compiling /home/robobin/robobin/ros2/src/install/robobin/lib/python3.12/site-packages/robobin/helpers/graph_maker.py to graph_maker.cpython-312.pyc
+[1.900s] byte-compiling /home/robobin/robobin/ros2/src/install/robobin/lib/python3.12/site-packages/robobin/helpers/connection_manager.py to connection_manager.cpython-312.pyc
+[1.901s] byte-compiling /home/robobin/robobin/ros2/src/install/robobin/lib/python3.12/site-packages/robobin/imu_node.py to imu_node.cpython-312.pyc
+[1.903s] byte-compiling /home/robobin/robobin/ros2/src/install/robobin/lib/python3.12/site-packages/robobin/api_node.py to api_node.cpython-312.pyc
+[1.905s] byte-compiling /home/robobin/robobin/ros2/src/install/robobin/lib/python3.12/site-packages/robobin/control_feedback.py to control_feedback.cpython-312.pyc
+[1.908s] byte-compiling /home/robobin/robobin/ros2/src/install/robobin/lib/python3.12/site-packages/robobin/uwb_pathing_node.py to uwb_pathing_node.cpython-312.pyc
+[1.910s] running install_data
+[1.912s] copying launch/robobin_launch.py -> /home/robobin/robobin/ros2/src/install/robobin/share/robobin/launch
+[1.913s] copying launch/robobin_no_components_launch.py -> /home/robobin/robobin/ros2/src/install/robobin/share/robobin/launch
+[1.913s] running install_egg_info
+[1.945s] removing '/home/robobin/robobin/ros2/src/install/robobin/lib/python3.12/site-packages/robobin-0.0.0-py3.12.egg-info' (and everything under it)
+[1.946s] Copying ../build/robobin/robobin.egg-info to /home/robobin/robobin/ros2/src/install/robobin/lib/python3.12/site-packages/robobin-0.0.0-py3.12.egg-info
+[1.948s] running install_scripts
+[2.151s] Installing api_node script to /home/robobin/robobin/ros2/src/install/robobin/lib/robobin
+[2.152s] Installing control_feedback script to /home/robobin/robobin/ros2/src/install/robobin/lib/robobin
+[2.152s] Installing encoder_node script to /home/robobin/robobin/ros2/src/install/robobin/lib/robobin
+[2.152s] Installing imu_node script to /home/robobin/robobin/ros2/src/install/robobin/lib/robobin
+[2.152s] Installing motor_control_node script to /home/robobin/robobin/ros2/src/install/robobin/lib/robobin
+[2.153s] Installing motor_node script to /home/robobin/robobin/ros2/src/install/robobin/lib/robobin
+[2.153s] Installing uwb_navigation_node script to /home/robobin/robobin/ros2/src/install/robobin/lib/robobin
+[2.155s] Installing uwb_pathing_node script to /home/robobin/robobin/ros2/src/install/robobin/lib/robobin
+[2.155s] writing list of installed files to '/home/robobin/robobin/ros2/src/build/robobin/install.log'
+[2.249s] Invoked command in '/home/robobin/robobin/ros2/src/robobin' returned '0': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com PYTHONPATH=/home/robobin/robobin/ros2/src/build/robobin/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/robobin/robobin/ros2/src/install/robobin/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../build/robobin build --build-base /home/robobin/robobin/ros2/src/build/robobin/build install --record /home/robobin/robobin/ros2/src/build/robobin/install.log --single-version-externally-managed install_data
--
GitLab