Package midterm

README.md

@@ -1,2 +1,3 @@
 # AdvancedRobotics_Midterm
 
+This git repository contains the ROS2 package created for the advanced robotics midterm

build/.built_by

@@ -0,0 +1 @@
+colcon

build/ros_midterm/CMakeCache.txt

@@ -0,0 +1,748 @@
+# This is the CMakeCache file.
+# For build in directory: /home/ros/ros2_ws/src/AdvancedRobotics_Midterm/build/ros_midterm
+# It was generated by CMake: /usr/bin/cmake
+# You can edit this file to change values found and used by cmake.
+# If you do not want to change any of the values, simply exit the editor.
+# If you do want to change a value, simply edit, save, and exit the editor.
+# The syntax for the file is as follows:
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+# KEY is the name of a variable in the cache.
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+//Path to a library.
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+//Path to a file.
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+//The directory containing a CMake configuration file for TinyXML2.
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+//Path to a library.
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+fastcdr_DIR:PATH=/opt/ros/humble/lib/cmake/fastcdr
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+//The directory containing a CMake configuration file for fastrtps.
+fastrtps_DIR:PATH=/opt/ros/humble/share/fastrtps/cmake
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+//The directory containing a CMake configuration file for fastrtps_cmake_module.
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+imu_DIR:PATH=imu_DIR-NOTFOUND
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+//The directory containing a CMake configuration file for libyaml_vendor.
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+//Path to a library.
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+
+//Path to a library.
+pkgcfg_lib__OPENSSL_ssl:FILEPATH=/usr/lib/x86_64-linux-gnu/libssl.so
+
+//The directory containing a CMake configuration file for rcl.
+rcl_DIR:PATH=/opt/ros/humble/share/rcl/cmake
+
+//The directory containing a CMake configuration file for rcl_interfaces.
+rcl_interfaces_DIR:PATH=/opt/ros/humble/share/rcl_interfaces/cmake
+
+//The directory containing a CMake configuration file for rcl_logging_interface.
+rcl_logging_interface_DIR:PATH=/opt/ros/humble/share/rcl_logging_interface/cmake
+
+//The directory containing a CMake configuration file for rcl_logging_spdlog.
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+
+//The directory containing a CMake configuration file for rcl_yaml_param_parser.
+rcl_yaml_param_parser_DIR:PATH=/opt/ros/humble/share/rcl_yaml_param_parser/cmake
+
+//The directory containing a CMake configuration file for rclcpp.
+rclcpp_DIR:PATH=/opt/ros/humble/share/rclcpp/cmake
+
+//The directory containing a CMake configuration file for rcpputils.
+rcpputils_DIR:PATH=/opt/ros/humble/share/rcpputils/cmake
+
+//The directory containing a CMake configuration file for rcutils.
+rcutils_DIR:PATH=/opt/ros/humble/share/rcutils/cmake
+
+//The directory containing a CMake configuration file for rmw.
+rmw_DIR:PATH=/opt/ros/humble/share/rmw/cmake
+
+//The directory containing a CMake configuration file for rmw_dds_common.
+rmw_dds_common_DIR:PATH=/opt/ros/humble/share/rmw_dds_common/cmake
+
+//The directory containing a CMake configuration file for rmw_fastrtps_cpp.
+rmw_fastrtps_cpp_DIR:PATH=/opt/ros/humble/share/rmw_fastrtps_cpp/cmake
+
+//The directory containing a CMake configuration file for rmw_fastrtps_shared_cpp.
+rmw_fastrtps_shared_cpp_DIR:PATH=/opt/ros/humble/share/rmw_fastrtps_shared_cpp/cmake
+
+//The directory containing a CMake configuration file for rmw_implementation.
+rmw_implementation_DIR:PATH=/opt/ros/humble/share/rmw_implementation/cmake
+
+//The directory containing a CMake configuration file for rmw_implementation_cmake.
+rmw_implementation_cmake_DIR:PATH=/opt/ros/humble/share/rmw_implementation_cmake/cmake
+
+//Value Computed by CMake
+ros_midterm_BINARY_DIR:STATIC=/home/ros/ros2_ws/src/AdvancedRobotics_Midterm/build/ros_midterm
+
+//Value Computed by CMake
+ros_midterm_IS_TOP_LEVEL:STATIC=ON
+
+//Value Computed by CMake
+ros_midterm_SOURCE_DIR:STATIC=/home/ros/ros2_ws/src/AdvancedRobotics_Midterm/ros_midterm
+
+//The directory containing a CMake configuration file for rosgraph_msgs.
+rosgraph_msgs_DIR:PATH=/opt/ros/humble/share/rosgraph_msgs/cmake
+
+//The directory containing a CMake configuration file for rosidl_adapter.
+rosidl_adapter_DIR:PATH=/opt/ros/humble/share/rosidl_adapter/cmake
+
+//The directory containing a CMake configuration file for rosidl_cmake.
+rosidl_cmake_DIR:PATH=/opt/ros/humble/share/rosidl_cmake/cmake
+
+//The directory containing a CMake configuration file for rosidl_default_runtime.
+rosidl_default_runtime_DIR:PATH=/opt/ros/humble/share/rosidl_default_runtime/cmake
+
+//The directory containing a CMake configuration file for rosidl_generator_c.
+rosidl_generator_c_DIR:PATH=/opt/ros/humble/share/rosidl_generator_c/cmake
+
+//The directory containing a CMake configuration file for rosidl_generator_cpp.
+rosidl_generator_cpp_DIR:PATH=/opt/ros/humble/share/rosidl_generator_cpp/cmake
+
+//The directory containing a CMake configuration file for rosidl_runtime_c.
+rosidl_runtime_c_DIR:PATH=/opt/ros/humble/share/rosidl_runtime_c/cmake
+
+//The directory containing a CMake configuration file for rosidl_runtime_cpp.
+rosidl_runtime_cpp_DIR:PATH=/opt/ros/humble/share/rosidl_runtime_cpp/cmake
+
+//The directory containing a CMake configuration file for rosidl_typesupport_c.
+rosidl_typesupport_c_DIR:PATH=/opt/ros/humble/share/rosidl_typesupport_c/cmake
+
+//The directory containing a CMake configuration file for rosidl_typesupport_cpp.
+rosidl_typesupport_cpp_DIR:PATH=/opt/ros/humble/share/rosidl_typesupport_cpp/cmake
+
+//The directory containing a CMake configuration file for rosidl_typesupport_fastrtps_c.
+rosidl_typesupport_fastrtps_c_DIR:PATH=/opt/ros/humble/share/rosidl_typesupport_fastrtps_c/cmake
+
+//The directory containing a CMake configuration file for rosidl_typesupport_fastrtps_cpp.
+rosidl_typesupport_fastrtps_cpp_DIR:PATH=/opt/ros/humble/share/rosidl_typesupport_fastrtps_cpp/cmake
+
+//The directory containing a CMake configuration file for rosidl_typesupport_interface.
+rosidl_typesupport_interface_DIR:PATH=/opt/ros/humble/share/rosidl_typesupport_interface/cmake
+
+//The directory containing a CMake configuration file for rosidl_typesupport_introspection_c.
+rosidl_typesupport_introspection_c_DIR:PATH=/opt/ros/humble/share/rosidl_typesupport_introspection_c/cmake
+
+//The directory containing a CMake configuration file for rosidl_typesupport_introspection_cpp.
+rosidl_typesupport_introspection_cpp_DIR:PATH=/opt/ros/humble/share/rosidl_typesupport_introspection_cpp/cmake
+
+//The directory containing a CMake configuration file for sensor_msgs.
+sensor_msgs_DIR:PATH=/opt/ros/humble/share/sensor_msgs/cmake
+
+//The directory containing a CMake configuration file for spdlog.
+spdlog_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/spdlog
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+statistics_msgs_DIR:PATH=/opt/ros/humble/share/statistics_msgs/cmake
+
+//The directory containing a CMake configuration file for std_msgs.
+std_msgs_DIR:PATH=/opt/ros/humble/share/std_msgs/cmake
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+
+//Value Computed by CMake
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+//Value Computed by CMake
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+
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+//Path to a program.
+xmllint_BIN:FILEPATH=/usr/bin/xmllint
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+
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+#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_C    & 0xF)
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+
+
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+
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+
+#elif defined(__clang__) && defined(__apple_build_version__)
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+#  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__)
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+  # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION     % 10000)
+# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION)
+
+#elif defined(__clang__)
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+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
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+#elif defined(__GNUC__)
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+#  define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100))
+#  define COMPILER_VERSION_PATCH DEC(__SUBVERSION__)
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+#  define COMPILER_VERSION_MINOR DEC(__SDCC_VERSION_MINOR)
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+#  define COMPILER_VERSION_MINOR DEC(SDCC/10 % 10)
+#  define COMPILER_VERSION_PATCH DEC(SDCC    % 10)
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+#if defined(__linux) || defined(__linux__) || defined(linux)
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+#elif defined(__CYGWIN__)
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+
+#elif defined(__MINGW32__)
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+#elif defined(__APPLE__)
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+
+#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32)
+# define PLATFORM_ID "Windows"
+
+#elif defined(__FreeBSD__) || defined(__FreeBSD)
+# define PLATFORM_ID "FreeBSD"
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+#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)
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+
+#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 */
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+# endif
+
+#elif defined(__INTEGRITY)
+# if defined(INT_178B)
+#  define PLATFORM_ID "Integrity178"
+
+# else /* regular Integrity */
+#  define PLATFORM_ID "Integrity"
+# endif
+
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+# define PLATFORM_ID
+
+#endif
+
+/* For windows compilers MSVC and Intel we can determine
+   the architecture of the compiler being used.  This is because
+   the compilers do not have flags that can change the architecture,
+   but rather depend on which compiler is being used
+*/
+#if defined(_WIN32) && defined(_MSC_VER)
+# if defined(_M_IA64)
+#  define ARCHITECTURE_ID "IA64"
+
+# elif defined(_M_ARM64EC)
+#  define ARCHITECTURE_ID "ARM64EC"
+
+# elif defined(_M_X64) || defined(_M_AMD64)
+#  define ARCHITECTURE_ID "x64"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# elif defined(_M_ARM64)
+#  define ARCHITECTURE_ID "ARM64"
+
+# elif defined(_M_ARM)
+#  if _M_ARM == 4
+#   define ARCHITECTURE_ID "ARMV4I"
+#  elif _M_ARM == 5
+#   define ARCHITECTURE_ID "ARMV5I"
+#  else
+#   define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM)
+#  endif
+
+# elif defined(_M_MIPS)
+#  define ARCHITECTURE_ID "MIPS"
+
+# elif defined(_M_SH)
+#  define ARCHITECTURE_ID "SHx"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__WATCOMC__)
+# if defined(_M_I86)
+#  define ARCHITECTURE_ID "I86"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# if defined(__ICCARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__ICCRX__)
+#  define ARCHITECTURE_ID "RX"
+
+# elif defined(__ICCRH850__)
+#  define ARCHITECTURE_ID "RH850"
+
+# elif defined(__ICCRL78__)
+#  define ARCHITECTURE_ID "RL78"
+
+# elif defined(__ICCRISCV__)
+#  define ARCHITECTURE_ID "RISCV"
+
+# elif defined(__ICCAVR__)
+#  define ARCHITECTURE_ID "AVR"
+
+# elif defined(__ICC430__)
+#  define ARCHITECTURE_ID "MSP430"
+
+# elif defined(__ICCV850__)
+#  define ARCHITECTURE_ID "V850"
+
+# elif defined(__ICC8051__)
+#  define ARCHITECTURE_ID "8051"
+
+# elif defined(__ICCSTM8__)
+#  define ARCHITECTURE_ID "STM8"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__ghs__)
+# if defined(__PPC64__)
+#  define ARCHITECTURE_ID "PPC64"
+
+# elif defined(__ppc__)
+#  define ARCHITECTURE_ID "PPC"
+
+# elif defined(__ARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__x86_64__)
+#  define ARCHITECTURE_ID "x64"
+
+# elif defined(__i386__)
+#  define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__TI_COMPILER_VERSION__)
+# if defined(__TI_ARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__MSP430__)
+#  define ARCHITECTURE_ID "MSP430"
+
+# elif defined(__TMS320C28XX__)
+#  define ARCHITECTURE_ID "TMS320C28x"
+
+# elif defined(__TMS320C6X__) || defined(_TMS320C6X)
+#  define ARCHITECTURE_ID "TMS320C6x"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#else
+#  define ARCHITECTURE_ID
+#endif
+
+/* Convert integer to decimal digit literals.  */
+#define DEC(n)                   \
+  ('0' + (((n) / 10000000)%10)), \
+  ('0' + (((n) / 1000000)%10)),  \
+  ('0' + (((n) / 100000)%10)),   \
+  ('0' + (((n) / 10000)%10)),    \
+  ('0' + (((n) / 1000)%10)),     \
+  ('0' + (((n) / 100)%10)),      \
+  ('0' + (((n) / 10)%10)),       \
+  ('0' +  ((n) % 10))
+
+/* Convert integer to hex digit literals.  */
+#define HEX(n)             \
+  ('0' + ((n)>>28 & 0xF)), \
+  ('0' + ((n)>>24 & 0xF)), \
+  ('0' + ((n)>>20 & 0xF)), \
+  ('0' + ((n)>>16 & 0xF)), \
+  ('0' + ((n)>>12 & 0xF)), \
+  ('0' + ((n)>>8  & 0xF)), \
+  ('0' + ((n)>>4  & 0xF)), \
+  ('0' + ((n)     & 0xF))
+
+/* Construct a string literal encoding the version number. */
+#ifdef COMPILER_VERSION
+char const* info_version = "INFO" ":" "compiler_version[" COMPILER_VERSION "]";
+
+/* Construct a string literal encoding the version number components. */
+#elif defined(COMPILER_VERSION_MAJOR)
+char const info_version[] = {
+  'I', 'N', 'F', 'O', ':',
+  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[',
+  COMPILER_VERSION_MAJOR,
+# ifdef COMPILER_VERSION_MINOR
+  '.', COMPILER_VERSION_MINOR,
+#  ifdef COMPILER_VERSION_PATCH
+   '.', COMPILER_VERSION_PATCH,
+#   ifdef COMPILER_VERSION_TWEAK
+    '.', COMPILER_VERSION_TWEAK,
+#   endif
+#  endif
+# endif
+  ']','\0'};
+#endif
+
+/* Construct a string literal encoding the internal version number. */
+#ifdef COMPILER_VERSION_INTERNAL
+char const info_version_internal[] = {
+  'I', 'N', 'F', 'O', ':',
+  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_',
+  'i','n','t','e','r','n','a','l','[',
+  COMPILER_VERSION_INTERNAL,']','\0'};
+#elif defined(COMPILER_VERSION_INTERNAL_STR)
+char const* info_version_internal = "INFO" ":" "compiler_version_internal[" COMPILER_VERSION_INTERNAL_STR "]";
+#endif
+
+/* Construct a string literal encoding the version number components. */
+#ifdef SIMULATE_VERSION_MAJOR
+char const info_simulate_version[] = {
+  'I', 'N', 'F', 'O', ':',
+  's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[',
+  SIMULATE_VERSION_MAJOR,
+# ifdef SIMULATE_VERSION_MINOR
+  '.', SIMULATE_VERSION_MINOR,
+#  ifdef SIMULATE_VERSION_PATCH
+   '.', SIMULATE_VERSION_PATCH,
+#   ifdef SIMULATE_VERSION_TWEAK
+    '.', SIMULATE_VERSION_TWEAK,
+#   endif
+#  endif
+# endif
+  ']','\0'};
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
+char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]";
+char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]";
+
+
+
+#if !defined(__STDC__) && !defined(__clang__)
+# if defined(_MSC_VER) || defined(__ibmxl__) || defined(__IBMC__)
+#  define C_VERSION "90"
+# else
+#  define C_VERSION
+# endif
+#elif __STDC_VERSION__ > 201710L
+# define C_VERSION "23"
+#elif __STDC_VERSION__ >= 201710L
+# define C_VERSION "17"
+#elif __STDC_VERSION__ >= 201000L
+# define C_VERSION "11"
+#elif __STDC_VERSION__ >= 199901L
+# define C_VERSION "99"
+#else
+# define C_VERSION "90"
+#endif
+const char* info_language_standard_default =
+  "INFO" ":" "standard_default[" C_VERSION "]";
+
+const char* info_language_extensions_default = "INFO" ":" "extensions_default["
+/* !defined(_MSC_VER) to exclude Clang's MSVC compatibility mode. */
+#if (defined(__clang__) || defined(__GNUC__) ||                               \
+     defined(__TI_COMPILER_VERSION__)) &&                                     \
+  !defined(__STRICT_ANSI__) && !defined(_MSC_VER)
+  "ON"
+#else
+  "OFF"
+#endif
+"]";
+
+/*--------------------------------------------------------------------------*/
+
+#ifdef ID_VOID_MAIN
+void main() {}
+#else
+# if defined(__CLASSIC_C__)
+int main(argc, argv) int argc; char *argv[];
+# else
+int main(int argc, char* argv[])
+# endif
+{
+  int require = 0;
+  require += info_compiler[argc];
+  require += info_platform[argc];
+  require += info_arch[argc];
+#ifdef COMPILER_VERSION_MAJOR
+  require += info_version[argc];
+#endif
+#ifdef COMPILER_VERSION_INTERNAL
+  require += info_version_internal[argc];
+#endif
+#ifdef SIMULATE_ID
+  require += info_simulate[argc];
+#endif
+#ifdef SIMULATE_VERSION_MAJOR
+  require += info_simulate_version[argc];
+#endif
+#if defined(__CRAYXT_COMPUTE_LINUX_TARGET)
+  require += info_cray[argc];
+#endif
+  require += info_language_standard_default[argc];
+  require += info_language_extensions_default[argc];
+  (void)argv;
+  return require;
+}
+#endif

build/ros_midterm/CMakeFiles/3.22.1/CompilerIdCXX/CMakeCXXCompilerId.cpp

@@ -0,0 +1,791 @@
+/* This source file must have a .cpp extension so that all C++ compilers
+   recognize the extension without flags.  Borland does not know .cxx for
+   example.  */
+#ifndef __cplusplus
+# error "A C compiler has been selected for C++."
+#endif
+
+#if !defined(__has_include)
+/* If the compiler does not have __has_include, pretend the answer is
+   always no.  */
+#  define __has_include(x) 0
+#endif
+
+
+/* Version number components: V=Version, R=Revision, P=Patch
+   Version date components:   YYYY=Year, MM=Month,   DD=Day  */
+
+#if defined(__COMO__)
+# define COMPILER_ID "Comeau"
+  /* __COMO_VERSION__ = VRR */
+# define COMPILER_VERSION_MAJOR DEC(__COMO_VERSION__ / 100)
+# define COMPILER_VERSION_MINOR DEC(__COMO_VERSION__ % 100)
+
+#elif defined(__INTEL_COMPILER) || defined(__ICC)
+# define COMPILER_ID "Intel"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# if defined(__GNUC__)
+#  define SIMULATE_ID "GNU"
+# endif
+  /* __INTEL_COMPILER = VRP prior to 2021, and then VVVV for 2021 and later,
+     except that a few beta releases use the old format with V=2021.  */
+# if __INTEL_COMPILER < 2021 || __INTEL_COMPILER == 202110 || __INTEL_COMPILER == 202111
+#  define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER/100)
+#  define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER/10 % 10)
+#  if defined(__INTEL_COMPILER_UPDATE)
+#   define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER_UPDATE)
+#  else
+#   define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER   % 10)
+#  endif
+# else
+#  define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER)
+#  define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER_UPDATE)
+   /* The third version component from --version is an update index,
+      but no macro is provided for it.  */
+#  define COMPILER_VERSION_PATCH DEC(0)
+# endif
+# if defined(__INTEL_COMPILER_BUILD_DATE)
+   /* __INTEL_COMPILER_BUILD_DATE = YYYYMMDD */
+#  define COMPILER_VERSION_TWEAK DEC(__INTEL_COMPILER_BUILD_DATE)
+# endif
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+# if defined(__GNUC__)
+#  define SIMULATE_VERSION_MAJOR DEC(__GNUC__)
+# elif defined(__GNUG__)
+#  define SIMULATE_VERSION_MAJOR DEC(__GNUG__)
+# endif
+# if defined(__GNUC_MINOR__)
+#  define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__)
+# endif
+# if defined(__GNUC_PATCHLEVEL__)
+#  define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif (defined(__clang__) && defined(__INTEL_CLANG_COMPILER)) || defined(__INTEL_LLVM_COMPILER)
+# define COMPILER_ID "IntelLLVM"
+#if defined(_MSC_VER)
+# define SIMULATE_ID "MSVC"
+#endif
+#if defined(__GNUC__)
+# define SIMULATE_ID "GNU"
+#endif
+/* __INTEL_LLVM_COMPILER = VVVVRP prior to 2021.2.0, VVVVRRPP for 2021.2.0 and
+ * later.  Look for 6 digit vs. 8 digit version number to decide encoding.
+ * VVVV is no smaller than the current year when a version is released.
+ */
+#if __INTEL_LLVM_COMPILER < 1000000L
+# define COMPILER_VERSION_MAJOR DEC(__INTEL_LLVM_COMPILER/100)
+# define COMPILER_VERSION_MINOR DEC(__INTEL_LLVM_COMPILER/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__INTEL_LLVM_COMPILER    % 10)
+#else
+# define COMPILER_VERSION_MAJOR DEC(__INTEL_LLVM_COMPILER/10000)
+# define COMPILER_VERSION_MINOR DEC(__INTEL_LLVM_COMPILER/100 % 100)
+# define COMPILER_VERSION_PATCH DEC(__INTEL_LLVM_COMPILER     % 100)
+#endif
+#if defined(_MSC_VER)
+  /* _MSC_VER = VVRR */
+# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+#endif
+#if defined(__GNUC__)
+# define SIMULATE_VERSION_MAJOR DEC(__GNUC__)
+#elif defined(__GNUG__)
+# define SIMULATE_VERSION_MAJOR DEC(__GNUG__)
+#endif
+#if defined(__GNUC_MINOR__)
+# define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__)
+#endif
+#if defined(__GNUC_PATCHLEVEL__)
+# define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+#endif
+
+#elif defined(__PATHCC__)
+# define COMPILER_ID "PathScale"
+# define COMPILER_VERSION_MAJOR DEC(__PATHCC__)
+# define COMPILER_VERSION_MINOR DEC(__PATHCC_MINOR__)
+# if defined(__PATHCC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__PATHCC_PATCHLEVEL__)
+# endif
+
+#elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__)
+# define COMPILER_ID "Embarcadero"
+# define COMPILER_VERSION_MAJOR HEX(__CODEGEARC_VERSION__>>24 & 0x00FF)
+# define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF)
+# define COMPILER_VERSION_PATCH DEC(__CODEGEARC_VERSION__     & 0xFFFF)
+
+#elif defined(__BORLANDC__)
+# define COMPILER_ID "Borland"
+  /* __BORLANDC__ = 0xVRR */
+# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8)
+# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF)
+
+#elif defined(__WATCOMC__) && __WATCOMC__ < 1200
+# define COMPILER_ID "Watcom"
+   /* __WATCOMC__ = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100)
+# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10)
+# if (__WATCOMC__ % 10) > 0
+#  define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10)
+# endif
+
+#elif defined(__WATCOMC__)
+# define COMPILER_ID "OpenWatcom"
+   /* __WATCOMC__ = VVRP + 1100 */
+# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100)
+# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10)
+# if (__WATCOMC__ % 10) > 0
+#  define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10)
+# endif
+
+#elif defined(__SUNPRO_CC)
+# define COMPILER_ID "SunPro"
+# if __SUNPRO_CC >= 0x5100
+   /* __SUNPRO_CC = 0xVRRP */
+#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>12)
+#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xFF)
+#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC    & 0xF)
+# else
+   /* __SUNPRO_CC = 0xVRP */
+#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>8)
+#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xF)
+#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC    & 0xF)
+# endif
+
+#elif defined(__HP_aCC)
+# define COMPILER_ID "HP"
+  /* __HP_aCC = VVRRPP */
+# define COMPILER_VERSION_MAJOR DEC(__HP_aCC/10000)
+# define COMPILER_VERSION_MINOR DEC(__HP_aCC/100 % 100)
+# define COMPILER_VERSION_PATCH DEC(__HP_aCC     % 100)
+
+#elif defined(__DECCXX)
+# define COMPILER_ID "Compaq"
+  /* __DECCXX_VER = VVRRTPPPP */
+# define COMPILER_VERSION_MAJOR DEC(__DECCXX_VER/10000000)
+# define COMPILER_VERSION_MINOR DEC(__DECCXX_VER/100000  % 100)
+# define COMPILER_VERSION_PATCH DEC(__DECCXX_VER         % 10000)
+
+#elif defined(__IBMCPP__) && defined(__COMPILER_VER__)
+# define COMPILER_ID "zOS"
+  /* __IBMCPP__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMCPP__    % 10)
+
+#elif defined(__ibmxl__) && defined(__clang__)
+# define COMPILER_ID "XLClang"
+# define COMPILER_VERSION_MAJOR DEC(__ibmxl_version__)
+# define COMPILER_VERSION_MINOR DEC(__ibmxl_release__)
+# define COMPILER_VERSION_PATCH DEC(__ibmxl_modification__)
+# define COMPILER_VERSION_TWEAK DEC(__ibmxl_ptf_fix_level__)
+
+
+#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ >= 800
+# define COMPILER_ID "XL"
+  /* __IBMCPP__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMCPP__    % 10)
+
+#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ < 800
+# define COMPILER_ID "VisualAge"
+  /* __IBMCPP__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMCPP__    % 10)
+
+#elif defined(__NVCOMPILER)
+# define COMPILER_ID "NVHPC"
+# define COMPILER_VERSION_MAJOR DEC(__NVCOMPILER_MAJOR__)
+# define COMPILER_VERSION_MINOR DEC(__NVCOMPILER_MINOR__)
+# if defined(__NVCOMPILER_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__NVCOMPILER_PATCHLEVEL__)
+# endif
+
+#elif defined(__PGI)
+# define COMPILER_ID "PGI"
+# define COMPILER_VERSION_MAJOR DEC(__PGIC__)
+# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__)
+# if defined(__PGIC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__)
+# endif
+
+#elif defined(_CRAYC)
+# define COMPILER_ID "Cray"
+# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR)
+# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR)
+
+#elif defined(__TI_COMPILER_VERSION__)
+# define COMPILER_ID "TI"
+  /* __TI_COMPILER_VERSION__ = VVVRRRPPP */
+# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000)
+# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000   % 1000)
+# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__        % 1000)
+
+#elif defined(__CLANG_FUJITSU)
+# define COMPILER_ID "FujitsuClang"
+# define COMPILER_VERSION_MAJOR DEC(__FCC_major__)
+# define COMPILER_VERSION_MINOR DEC(__FCC_minor__)
+# define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__)
+# define COMPILER_VERSION_INTERNAL_STR __clang_version__
+
+
+#elif defined(__FUJITSU)
+# define COMPILER_ID "Fujitsu"
+# if defined(__FCC_version__)
+#   define COMPILER_VERSION __FCC_version__
+# elif defined(__FCC_major__)
+#   define COMPILER_VERSION_MAJOR DEC(__FCC_major__)
+#   define COMPILER_VERSION_MINOR DEC(__FCC_minor__)
+#   define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__)
+# endif
+# if defined(__fcc_version)
+#   define COMPILER_VERSION_INTERNAL DEC(__fcc_version)
+# elif defined(__FCC_VERSION)
+#   define COMPILER_VERSION_INTERNAL DEC(__FCC_VERSION)
+# endif
+
+
+#elif defined(__ghs__)
+# define COMPILER_ID "GHS"
+/* __GHS_VERSION_NUMBER = VVVVRP */
+# ifdef __GHS_VERSION_NUMBER
+# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100)
+# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER      % 10)
+# endif
+
+#elif defined(__SCO_VERSION__)
+# define COMPILER_ID "SCO"
+
+#elif defined(__ARMCC_VERSION) && !defined(__clang__)
+# define COMPILER_ID "ARMCC"
+#if __ARMCC_VERSION >= 1000000
+  /* __ARMCC_VERSION = VRRPPPP */
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION     % 10000)
+#else
+  /* __ARMCC_VERSION = VRPPPP */
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION    % 10000)
+#endif
+
+
+#elif defined(__clang__) && defined(__apple_build_version__)
+# define COMPILER_ID "AppleClang"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__)
+
+#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION)
+# define COMPILER_ID "ARMClang"
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION     % 10000)
+# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION)
+
+#elif defined(__clang__)
+# define COMPILER_ID "Clang"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+
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+
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+Performing C SOURCE FILE Test CMAKE_HAVE_LIBC_PTHREAD succeeded with the following output:
+Change Dir: /home/ros/ros2_ws/src/AdvancedRobotics_Midterm/build/ros_midterm/CMakeFiles/CMakeTmp
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+Run Build Command(s):/usr/bin/gmake -f Makefile cmTC_69d32/fast && /usr/bin/gmake  -f CMakeFiles/cmTC_69d32.dir/build.make CMakeFiles/cmTC_69d32.dir/build
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+gmake[1]: Leaving directory '/home/ros/ros2_ws/src/AdvancedRobotics_Midterm/build/ros_midterm/CMakeFiles/CMakeTmp'
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+{
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build/ros_midterm/CMakeFiles/cmake.check_cache

@@ -0,0 +1 @@
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build/ros_midterm/CTestConfiguration.ini

@@ -0,0 +1,105 @@
+# This file is configured by CMake automatically as DartConfiguration.tcl
+# If you choose not to use CMake, this file may be hand configured, by
+# filling in the required variables.
+
+
+# Configuration directories and files
+SourceDirectory: /home/ros/ros2_ws/src/AdvancedRobotics_Midterm/ros_midterm
+BuildDirectory: /home/ros/ros2_ws/src/AdvancedRobotics_Midterm/build/ros_midterm
+
+# Where to place the cost data store
+CostDataFile: 
+
+# Site is something like machine.domain, i.e. pragmatic.crd
+Site: ros-vm
+
+# Build name is osname-revision-compiler, i.e. Linux-2.4.2-2smp-c++
+BuildName: 
+
+# Subprojects
+LabelsForSubprojects: 
+
+# Submission information
+SubmitURL: 
+
+# Dashboard start time
+NightlyStartTime: 
+
+# Commands for the build/test/submit cycle
+ConfigureCommand: "/usr/bin/cmake" "/home/ros/ros2_ws/src/AdvancedRobotics_Midterm/ros_midterm"
+MakeCommand: 
+DefaultCTestConfigurationType: 
+
+# version control
+UpdateVersionOnly: 
+
+# CVS options
+# Default is "-d -P -A"
+CVSCommand: 
+CVSUpdateOptions: 
+
+# Subversion options
+SVNCommand: 
+SVNOptions: 
+SVNUpdateOptions: 
+
+# Git options
+GITCommand: 
+GITInitSubmodules: 
+GITUpdateOptions: 
+GITUpdateCustom: 
+
+# Perforce options
+P4Command: 
+P4Client: 
+P4Options: 
+P4UpdateOptions: 
+P4UpdateCustom: 
+
+# Generic update command
+UpdateCommand: 
+UpdateOptions: 
+UpdateType: 
+
+# Compiler info
+Compiler: /usr/bin/c++
+CompilerVersion: 11.4.0
+
+# Dynamic analysis (MemCheck)
+PurifyCommand: 
+ValgrindCommand: 
+ValgrindCommandOptions: 
+DrMemoryCommand: 
+DrMemoryCommandOptions: 
+CudaSanitizerCommand: 
+CudaSanitizerCommandOptions: 
+MemoryCheckType: 
+MemoryCheckSanitizerOptions: 
+MemoryCheckCommand: 
+MemoryCheckCommandOptions: 
+MemoryCheckSuppressionFile: 
+
+# Coverage
+CoverageCommand: 
+CoverageExtraFlags: 
+
+# Testing options
+# TimeOut is the amount of time in seconds to wait for processes
+# to complete during testing.  After TimeOut seconds, the
+# process will be summarily terminated.
+# Currently set to 25 minutes
+TimeOut: 
+
+# During parallel testing CTest will not start a new test if doing
+# so would cause the system load to exceed this value.
+TestLoad: 
+
+UseLaunchers: 
+CurlOptions: 
+# warning, if you add new options here that have to do with submit,
+# you have to update cmCTestSubmitCommand.cxx
+
+# For CTest submissions that timeout, these options
+# specify behavior for retrying the submission
+CTestSubmitRetryDelay: 
+CTestSubmitRetryCount: 

build/ros_midterm/CTestCustom.cmake

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

build/ros_midterm/ament_cmake_core/package.cmake

@@ -0,0 +1,14 @@
+set(_AMENT_PACKAGE_NAME "ros_midterm")
+set(ros_midterm_VERSION "0.0.0")
+set(ros_midterm_MAINTAINER "ros <ros@todo.todo>")
+set(ros_midterm_BUILD_DEPENDS "rclcpp" "sensor_msgs")
+set(ros_midterm_BUILDTOOL_DEPENDS "ament_cmake")
+set(ros_midterm_BUILD_EXPORT_DEPENDS "rclcpp" "sensor_msgs")
+set(ros_midterm_BUILDTOOL_EXPORT_DEPENDS )
+set(ros_midterm_EXEC_DEPENDS "rclcpp" "sensor_msgs")
+set(ros_midterm_TEST_DEPENDS "ament_lint_auto" "ament_lint_common")
+set(ros_midterm_GROUP_DEPENDS )
+set(ros_midterm_MEMBER_OF_GROUPS )
+set(ros_midterm_DEPRECATED "")
+set(ros_midterm_EXPORT_TAGS)
+list(APPEND ros_midterm_EXPORT_TAGS "<build_type>ament_cmake</build_type>")

build/ros_midterm/ament_cmake_core/ros_midtermConfig-version.cmake

@@ -0,0 +1,14 @@
+# generated from ament/cmake/core/templates/nameConfig-version.cmake.in
+set(PACKAGE_VERSION "0.0.0")
+
+set(PACKAGE_VERSION_EXACT False)
+set(PACKAGE_VERSION_COMPATIBLE False)
+
+if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}")
+  set(PACKAGE_VERSION_EXACT True)
+  set(PACKAGE_VERSION_COMPATIBLE True)
+endif()
+
+if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}")
+  set(PACKAGE_VERSION_COMPATIBLE True)
+endif()

build/ros_midterm/ament_cmake_core/ros_midtermConfig.cmake

@@ -0,0 +1,42 @@
+# generated from ament/cmake/core/templates/nameConfig.cmake.in
+
+# prevent multiple inclusion
+if(_ros_midterm_CONFIG_INCLUDED)
+  # ensure to keep the found flag the same
+  if(NOT DEFINED ros_midterm_FOUND)
+    # explicitly set it to FALSE, otherwise CMake will set it to TRUE
+    set(ros_midterm_FOUND FALSE)
+  elseif(NOT ros_midterm_FOUND)
+    # use separate condition to avoid uninitialized variable warning
+    set(ros_midterm_FOUND FALSE)
+  endif()
+  return()
+endif()
+set(_ros_midterm_CONFIG_INCLUDED TRUE)
+
+# output package information
+if(NOT ros_midterm_FIND_QUIETLY)
+  message(STATUS "Found ros_midterm: 0.0.0 (${ros_midterm_DIR})")
+endif()
+
+# warn when using a deprecated package
+if(NOT "" STREQUAL "")
+  set(_msg "Package 'ros_midterm' is deprecated")
+  # append custom deprecation text if available
+  if(NOT "" STREQUAL "TRUE")
+    set(_msg "${_msg} ()")
+  endif()
+  # optionally quiet the deprecation message
+  if(NOT ${ros_midterm_DEPRECATED_QUIET})
+    message(DEPRECATION "${_msg}")
+  endif()
+endif()
+
+# flag package as ament-based to distinguish it after being find_package()-ed
+set(ros_midterm_FOUND_AMENT_PACKAGE TRUE)
+
+# include all config extra files
+set(_extras "")
+foreach(_extra ${_extras})
+  include("${ros_midterm_DIR}/${_extra}")
+endforeach()

build/ros_midterm/ament_cmake_core/stamps/ament_prefix_path.sh.stamp

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

build/ros_midterm/ament_cmake_core/stamps/nameConfig-version.cmake.in.stamp

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

build/ros_midterm/ament_cmake_core/stamps/nameConfig.cmake.in.stamp

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

build/ros_midterm/ament_cmake_core/stamps/package.xml.stamp

@@ -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>ros_midterm</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="ros@todo.todo">ros</maintainer>
+  <license>Apache-2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  
+  <depend>rclcpp</depend>
+  <depend>sensor_msgs</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

build/ros_midterm/ament_cmake_core/stamps/package_xml_2_cmake.py.stamp

@@ -0,0 +1,150 @@
+#!/usr/bin/env python3
+
+# Copyright 2014-2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import argparse
+from collections import OrderedDict
+import os
+import sys
+
+from catkin_pkg.package import parse_package_string
+
+
+def main(argv=sys.argv[1:]):
+    """
+    Extract the information from package.xml and make them accessible to CMake.
+
+    Parse the given package.xml file and
+    print CMake code defining several variables containing the content.
+    """
+    parser = argparse.ArgumentParser(
+        description='Parse package.xml file and print CMake code defining '
+                    'several variables',
+    )
+    parser.add_argument(
+        'package_xml',
+        type=argparse.FileType('r', encoding='utf-8'),
+        help='The path to a package.xml file',
+    )
+    parser.add_argument(
+        'outfile',
+        nargs='?',
+        help='The filename where the output should be written to',
+    )
+    args = parser.parse_args(argv)
+
+    try:
+        package = parse_package_string(
+            args.package_xml.read(), filename=args.package_xml.name)
+    except Exception as e:
+        print("Error parsing '%s':" % args.package_xml.name, file=sys.stderr)
+        raise e
+    finally:
+        args.package_xml.close()
+
+    lines = generate_cmake_code(package)
+    if args.outfile:
+        with open(args.outfile, 'w', encoding='utf-8') as f:
+            for line in lines:
+                f.write('%s\n' % line)
+    else:
+        for line in lines:
+            print(line)
+
+
+def get_dependency_values(key, depends):
+    dependencies = []
+
+    # Filter the dependencies, checking for any condition attributes
+    dependencies.append((key, ' '.join([
+        '"%s"' % str(d) for d in depends
+        if d.condition is None or d.evaluate_condition(os.environ)
+    ])))
+
+    for d in depends:
+        comparisons = [
+            'version_lt',
+            'version_lte',
+            'version_eq',
+            'version_gte',
+            'version_gt']
+        for comp in comparisons:
+            value = getattr(d, comp, None)
+            if value is not None:
+                dependencies.append(('%s_%s_%s' % (key, str(d), comp.upper()),
+                                     '"%s"' % value))
+    return dependencies
+
+
+def generate_cmake_code(package):
+    """
+    Return a list of CMake set() commands containing the manifest information.
+
+    :param package: catkin_pkg.package.Package
+    :returns: list of str
+    """
+    variables = []
+    variables.append(('VERSION', '"%s"' % package.version))
+
+    variables.append((
+        'MAINTAINER',
+        '"%s"' % (', '.join([str(m) for m in package.maintainers]))))
+
+    variables.extend(get_dependency_values('BUILD_DEPENDS',
+                                           package.build_depends))
+    variables.extend(get_dependency_values('BUILDTOOL_DEPENDS',
+                                           package.buildtool_depends))
+    variables.extend(get_dependency_values('BUILD_EXPORT_DEPENDS',
+                                           package.build_export_depends))
+    variables.extend(get_dependency_values('BUILDTOOL_EXPORT_DEPENDS',
+                                           package.buildtool_export_depends))
+    variables.extend(get_dependency_values('EXEC_DEPENDS',
+                                           package.exec_depends))
+    variables.extend(get_dependency_values('TEST_DEPENDS',
+                                           package.test_depends))
+    variables.extend(get_dependency_values('GROUP_DEPENDS',
+                                           package.group_depends))
+    variables.extend(get_dependency_values('MEMBER_OF_GROUPS',
+                                           package.member_of_groups))
+
+    deprecated = [e.content for e in package.exports
+                  if e.tagname == 'deprecated']
+    variables.append(('DEPRECATED',
+                      '"%s"' % ((deprecated[0] if deprecated[0] else 'TRUE')
+                                if deprecated
+                                else '')))
+
+    lines = []
+    lines.append('set(_AMENT_PACKAGE_NAME "%s")' % package.name)
+    for (k, v) in variables:
+        lines.append('set(%s_%s %s)' % (package.name, k, v))
+
+    lines.append('set(%s_EXPORT_TAGS)' % package.name)
+    replaces = OrderedDict()
+    replaces['${prefix}/'] = ''
+    replaces['\\'] = '\\\\'  # escape backslashes
+    replaces['"'] = '\\"'  # prevent double quotes to end the CMake string
+    replaces[';'] = '\\;'  # prevent semicolons to be interpreted as list separators
+    for export in package.exports:
+        export = str(export)
+        for k, v in replaces.items():
+            export = export.replace(k, v)
+        lines.append('list(APPEND %s_EXPORT_TAGS "%s")' % (package.name, export))
+
+    return lines
+
+
+if __name__ == '__main__':
+    main()

build/ros_midterm/ament_cmake_core/stamps/path.sh.stamp

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

build/ros_midterm/ament_cmake_core/stamps/templates_2_cmake.py.stamp

@@ -0,0 +1,112 @@
+#!/usr/bin/env python3
+
+# Copyright 2014-2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import argparse
+import os
+import sys
+
+from ament_package.templates import get_environment_hook_template_path
+from ament_package.templates import get_package_level_template_names
+from ament_package.templates import get_package_level_template_path
+from ament_package.templates import get_prefix_level_template_names
+from ament_package.templates import get_prefix_level_template_path
+
+IS_WINDOWS = os.name == 'nt'
+
+
+def main(argv=sys.argv[1:]):
+    """
+    Extract the information about templates provided by ament_package.
+
+    Call the API provided by ament_package and
+    print CMake code defining several variables containing information about
+    the available templates.
+    """
+    parser = argparse.ArgumentParser(
+        description='Extract information about templates provided by '
+                    'ament_package and print CMake code defining several '
+                    'variables',
+    )
+    parser.add_argument(
+        'outfile',
+        nargs='?',
+        help='The filename where the output should be written to',
+    )
+    args = parser.parse_args(argv)
+
+    lines = generate_cmake_code()
+    if args.outfile:
+        basepath = os.path.dirname(args.outfile)
+        if not os.path.exists(basepath):
+            os.makedirs(basepath)
+        with open(args.outfile, 'w') as f:
+            for line in lines:
+                f.write('%s\n' % line)
+    else:
+        for line in lines:
+            print(line)
+
+
+def generate_cmake_code():
+    """
+    Return a list of CMake set() commands containing the template information.
+
+    :returns: list of str
+    """
+    variables = []
+
+    if not IS_WINDOWS:
+        variables.append((
+            'ENVIRONMENT_HOOK_LIBRARY_PATH',
+            '"%s"' % get_environment_hook_template_path('library_path.sh')))
+    else:
+        variables.append(('ENVIRONMENT_HOOK_LIBRARY_PATH', ''))
+
+    ext = '.bat.in' if IS_WINDOWS else '.sh.in'
+    variables.append((
+        'ENVIRONMENT_HOOK_PYTHONPATH',
+        '"%s"' % get_environment_hook_template_path('pythonpath' + ext)))
+
+    templates = []
+    for name in get_package_level_template_names():
+        templates.append('"%s"' % get_package_level_template_path(name))
+    variables.append((
+        'PACKAGE_LEVEL',
+        templates))
+
+    templates = []
+    for name in get_prefix_level_template_names():
+        templates.append('"%s"' % get_prefix_level_template_path(name))
+    variables.append((
+        'PREFIX_LEVEL',
+        templates))
+
+    lines = []
+    for (k, v) in variables:
+        if isinstance(v, list):
+            lines.append('set(ament_cmake_package_templates_%s "")' % k)
+            for vv in v:
+                lines.append('list(APPEND ament_cmake_package_templates_%s %s)'
+                             % (k, vv))
+        else:
+            lines.append('set(ament_cmake_package_templates_%s %s)' % (k, v))
+    # Ensure backslashes are replaced with forward slashes because CMake cannot
+    # parse files with backslashes in it.
+    return [line.replace('\\', '/') for line in lines]
+
+
+if __name__ == '__main__':
+    main()

build/ros_midterm/ament_cmake_environment_hooks/ament_prefix_path.dsv

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

build/ros_midterm/ament_cmake_environment_hooks/local_setup.bash

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

build/ros_midterm/ament_cmake_environment_hooks/local_setup.dsv

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

build/ros_midterm/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
+: ${AMENT_CURRENT_PREFIX:="/home/ros/ros2_ws/src/AdvancedRobotics_Midterm/install/ros_midterm"}
+if [ ! -d "$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 "$AMENT_CURRENT_PREFIX/share/ros_midterm/environment/ament_prefix_path.sh"
+ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/ros_midterm/environment/path.sh"
+
+# source all shell-specific environment hooks of this package
+# if not returning them
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
+  _package_local_setup_IFS=$IFS
+  IFS=":"
+  if [ "$AMENT_SHELL" = "zsh" ]; then
+    ament_zsh_to_array AMENT_ENVIRONMENT_HOOKS
+  fi
+  for _hook in $AMENT_ENVIRONMENT_HOOKS; do
+    if [ -f "$_hook" ]; then
+      # restore IFS before sourcing other files
+      IFS=$_package_local_setup_IFS
+      # trace output
+      if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then
+        echo "# . \"$_hook\""
+      fi
+      . "$_hook"
+    fi
+  done
+  unset _hook
+  IFS=$_package_local_setup_IFS
+  unset _package_local_setup_IFS
+  unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+# reset AMENT_CURRENT_PREFIX after each package
+# allowing to source multiple package-level setup files
+unset AMENT_CURRENT_PREFIX

build/ros_midterm/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

build/ros_midterm/ament_cmake_environment_hooks/package.dsv

@@ -0,0 +1,4 @@
+source;share/ros_midterm/local_setup.bash
+source;share/ros_midterm/local_setup.dsv
+source;share/ros_midterm/local_setup.sh
+source;share/ros_midterm/local_setup.zsh

build/ros_midterm/ament_cmake_environment_hooks/path.dsv

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

build/ros_midterm/ament_cmake_package_templates/templates.cmake

@@ -0,0 +1,14 @@
+set(ament_cmake_package_templates_ENVIRONMENT_HOOK_LIBRARY_PATH "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/environment_hook/library_path.sh")
+set(ament_cmake_package_templates_ENVIRONMENT_HOOK_PYTHONPATH "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/environment_hook/pythonpath.sh.in")
+set(ament_cmake_package_templates_PACKAGE_LEVEL "")
+list(APPEND ament_cmake_package_templates_PACKAGE_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/package_level/local_setup.bash.in")
+list(APPEND ament_cmake_package_templates_PACKAGE_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/package_level/local_setup.sh.in")
+list(APPEND ament_cmake_package_templates_PACKAGE_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/package_level/local_setup.zsh.in")
+set(ament_cmake_package_templates_PREFIX_LEVEL "")
+list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/prefix_level/local_setup.bash")
+list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/prefix_level/local_setup.sh.in")
+list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/prefix_level/local_setup.zsh")
+list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/prefix_level/setup.bash")
+list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/prefix_level/setup.sh.in")
+list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/prefix_level/setup.zsh")
+list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/prefix_level/_local_setup_util.py")

build/ros_midterm/ament_cmake_uninstall_target/ament_cmake_uninstall_target.cmake

@@ -0,0 +1,57 @@
+# 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/ros/ros2_ws/src/AdvancedRobotics_Midterm/install/ros_midterm")
+  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/ros/ros2_ws/src/AdvancedRobotics_Midterm/build/ros_midterm/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

build/ros_midterm/cmake_args.last

@@ -0,0 +1 @@
+None

build/ros_midterm/colcon_build.rc

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

build/ros_midterm/colcon_command_prefix_build.sh

@@ -0,0 +1 @@
+# generated from colcon_core/shell/template/command_prefix.sh.em

build/ros_midterm/colcon_command_prefix_build.sh.env

@@ -0,0 +1,74 @@
+AMENT_PREFIX_PATH=/home/ros/ros2_ws/install/turtlesim_com:/home/ros/ros2_ws/install/sine_generator:/home/ros/ros2_ws/install/ros_intro:/home/ros/turtlebot3_ws/install/turtlebot3:/home/ros/turtlebot3_ws/install/turtlebot3_teleop:/home/ros/turtlebot3_ws/install/turtlebot3_simulations:/home/ros/turtlebot3_ws/install/turtlebot3_bringup:/home/ros/turtlebot3_ws/install/turtlebot3_node:/home/ros/turtlebot3_ws/install/turtlebot3_navigation2:/home/ros/turtlebot3_ws/install/turtlebot3_fake_node:/home/ros/turtlebot3_ws/install/turtlebot3_example:/home/ros/turtlebot3_ws/install/turtlebot3_msgs:/home/ros/turtlebot3_ws/install/turtlebot3_manipulation_gazebo:/home/ros/turtlebot3_ws/install/turtlebot3_gazebo:/home/ros/turtlebot3_ws/install/turtlebot3_description:/home/ros/turtlebot3_ws/install/turtlebot3_cartographer:/home/ros/turtlebot3_ws/install/dynamixel_sdk_examples:/home/ros/turtlebot3_ws/install/dynamixel_sdk_custom_interfaces:/home/ros/turtlebot3_ws/install/dynamixel_sdk:/opt/ros/humble
+CMAKE_PREFIX_PATH=/home/ros/ros2_ws/install/turtlesim_com:/home/ros/ros2_ws/install/sine_generator:/home/ros/ros2_ws/install/ros_intro:/home/ros/turtlebot3_ws/install/turtlebot3:/home/ros/turtlebot3_ws/install/turtlebot3_simulations:/home/ros/turtlebot3_ws/install/turtlebot3_bringup:/home/ros/turtlebot3_ws/install/turtlebot3_node:/home/ros/turtlebot3_ws/install/turtlebot3_navigation2:/home/ros/turtlebot3_ws/install/turtlebot3_fake_node:/home/ros/turtlebot3_ws/install/turtlebot3_msgs:/home/ros/turtlebot3_ws/install/turtlebot3_manipulation_gazebo:/home/ros/turtlebot3_ws/install/turtlebot3_gazebo:/home/ros/turtlebot3_ws/install/turtlebot3_description:/home/ros/turtlebot3_ws/install/turtlebot3_cartographer:/home/ros/turtlebot3_ws/install/dynamixel_sdk_examples:/home/ros/turtlebot3_ws/install/dynamixel_sdk_custom_interfaces:/home/ros/turtlebot3_ws/install/dynamixel_sdk
+COLCON=1
+COLCON_PREFIX_PATH=/home/ros/ros2_ws/install:/home/ros/turtlebot3_ws/install
+COLORTERM=truecolor
+DBUS_SESSION_BUS_ADDRESS=unix:path=/run/user/1000/bus
+DESKTOP_SESSION=ubuntu
+DISPLAY=:0
+GAZEBO_MASTER_URI=http://localhost:11345
+GAZEBO_MODEL_DATABASE_URI=http://models.gazebosim.org
+GAZEBO_MODEL_PATH=/usr/share/gazebo-11/models:
+GAZEBO_PLUGIN_PATH=/usr/lib/x86_64-linux-gnu/gazebo-11/plugins:
+GAZEBO_RESOURCE_PATH=/usr/share/gazebo-11:
+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/55c7596d_d974_4f7f_91c6_93869513dde8
+GNOME_TERMINAL_SERVICE=:1.116
+GTK_MODULES=gail:atk-bridge
+HOME=/home/ros
+IM_CONFIG_PHASE=1
+LANG=en_US.UTF-8
+LC_ADDRESS=fr_FR.UTF-8
+LC_IDENTIFICATION=fr_FR.UTF-8
+LC_MEASUREMENT=fr_FR.UTF-8
+LC_MONETARY=fr_FR.UTF-8
+LC_NAME=fr_FR.UTF-8
+LC_NUMERIC=fr_FR.UTF-8
+LC_PAPER=fr_FR.UTF-8
+LC_TELEPHONE=fr_FR.UTF-8
+LC_TIME=fr_FR.UTF-8
+LD_LIBRARY_PATH=/home/ros/turtlebot3_ws/install/turtlebot3_msgs/lib:/home/ros/turtlebot3_ws/install/dynamixel_sdk_custom_interfaces/lib:/home/ros/turtlebot3_ws/install/dynamixel_sdk/lib:/usr/lib/x86_64-linux-gnu/gazebo-11/plugins:/opt/ros/humble/opt/rviz_ogre_vendor/lib:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib:/usr/lib/x86_64-linux-gnu/gazebo-11/plugins:
+LESSCLOSE=/usr/bin/lesspipe %s %s
+LESSOPEN=| /usr/bin/lesspipe %s
+LOGNAME=ros
+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=30;41: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:*.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:
+OGRE_RESOURCE_PATH=/usr/lib/x86_64-linux-gnu/OGRE-1.9.0
+OLDPWD=/home/ros/ros2_ws/src/AdvancedRobotics_Midterm/ros_midterm
+PATH=/opt/ros/humble/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/snap/bin
+PWD=/home/ros/ros2_ws/src/AdvancedRobotics_Midterm/build/ros_midterm
+PYTHONPATH=/home/ros/turtlebot3_ws/build/turtlebot3_teleop:/home/ros/turtlebot3_ws/install/turtlebot3_teleop/lib/python3.10/site-packages:/home/ros/turtlebot3_ws/build/turtlebot3_example:/home/ros/turtlebot3_ws/install/turtlebot3_example/lib/python3.10/site-packages:/home/ros/turtlebot3_ws/install/turtlebot3_msgs/local/lib/python3.10/dist-packages:/home/ros/turtlebot3_ws/install/dynamixel_sdk_custom_interfaces/local/lib/python3.10/dist-packages:/home/ros/turtlebot3_ws/install/dynamixel_sdk/local/lib/python3.10/dist-packages:/opt/ros/humble/lib/python3.10/site-packages:/opt/ros/humble/local/lib/python3.10/dist-packages
+QT_ACCESSIBILITY=1
+QT_IM_MODULE=ibus
+RMW_IMPLEMENTATION=rmw_fastrtps_cpp
+ROS_DISTRO=humble
+ROS_DOMAIN_ID=1
+ROS_LOCALHOST_ONLY=0
+ROS_PYTHON_VERSION=3
+ROS_VERSION=2
+SESSION_MANAGER=local/ros-vm:@/tmp/.ICE-unix/2025,unix/ros-vm:/tmp/.ICE-unix/2025
+SHELL=/bin/bash
+SHLVL=1
+SSH_AGENT_LAUNCHER=gnome-keyring
+SSH_AUTH_SOCK=/run/user/1000/keyring/ssh
+SYSTEMD_EXEC_PID=2056
+TERM=xterm-256color
+TURTLEBOT3_MODEL=burger
+USER=ros
+USERNAME=ros
+VTE_VERSION=6800
+WAYLAND_DISPLAY=wayland-0
+XAUTHORITY=/run/user/1000/.mutter-Xwaylandauth.VP2WF3
+XDG_CONFIG_DIRS=/etc/xdg/xdg-ubuntu:/etc/xdg
+XDG_CURRENT_DESKTOP=ubuntu:GNOME
+XDG_DATA_DIRS=/usr/share/ubuntu:/usr/local/share/:/usr/share/:/var/lib/snapd/desktop
+XDG_MENU_PREFIX=gnome-
+XDG_RUNTIME_DIR=/run/user/1000
+XDG_SESSION_CLASS=user
+XDG_SESSION_DESKTOP=ubuntu
+XDG_SESSION_TYPE=wayland
+XMODIFIERS=@im=ibus
+_=/usr/bin/colcon
+_colcon_cd_root=/opt/ros/humble/

install/.colcon_install_layout

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

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)

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)

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

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
+}

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/ros/ros2_ws/src/AdvancedRobotics_Midterm/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

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

install/ros_midterm/share/colcon-core/packages/ros_midterm

@@ -0,0 +1 @@
+rclcpp:sensor_msgs

install/ros_midterm/share/ros_midterm/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/ros_midterm/package.sh"
+
+unset _colcon_package_bash_source_script
+unset _colcon_package_bash_COLCON_CURRENT_PREFIX

install/ros_midterm/share/ros_midterm/package.ps1

@@ -0,0 +1,108 @@
+# 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'"
+  }
+}
+
+

install/ros_midterm/share/ros_midterm/package.sh

@@ -0,0 +1,52 @@
+# 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
+}
+
+# do not unset _colcon_prepend_unique_value since it might be used by non-primary shell hooks

install/ros_midterm/share/ros_midterm/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/ros_midterm/package.sh"
+unset convert_zsh_to_array
+
+unset _colcon_package_zsh_source_script
+unset _colcon_package_zsh_COLCON_CURRENT_PREFIX

install/setup.bash

@@ -0,0 +1,37 @@
+# generated from colcon_bash/shell/template/prefix_chain.bash.em
+
+# This script extends the environment with the environment of other prefix
+# paths which were sourced when this file was generated as well as all packages
+# contained in this prefix path.
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+_colcon_prefix_chain_bash_source_script() {
+  if [ -f "$1" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      echo "# . \"$1\""
+    fi
+    . "$1"
+  else
+    echo "not found: \"$1\"" 1>&2
+  fi
+}
+
+# source chained prefixes
+# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
+COLCON_CURRENT_PREFIX="/opt/ros/humble"
+_colcon_prefix_chain_bash_source_script "$COLCON_CURRENT_PREFIX/local_setup.bash"
+# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
+COLCON_CURRENT_PREFIX="/home/ros/turtlebot3_ws/install"
+_colcon_prefix_chain_bash_source_script "$COLCON_CURRENT_PREFIX/local_setup.bash"
+# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
+COLCON_CURRENT_PREFIX="/home/ros/ros2_ws/install"
+_colcon_prefix_chain_bash_source_script "$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

install/setup.ps1

@@ -0,0 +1,31 @@
+# generated from colcon_powershell/shell/template/prefix_chain.ps1.em
+
+# This script extends the environment with the environment of other prefix
+# paths which were sourced when this file was generated as well as all packages
+# contained in this prefix path.
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+function _colcon_prefix_chain_powershell_source_script {
+  param (
+    $_colcon_prefix_chain_powershell_source_script_param
+  )
+  # source script with conditional trace output
+  if (Test-Path $_colcon_prefix_chain_powershell_source_script_param) {
+    if ($env:COLCON_TRACE) {
+      echo ". '$_colcon_prefix_chain_powershell_source_script_param'"
+    }
+    . "$_colcon_prefix_chain_powershell_source_script_param"
+  } else {
+    Write-Error "not found: '$_colcon_prefix_chain_powershell_source_script_param'"
+  }
+}
+
+# source chained prefixes
+_colcon_prefix_chain_powershell_source_script "/opt/ros/humble\local_setup.ps1"
+_colcon_prefix_chain_powershell_source_script "/home/ros/turtlebot3_ws/install\local_setup.ps1"
+_colcon_prefix_chain_powershell_source_script "/home/ros/ros2_ws/install\local_setup.ps1"
+
+# source this prefix
+$env:COLCON_CURRENT_PREFIX=(Split-Path $PSCommandPath -Parent)
+_colcon_prefix_chain_powershell_source_script "$env:COLCON_CURRENT_PREFIX\local_setup.ps1"

install/setup.sh

@@ -0,0 +1,53 @@
+# 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/ros/ros2_ws/src/AdvancedRobotics_Midterm/install
+if [ ! -z "$COLCON_CURRENT_PREFIX" ]; then
+  _colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+elif [ ! -d "$_colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX" ]; then
+  echo "The build time path \"$_colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX\" doesn't exist. Either source a script for a different shell or set the environment variable \"COLCON_CURRENT_PREFIX\" explicitly." 1>&2
+  unset _colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX
+  return 1
+fi
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+_colcon_prefix_chain_sh_source_script() {
+  if [ -f "$1" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      echo "# . \"$1\""
+    fi
+    . "$1"
+  else
+    echo "not found: \"$1\"" 1>&2
+  fi
+}
+
+# source chained prefixes
+# setting COLCON_CURRENT_PREFIX avoids relying on the build time prefix of the sourced script
+COLCON_CURRENT_PREFIX="/opt/ros/humble"
+_colcon_prefix_chain_sh_source_script "$COLCON_CURRENT_PREFIX/local_setup.sh"
+
+# setting COLCON_CURRENT_PREFIX avoids relying on the build time prefix of the sourced script
+COLCON_CURRENT_PREFIX="/home/ros/turtlebot3_ws/install"
+_colcon_prefix_chain_sh_source_script "$COLCON_CURRENT_PREFIX/local_setup.sh"
+
+# setting COLCON_CURRENT_PREFIX avoids relying on the build time prefix of the sourced script
+COLCON_CURRENT_PREFIX="/home/ros/ros2_ws/install"
+_colcon_prefix_chain_sh_source_script "$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

install/setup.zsh

@@ -0,0 +1,37 @@
+# generated from colcon_zsh/shell/template/prefix_chain.zsh.em
+
+# This script extends the environment with the environment of other prefix
+# paths which were sourced when this file was generated as well as all packages
+# contained in this prefix path.
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+_colcon_prefix_chain_zsh_source_script() {
+  if [ -f "$1" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      echo "# . \"$1\""
+    fi
+    . "$1"
+  else
+    echo "not found: \"$1\"" 1>&2
+  fi
+}
+
+# source chained prefixes
+# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
+COLCON_CURRENT_PREFIX="/opt/ros/humble"
+_colcon_prefix_chain_zsh_source_script "$COLCON_CURRENT_PREFIX/local_setup.zsh"
+# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
+COLCON_CURRENT_PREFIX="/home/ros/turtlebot3_ws/install"
+_colcon_prefix_chain_zsh_source_script "$COLCON_CURRENT_PREFIX/local_setup.zsh"
+# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
+COLCON_CURRENT_PREFIX="/home/ros/ros2_ws/install"
+_colcon_prefix_chain_zsh_source_script "$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

log/build_2025-11-18_14-11-06/logger_all.log

@@ -0,0 +1,103 @@
+[0.789s] DEBUG:colcon:Command line arguments: ['/usr/bin/colcon', 'build']
+[0.789s] 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 0x702ca40632e0>, verb_extension=<colcon_core.verb.build.BuildVerb object at 0x702ca4062680>, main=<bound method BuildVerb.main of <colcon_core.verb.build.BuildVerb object at 0x702ca4062680>>, mixin_verb=('build',))
+[1.891s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) check parameters
+[1.891s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) check parameters
+[1.891s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) check parameters
+[1.891s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) check parameters
+[1.891s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) discover
+[1.891s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) discover
+[1.891s] INFO:colcon.colcon_core.package_discovery:Crawling recursively for packages in '/home/ros/ros2_ws/src/AdvancedRobotics_Midterm'
+[1.892s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ignore', 'ignore_ament_install']
+[1.892s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore'
+[1.892s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore_ament_install'
+[1.892s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_pkg']
+[1.892s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_pkg'
+[1.892s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_meta']
+[1.892s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_meta'
+[1.892s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ros']
+[1.892s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ros'
+[1.902s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['cmake', 'python']
+[1.903s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'cmake'
+[1.903s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'python'
+[1.903s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['python_setup_py']
+[1.903s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'python_setup_py'
+[1.903s] Level 1:colcon.colcon_core.package_identification:_identify(build) by extensions ['ignore', 'ignore_ament_install']
+[1.903s] Level 1:colcon.colcon_core.package_identification:_identify(build) by extension 'ignore'
+[1.903s] Level 1:colcon.colcon_core.package_identification:_identify(build) ignored
+[1.903s] Level 1:colcon.colcon_core.package_identification:_identify(install) by extensions ['ignore', 'ignore_ament_install']
+[1.903s] Level 1:colcon.colcon_core.package_identification:_identify(install) by extension 'ignore'
+[1.903s] Level 1:colcon.colcon_core.package_identification:_identify(install) ignored
+[1.903s] Level 1:colcon.colcon_core.package_identification:_identify(log) by extensions ['ignore', 'ignore_ament_install']
+[1.903s] Level 1:colcon.colcon_core.package_identification:_identify(log) by extension 'ignore'
+[1.903s] Level 1:colcon.colcon_core.package_identification:_identify(log) ignored
+[1.903s] Level 1:colcon.colcon_core.package_identification:_identify(ros_midterm) by extensions ['ignore', 'ignore_ament_install']
+[1.903s] Level 1:colcon.colcon_core.package_identification:_identify(ros_midterm) by extension 'ignore'
+[1.904s] Level 1:colcon.colcon_core.package_identification:_identify(ros_midterm) by extension 'ignore_ament_install'
+[1.904s] Level 1:colcon.colcon_core.package_identification:_identify(ros_midterm) by extensions ['colcon_pkg']
+[1.904s] Level 1:colcon.colcon_core.package_identification:_identify(ros_midterm) by extension 'colcon_pkg'
+[1.904s] Level 1:colcon.colcon_core.package_identification:_identify(ros_midterm) by extensions ['colcon_meta']
+[1.904s] Level 1:colcon.colcon_core.package_identification:_identify(ros_midterm) by extension 'colcon_meta'
+[1.904s] Level 1:colcon.colcon_core.package_identification:_identify(ros_midterm) by extensions ['ros']
+[1.904s] Level 1:colcon.colcon_core.package_identification:_identify(ros_midterm) by extension 'ros'
+[1.913s] DEBUG:colcon.colcon_core.package_identification:Package 'ros_midterm' with type 'ros.ament_cmake' and name 'ros_midterm'
+[1.913s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) using defaults
+[1.913s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) discover
+[1.913s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) using defaults
+[1.913s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) discover
+[1.913s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) using defaults
+[2.057s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) check parameters
+[2.058s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) discover
+[2.112s] DEBUG:colcon.colcon_installed_package_information.package_discovery:Found 3 installed packages in /home/ros/ros2_ws/install
+[2.185s] DEBUG:colcon.colcon_installed_package_information.package_discovery:Found 16 installed packages in /home/ros/turtlebot3_ws/install
+[2.193s] DEBUG:colcon.colcon_installed_package_information.package_discovery:Found 364 installed packages in /opt/ros/humble
+[2.195s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) using defaults
+[2.890s] Level 5:colcon.colcon_core.verb:set package 'ros_midterm' build argument 'cmake_args' from command line to 'None'
+[2.890s] Level 5:colcon.colcon_core.verb:set package 'ros_midterm' build argument 'cmake_target' from command line to 'None'
+[2.890s] Level 5:colcon.colcon_core.verb:set package 'ros_midterm' build argument 'cmake_target_skip_unavailable' from command line to 'False'
+[2.890s] Level 5:colcon.colcon_core.verb:set package 'ros_midterm' build argument 'cmake_clean_cache' from command line to 'False'
+[2.890s] Level 5:colcon.colcon_core.verb:set package 'ros_midterm' build argument 'cmake_clean_first' from command line to 'False'
+[2.890s] Level 5:colcon.colcon_core.verb:set package 'ros_midterm' build argument 'cmake_force_configure' from command line to 'False'
+[2.890s] Level 5:colcon.colcon_core.verb:set package 'ros_midterm' build argument 'ament_cmake_args' from command line to 'None'
+[2.890s] Level 5:colcon.colcon_core.verb:set package 'ros_midterm' build argument 'catkin_cmake_args' from command line to 'None'
+[2.890s] Level 5:colcon.colcon_core.verb:set package 'ros_midterm' build argument 'catkin_skip_building_tests' from command line to 'False'
+[2.890s] DEBUG:colcon.colcon_core.verb:Building package 'ros_midterm' with the following arguments: {'ament_cmake_args': None, 'build_base': '/home/ros/ros2_ws/src/AdvancedRobotics_Midterm/build/ros_midterm', '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/ros/ros2_ws/src/AdvancedRobotics_Midterm/install/ros_midterm', 'merge_install': False, 'path': '/home/ros/ros2_ws/src/AdvancedRobotics_Midterm/ros_midterm', 'symlink_install': False, 'test_result_base': None}
+[2.890s] INFO:colcon.colcon_core.executor:Executing jobs using 'parallel' executor
+[2.893s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete
+[2.893s] INFO:colcon.colcon_ros.task.ament_cmake.build:Building ROS package in '/home/ros/ros2_ws/src/AdvancedRobotics_Midterm/ros_midterm' with build type 'ament_cmake'
+[2.893s] INFO:colcon.colcon_cmake.task.cmake.build:Building CMake package in '/home/ros/ros2_ws/src/AdvancedRobotics_Midterm/ros_midterm'
+[2.910s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_core.shell.bat': Not used on non-Windows systems
+[2.910s] INFO:colcon.colcon_core.shell:Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell
+[2.910s] DEBUG:colcon.colcon_core.shell:Skip shell extension 'dsv' for command environment
+[2.939s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoking command in '/home/ros/ros2_ws/src/AdvancedRobotics_Midterm/build/ros_midterm': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/ros/turtlebot3_ws/install/turtlebot3_teleop:/home/ros/turtlebot3_ws/install/turtlebot3_example:/opt/ros/humble /usr/bin/cmake /home/ros/ros2_ws/src/AdvancedRobotics_Midterm/ros_midterm -DCMAKE_INSTALL_PREFIX=/home/ros/ros2_ws/src/AdvancedRobotics_Midterm/install/ros_midterm
+[8.439s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoked command in '/home/ros/ros2_ws/src/AdvancedRobotics_Midterm/build/ros_midterm' returned '1': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/ros/turtlebot3_ws/install/turtlebot3_teleop:/home/ros/turtlebot3_ws/install/turtlebot3_example:/opt/ros/humble /usr/bin/cmake /home/ros/ros2_ws/src/AdvancedRobotics_Midterm/ros_midterm -DCMAKE_INSTALL_PREFIX=/home/ros/ros2_ws/src/AdvancedRobotics_Midterm/install/ros_midterm
+[8.465s] Level 1:colcon.colcon_core.environment:create_environment_scripts_only(ros_midterm)
+[8.496s] Level 1:colcon.colcon_core.environment:checking '/home/ros/ros2_ws/src/AdvancedRobotics_Midterm/install/ros_midterm' for CMake module files
+[8.497s] Level 1:colcon.colcon_core.environment:checking '/home/ros/ros2_ws/src/AdvancedRobotics_Midterm/install/ros_midterm' for CMake config files
+[8.498s] Level 1:colcon.colcon_core.environment:checking '/home/ros/ros2_ws/src/AdvancedRobotics_Midterm/install/ros_midterm/bin'
+[8.498s] Level 1:colcon.colcon_core.environment:checking '/home/ros/ros2_ws/src/AdvancedRobotics_Midterm/install/ros_midterm/lib/pkgconfig/ros_midterm.pc'
+[8.500s] Level 1:colcon.colcon_core.environment:checking '/home/ros/ros2_ws/src/AdvancedRobotics_Midterm/install/ros_midterm/lib/python3.10/site-packages'
+[8.501s] Level 1:colcon.colcon_core.environment:checking '/home/ros/ros2_ws/src/AdvancedRobotics_Midterm/install/ros_midterm/bin'
+[8.503s] INFO:colcon.colcon_core.shell:Creating package script '/home/ros/ros2_ws/src/AdvancedRobotics_Midterm/install/ros_midterm/share/ros_midterm/package.ps1'
+[8.507s] INFO:colcon.colcon_core.shell:Creating package descriptor '/home/ros/ros2_ws/src/AdvancedRobotics_Midterm/install/ros_midterm/share/ros_midterm/package.dsv'
+[8.509s] INFO:colcon.colcon_core.shell:Creating package script '/home/ros/ros2_ws/src/AdvancedRobotics_Midterm/install/ros_midterm/share/ros_midterm/package.sh'
+[8.511s] INFO:colcon.colcon_core.shell:Creating package script '/home/ros/ros2_ws/src/AdvancedRobotics_Midterm/install/ros_midterm/share/ros_midterm/package.bash'
+[8.514s] INFO:colcon.colcon_core.shell:Creating package script '/home/ros/ros2_ws/src/AdvancedRobotics_Midterm/install/ros_midterm/share/ros_midterm/package.zsh'
+[8.534s] Level 1:colcon.colcon_core.environment:create_file_with_runtime_dependencies(/home/ros/ros2_ws/src/AdvancedRobotics_Midterm/install/ros_midterm/share/colcon-core/packages/ros_midterm)
+[8.546s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:closing loop
+[8.546s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:loop closed
+[8.546s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete finished with '1'
+[8.546s] DEBUG:colcon.colcon_core.event_reactor:joining thread
+[8.618s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.terminal_notifier': Not used on non-Darwin systems
+[8.619s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.win32': Not used on non-Windows systems
+[8.619s] INFO:colcon.colcon_notification.desktop_notification:Sending desktop notification using 'notify2'
+[9.427s] DEBUG:colcon.colcon_core.event_reactor:joined thread
+[9.428s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/ros/ros2_ws/src/AdvancedRobotics_Midterm/install/local_setup.ps1'
+[9.432s] INFO:colcon.colcon_core.shell:Creating prefix util module '/home/ros/ros2_ws/src/AdvancedRobotics_Midterm/install/_local_setup_util_ps1.py'
+[9.436s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/ros/ros2_ws/src/AdvancedRobotics_Midterm/install/setup.ps1'
+[9.443s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/ros/ros2_ws/src/AdvancedRobotics_Midterm/install/local_setup.sh'
+[9.447s] INFO:colcon.colcon_core.shell:Creating prefix util module '/home/ros/ros2_ws/src/AdvancedRobotics_Midterm/install/_local_setup_util_sh.py'
+[9.448s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/ros/ros2_ws/src/AdvancedRobotics_Midterm/install/setup.sh'
+[9.458s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/ros/ros2_ws/src/AdvancedRobotics_Midterm/install/local_setup.bash'
+[9.462s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/ros/ros2_ws/src/AdvancedRobotics_Midterm/install/setup.bash'
+[9.469s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/ros/ros2_ws/src/AdvancedRobotics_Midterm/install/local_setup.zsh'
+[9.494s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/ros/ros2_ws/src/AdvancedRobotics_Midterm/install/setup.zsh'

log/build_2025-11-18_14-11-06/ros_midterm/command.log

@@ -0,0 +1,2 @@
+Invoking command in '/home/ros/ros2_ws/src/AdvancedRobotics_Midterm/build/ros_midterm': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/ros/turtlebot3_ws/install/turtlebot3_teleop:/home/ros/turtlebot3_ws/install/turtlebot3_example:/opt/ros/humble /usr/bin/cmake /home/ros/ros2_ws/src/AdvancedRobotics_Midterm/ros_midterm -DCMAKE_INSTALL_PREFIX=/home/ros/ros2_ws/src/AdvancedRobotics_Midterm/install/ros_midterm
+Invoked command in '/home/ros/ros2_ws/src/AdvancedRobotics_Midterm/build/ros_midterm' returned '1': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/ros/turtlebot3_ws/install/turtlebot3_teleop:/home/ros/turtlebot3_ws/install/turtlebot3_example:/opt/ros/humble /usr/bin/cmake /home/ros/ros2_ws/src/AdvancedRobotics_Midterm/ros_midterm -DCMAKE_INSTALL_PREFIX=/home/ros/ros2_ws/src/AdvancedRobotics_Midterm/install/ros_midterm

log/build_2025-11-18_14-11-06/ros_midterm/stderr.log

@@ -0,0 +1,16 @@
+CMake Error at CMakeLists.txt:41 (find_package):
+  By not providing "Findimu.cmake" in CMAKE_MODULE_PATH this project has
+  asked CMake to find a package configuration file provided by "imu", but
+  CMake did not find one.
+
+  Could not find a package configuration file provided by "imu" with any of
+  the following names:
+
+    imuConfig.cmake
+    imu-config.cmake
+
+  Add the installation prefix of "imu" to CMAKE_PREFIX_PATH or set "imu_DIR"
+  to a directory containing one of the above files.  If "imu" provides a
+  separate development package or SDK, be sure it has been installed.
+
+

log/build_2025-11-18_14-11-06/ros_midterm/stdout.log

@@ -0,0 +1,41 @@
+-- The C compiler identification is GNU 11.4.0
+-- The CXX compiler identification is GNU 11.4.0
+-- Detecting C compiler ABI info
+-- Detecting C compiler ABI info - done
+-- Check for working C compiler: /usr/bin/cc - skipped
+-- Detecting C compile features
+-- Detecting C compile features - done
+-- Detecting CXX compiler ABI info
+-- Detecting CXX compiler ABI info - done
+-- Check for working CXX compiler: /usr/bin/c++ - skipped
+-- Detecting CXX compile features
+-- Detecting CXX compile features - done
+-- Found ament_cmake: 1.3.12 (/opt/ros/humble/share/ament_cmake/cmake)
+-- Found Python3: /usr/bin/python3 (found version "3.10.12") found components: Interpreter 
+-- Found ament_lint_auto: 0.12.14 (/opt/ros/humble/share/ament_lint_auto/cmake)
+-- Added test 'cppcheck' to perform static code analysis on C / C++ code
+-- Configured cppcheck include dirs: 
+-- Configured cppcheck exclude dirs and/or files: 
+-- Added test 'lint_cmake' to check CMake code style
+-- Added test 'uncrustify' to check C / C++ code style
+-- Configured uncrustify additional arguments: 
+-- Added test 'xmllint' to check XML markup files
+-- Found rclcpp: 16.0.15 (/opt/ros/humble/share/rclcpp/cmake)
+-- Found rosidl_generator_c: 3.1.7 (/opt/ros/humble/share/rosidl_generator_c/cmake)
+-- Found rosidl_adapter: 3.1.7 (/opt/ros/humble/share/rosidl_adapter/cmake)
+-- Found rosidl_generator_cpp: 3.1.7 (/opt/ros/humble/share/rosidl_generator_cpp/cmake)
+-- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c
+-- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp
+-- Found rmw_implementation_cmake: 6.1.2 (/opt/ros/humble/share/rmw_implementation_cmake/cmake)
+-- Found rmw_fastrtps_cpp: 6.2.8 (/opt/ros/humble/share/rmw_fastrtps_cpp/cmake)
+-- Found OpenSSL: /usr/lib/x86_64-linux-gnu/libcrypto.so (found version "3.0.2")  
+-- Found FastRTPS: /opt/ros/humble/include  
+-- Using RMW implementation 'rmw_fastrtps_cpp' as default
+-- Looking for pthread.h
+-- Looking for pthread.h - found
+-- Performing Test CMAKE_HAVE_LIBC_PTHREAD
+-- Performing Test CMAKE_HAVE_LIBC_PTHREAD - Success
+-- Found Threads: TRUE  
+-- Found sensor_msgs: 4.9.0 (/opt/ros/humble/share/sensor_msgs/cmake)
+-- Configuring incomplete, errors occurred!
+See also "/home/ros/ros2_ws/src/AdvancedRobotics_Midterm/build/ros_midterm/CMakeFiles/CMakeOutput.log".

log/build_2025-11-18_14-11-06/ros_midterm/stdout_stderr.log

@@ -0,0 +1,57 @@
+-- The C compiler identification is GNU 11.4.0
+-- The CXX compiler identification is GNU 11.4.0
+-- Detecting C compiler ABI info
+-- Detecting C compiler ABI info - done
+-- Check for working C compiler: /usr/bin/cc - skipped
+-- Detecting C compile features
+-- Detecting C compile features - done
+-- Detecting CXX compiler ABI info
+-- Detecting CXX compiler ABI info - done
+-- Check for working CXX compiler: /usr/bin/c++ - skipped
+-- Detecting CXX compile features
+-- Detecting CXX compile features - done
+-- Found ament_cmake: 1.3.12 (/opt/ros/humble/share/ament_cmake/cmake)
+-- Found Python3: /usr/bin/python3 (found version "3.10.12") found components: Interpreter 
+-- Found ament_lint_auto: 0.12.14 (/opt/ros/humble/share/ament_lint_auto/cmake)
+-- Added test 'cppcheck' to perform static code analysis on C / C++ code
+-- Configured cppcheck include dirs: 
+-- Configured cppcheck exclude dirs and/or files: 
+-- Added test 'lint_cmake' to check CMake code style
+-- Added test 'uncrustify' to check C / C++ code style
+-- Configured uncrustify additional arguments: 
+-- Added test 'xmllint' to check XML markup files
+-- Found rclcpp: 16.0.15 (/opt/ros/humble/share/rclcpp/cmake)
+-- Found rosidl_generator_c: 3.1.7 (/opt/ros/humble/share/rosidl_generator_c/cmake)
+-- Found rosidl_adapter: 3.1.7 (/opt/ros/humble/share/rosidl_adapter/cmake)
+-- Found rosidl_generator_cpp: 3.1.7 (/opt/ros/humble/share/rosidl_generator_cpp/cmake)
+-- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c
+-- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp
+-- Found rmw_implementation_cmake: 6.1.2 (/opt/ros/humble/share/rmw_implementation_cmake/cmake)
+-- Found rmw_fastrtps_cpp: 6.2.8 (/opt/ros/humble/share/rmw_fastrtps_cpp/cmake)
+-- Found OpenSSL: /usr/lib/x86_64-linux-gnu/libcrypto.so (found version "3.0.2")  
+-- Found FastRTPS: /opt/ros/humble/include  
+-- Using RMW implementation 'rmw_fastrtps_cpp' as default
+-- Looking for pthread.h
+-- Looking for pthread.h - found
+-- Performing Test CMAKE_HAVE_LIBC_PTHREAD
+-- Performing Test CMAKE_HAVE_LIBC_PTHREAD - Success
+-- Found Threads: TRUE  
+-- Found sensor_msgs: 4.9.0 (/opt/ros/humble/share/sensor_msgs/cmake)
+CMake Error at CMakeLists.txt:41 (find_package):
+  By not providing "Findimu.cmake" in CMAKE_MODULE_PATH this project has
+  asked CMake to find a package configuration file provided by "imu", but
+  CMake did not find one.
+
+  Could not find a package configuration file provided by "imu" with any of
+  the following names:
+
+    imuConfig.cmake
+    imu-config.cmake
+
+  Add the installation prefix of "imu" to CMAKE_PREFIX_PATH or set "imu_DIR"
+  to a directory containing one of the above files.  If "imu" provides a
+  separate development package or SDK, be sure it has been installed.
+
+
+-- Configuring incomplete, errors occurred!
+See also "/home/ros/ros2_ws/src/AdvancedRobotics_Midterm/build/ros_midterm/CMakeFiles/CMakeOutput.log".

log/build_2025-11-18_14-11-06/ros_midterm/streams.log

@@ -0,0 +1,59 @@
+[0.043s] Invoking command in '/home/ros/ros2_ws/src/AdvancedRobotics_Midterm/build/ros_midterm': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/ros/turtlebot3_ws/install/turtlebot3_teleop:/home/ros/turtlebot3_ws/install/turtlebot3_example:/opt/ros/humble /usr/bin/cmake /home/ros/ros2_ws/src/AdvancedRobotics_Midterm/ros_midterm -DCMAKE_INSTALL_PREFIX=/home/ros/ros2_ws/src/AdvancedRobotics_Midterm/install/ros_midterm
+[0.840s] -- The C compiler identification is GNU 11.4.0
+[1.268s] -- The CXX compiler identification is GNU 11.4.0
+[1.324s] -- Detecting C compiler ABI info
+[1.600s] -- Detecting C compiler ABI info - done
+[1.600s] -- Check for working C compiler: /usr/bin/cc - skipped
+[1.619s] -- Detecting C compile features
+[1.619s] -- Detecting C compile features - done
+[1.619s] -- Detecting CXX compiler ABI info
+[1.866s] -- Detecting CXX compiler ABI info - done
+[1.867s] -- Check for working CXX compiler: /usr/bin/c++ - skipped
+[1.868s] -- Detecting CXX compile features
+[1.869s] -- Detecting CXX compile features - done
+[1.951s] -- Found ament_cmake: 1.3.12 (/opt/ros/humble/share/ament_cmake/cmake)
+[2.354s] -- Found Python3: /usr/bin/python3 (found version "3.10.12") found components: Interpreter 
+[2.838s] -- Found ament_lint_auto: 0.12.14 (/opt/ros/humble/share/ament_lint_auto/cmake)
+[3.055s] -- Added test 'cppcheck' to perform static code analysis on C / C++ code
+[3.056s] -- Configured cppcheck include dirs: 
+[3.056s] -- Configured cppcheck exclude dirs and/or files: 
+[3.060s] -- Added test 'lint_cmake' to check CMake code style
+[3.068s] -- Added test 'uncrustify' to check C / C++ code style
+[3.069s] -- Configured uncrustify additional arguments: 
+[3.074s] -- Added test 'xmllint' to check XML markup files
+[3.093s] -- Found rclcpp: 16.0.15 (/opt/ros/humble/share/rclcpp/cmake)
+[3.415s] -- Found rosidl_generator_c: 3.1.7 (/opt/ros/humble/share/rosidl_generator_c/cmake)
+[3.442s] -- Found rosidl_adapter: 3.1.7 (/opt/ros/humble/share/rosidl_adapter/cmake)
+[3.526s] -- Found rosidl_generator_cpp: 3.1.7 (/opt/ros/humble/share/rosidl_generator_cpp/cmake)
+[3.626s] -- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c
+[3.706s] -- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp
+[3.988s] -- Found rmw_implementation_cmake: 6.1.2 (/opt/ros/humble/share/rmw_implementation_cmake/cmake)
+[4.006s] -- Found rmw_fastrtps_cpp: 6.2.8 (/opt/ros/humble/share/rmw_fastrtps_cpp/cmake)
+[4.392s] -- Found OpenSSL: /usr/lib/x86_64-linux-gnu/libcrypto.so (found version "3.0.2")  
+[4.471s] -- Found FastRTPS: /opt/ros/humble/include  
+[4.570s] -- Using RMW implementation 'rmw_fastrtps_cpp' as default
+[4.636s] -- Looking for pthread.h
+[4.963s] -- Looking for pthread.h - found
+[4.963s] -- Performing Test CMAKE_HAVE_LIBC_PTHREAD
+[5.100s] -- Performing Test CMAKE_HAVE_LIBC_PTHREAD - Success
+[5.109s] -- Found Threads: TRUE  
+[5.360s] -- Found sensor_msgs: 4.9.0 (/opt/ros/humble/share/sensor_msgs/cmake)
+[5.508s] CMake Error at CMakeLists.txt:41 (find_package):
+[5.508s]   By not providing "Findimu.cmake" in CMAKE_MODULE_PATH this project has
+[5.508s]   asked CMake to find a package configuration file provided by "imu", but
+[5.508s]   CMake did not find one.
+[5.508s] 
+[5.508s]   Could not find a package configuration file provided by "imu" with any of
+[5.508s]   the following names:
+[5.508s] 
+[5.508s]     imuConfig.cmake
+[5.508s]     imu-config.cmake
+[5.508s] 
+[5.509s]   Add the installation prefix of "imu" to CMAKE_PREFIX_PATH or set "imu_DIR"
+[5.509s]   to a directory containing one of the above files.  If "imu" provides a
+[5.509s]   separate development package or SDK, be sure it has been installed.
+[5.509s] 
+[5.509s] 
+[5.509s] -- Configuring incomplete, errors occurred!
+[5.509s] See also "/home/ros/ros2_ws/src/AdvancedRobotics_Midterm/build/ros_midterm/CMakeFiles/CMakeOutput.log".
+[5.543s] Invoked command in '/home/ros/ros2_ws/src/AdvancedRobotics_Midterm/build/ros_midterm' returned '1': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/ros/turtlebot3_ws/install/turtlebot3_teleop:/home/ros/turtlebot3_ws/install/turtlebot3_example:/opt/ros/humble /usr/bin/cmake /home/ros/ros2_ws/src/AdvancedRobotics_Midterm/ros_midterm -DCMAKE_INSTALL_PREFIX=/home/ros/ros2_ws/src/AdvancedRobotics_Midterm/install/ros_midterm

log/build_2025-11-18_14-16-36/logger_all.log

@@ -0,0 +1,103 @@
+[1.835s] DEBUG:colcon:Command line arguments: ['/usr/bin/colcon', 'build']
+[1.835s] 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 0x78a125e5f2e0>, verb_extension=<colcon_core.verb.build.BuildVerb object at 0x78a125e5e680>, main=<bound method BuildVerb.main of <colcon_core.verb.build.BuildVerb object at 0x78a125e5e680>>, mixin_verb=('build',))
+[2.976s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) check parameters
+[2.976s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) check parameters
+[2.977s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) check parameters
+[2.977s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) check parameters
+[2.977s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) discover
+[2.977s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) discover
+[2.977s] INFO:colcon.colcon_core.package_discovery:Crawling recursively for packages in '/home/ros/ros2_ws/src/AdvancedRobotics_Midterm'
+[2.977s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ignore', 'ignore_ament_install']
+[2.977s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore'
+[2.977s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore_ament_install'
+[2.977s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_pkg']
+[2.977s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_pkg'
+[2.977s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_meta']
+[2.977s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_meta'
+[2.977s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ros']
+[2.977s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ros'
+[3.017s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['cmake', 'python']
+[3.018s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'cmake'
+[3.018s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'python'
+[3.018s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['python_setup_py']
+[3.018s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'python_setup_py'
+[3.020s] Level 1:colcon.colcon_core.package_identification:_identify(build) by extensions ['ignore', 'ignore_ament_install']
+[3.020s] Level 1:colcon.colcon_core.package_identification:_identify(build) by extension 'ignore'
+[3.020s] Level 1:colcon.colcon_core.package_identification:_identify(build) ignored
+[3.020s] Level 1:colcon.colcon_core.package_identification:_identify(install) by extensions ['ignore', 'ignore_ament_install']
+[3.021s] Level 1:colcon.colcon_core.package_identification:_identify(install) by extension 'ignore'
+[3.021s] Level 1:colcon.colcon_core.package_identification:_identify(install) ignored
+[3.021s] Level 1:colcon.colcon_core.package_identification:_identify(log) by extensions ['ignore', 'ignore_ament_install']
+[3.021s] Level 1:colcon.colcon_core.package_identification:_identify(log) by extension 'ignore'
+[3.021s] Level 1:colcon.colcon_core.package_identification:_identify(log) ignored
+[3.021s] Level 1:colcon.colcon_core.package_identification:_identify(ros_midterm) by extensions ['ignore', 'ignore_ament_install']
+[3.021s] Level 1:colcon.colcon_core.package_identification:_identify(ros_midterm) by extension 'ignore'
+[3.021s] Level 1:colcon.colcon_core.package_identification:_identify(ros_midterm) by extension 'ignore_ament_install'
+[3.022s] Level 1:colcon.colcon_core.package_identification:_identify(ros_midterm) by extensions ['colcon_pkg']
+[3.022s] Level 1:colcon.colcon_core.package_identification:_identify(ros_midterm) by extension 'colcon_pkg'
+[3.022s] Level 1:colcon.colcon_core.package_identification:_identify(ros_midterm) by extensions ['colcon_meta']
+[3.022s] Level 1:colcon.colcon_core.package_identification:_identify(ros_midterm) by extension 'colcon_meta'
+[3.022s] Level 1:colcon.colcon_core.package_identification:_identify(ros_midterm) by extensions ['ros']
+[3.022s] Level 1:colcon.colcon_core.package_identification:_identify(ros_midterm) by extension 'ros'
+[3.033s] DEBUG:colcon.colcon_core.package_identification:Package 'ros_midterm' with type 'ros.ament_cmake' and name 'ros_midterm'
+[3.033s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) using defaults
+[3.033s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) discover
+[3.033s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) using defaults
+[3.033s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) discover
+[3.033s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) using defaults
+[3.205s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) check parameters
+[3.205s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) discover
+[3.262s] DEBUG:colcon.colcon_installed_package_information.package_discovery:Found 3 installed packages in /home/ros/ros2_ws/install
+[3.321s] DEBUG:colcon.colcon_installed_package_information.package_discovery:Found 16 installed packages in /home/ros/turtlebot3_ws/install
+[3.335s] DEBUG:colcon.colcon_installed_package_information.package_discovery:Found 364 installed packages in /opt/ros/humble
+[3.336s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) using defaults
+[4.060s] Level 5:colcon.colcon_core.verb:set package 'ros_midterm' build argument 'cmake_args' from command line to 'None'
+[4.060s] Level 5:colcon.colcon_core.verb:set package 'ros_midterm' build argument 'cmake_target' from command line to 'None'
+[4.060s] Level 5:colcon.colcon_core.verb:set package 'ros_midterm' build argument 'cmake_target_skip_unavailable' from command line to 'False'
+[4.060s] Level 5:colcon.colcon_core.verb:set package 'ros_midterm' build argument 'cmake_clean_cache' from command line to 'False'
+[4.060s] Level 5:colcon.colcon_core.verb:set package 'ros_midterm' build argument 'cmake_clean_first' from command line to 'False'
+[4.060s] Level 5:colcon.colcon_core.verb:set package 'ros_midterm' build argument 'cmake_force_configure' from command line to 'False'
+[4.060s] Level 5:colcon.colcon_core.verb:set package 'ros_midterm' build argument 'ament_cmake_args' from command line to 'None'
+[4.060s] Level 5:colcon.colcon_core.verb:set package 'ros_midterm' build argument 'catkin_cmake_args' from command line to 'None'
+[4.060s] Level 5:colcon.colcon_core.verb:set package 'ros_midterm' build argument 'catkin_skip_building_tests' from command line to 'False'
+[4.060s] DEBUG:colcon.colcon_core.verb:Building package 'ros_midterm' with the following arguments: {'ament_cmake_args': None, 'build_base': '/home/ros/ros2_ws/src/AdvancedRobotics_Midterm/build/ros_midterm', '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/ros/ros2_ws/src/AdvancedRobotics_Midterm/install/ros_midterm', 'merge_install': False, 'path': '/home/ros/ros2_ws/src/AdvancedRobotics_Midterm/ros_midterm', 'symlink_install': False, 'test_result_base': None}
+[4.061s] INFO:colcon.colcon_core.executor:Executing jobs using 'parallel' executor
+[4.062s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete
+[4.062s] INFO:colcon.colcon_ros.task.ament_cmake.build:Building ROS package in '/home/ros/ros2_ws/src/AdvancedRobotics_Midterm/ros_midterm' with build type 'ament_cmake'
+[4.062s] INFO:colcon.colcon_cmake.task.cmake.build:Building CMake package in '/home/ros/ros2_ws/src/AdvancedRobotics_Midterm/ros_midterm'
+[4.083s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_core.shell.bat': Not used on non-Windows systems
+[4.083s] INFO:colcon.colcon_core.shell:Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell
+[4.083s] DEBUG:colcon.colcon_core.shell:Skip shell extension 'dsv' for command environment
+[4.127s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoking command in '/home/ros/ros2_ws/src/AdvancedRobotics_Midterm/build/ros_midterm': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/ros/turtlebot3_ws/install/turtlebot3_teleop:/home/ros/turtlebot3_ws/install/turtlebot3_example:/opt/ros/humble /usr/bin/cmake /home/ros/ros2_ws/src/AdvancedRobotics_Midterm/ros_midterm -DCMAKE_INSTALL_PREFIX=/home/ros/ros2_ws/src/AdvancedRobotics_Midterm/install/ros_midterm
+[6.529s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoked command in '/home/ros/ros2_ws/src/AdvancedRobotics_Midterm/build/ros_midterm' returned '1': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/ros/turtlebot3_ws/install/turtlebot3_teleop:/home/ros/turtlebot3_ws/install/turtlebot3_example:/opt/ros/humble /usr/bin/cmake /home/ros/ros2_ws/src/AdvancedRobotics_Midterm/ros_midterm -DCMAKE_INSTALL_PREFIX=/home/ros/ros2_ws/src/AdvancedRobotics_Midterm/install/ros_midterm
+[6.560s] Level 1:colcon.colcon_core.environment:create_environment_scripts_only(ros_midterm)
+[6.582s] Level 1:colcon.colcon_core.environment:checking '/home/ros/ros2_ws/src/AdvancedRobotics_Midterm/install/ros_midterm' for CMake module files
+[6.584s] Level 1:colcon.colcon_core.environment:checking '/home/ros/ros2_ws/src/AdvancedRobotics_Midterm/install/ros_midterm' for CMake config files
+[6.587s] Level 1:colcon.colcon_core.environment:checking '/home/ros/ros2_ws/src/AdvancedRobotics_Midterm/install/ros_midterm/bin'
+[6.587s] Level 1:colcon.colcon_core.environment:checking '/home/ros/ros2_ws/src/AdvancedRobotics_Midterm/install/ros_midterm/lib/pkgconfig/ros_midterm.pc'
+[6.587s] Level 1:colcon.colcon_core.environment:checking '/home/ros/ros2_ws/src/AdvancedRobotics_Midterm/install/ros_midterm/lib/python3.10/site-packages'
+[6.587s] Level 1:colcon.colcon_core.environment:checking '/home/ros/ros2_ws/src/AdvancedRobotics_Midterm/install/ros_midterm/bin'
+[6.588s] INFO:colcon.colcon_core.shell:Creating package script '/home/ros/ros2_ws/src/AdvancedRobotics_Midterm/install/ros_midterm/share/ros_midterm/package.ps1'
+[6.592s] INFO:colcon.colcon_core.shell:Creating package descriptor '/home/ros/ros2_ws/src/AdvancedRobotics_Midterm/install/ros_midterm/share/ros_midterm/package.dsv'
+[6.595s] INFO:colcon.colcon_core.shell:Creating package script '/home/ros/ros2_ws/src/AdvancedRobotics_Midterm/install/ros_midterm/share/ros_midterm/package.sh'
+[6.602s] INFO:colcon.colcon_core.shell:Creating package script '/home/ros/ros2_ws/src/AdvancedRobotics_Midterm/install/ros_midterm/share/ros_midterm/package.bash'
+[6.606s] INFO:colcon.colcon_core.shell:Creating package script '/home/ros/ros2_ws/src/AdvancedRobotics_Midterm/install/ros_midterm/share/ros_midterm/package.zsh'
+[6.609s] Level 1:colcon.colcon_core.environment:create_file_with_runtime_dependencies(/home/ros/ros2_ws/src/AdvancedRobotics_Midterm/install/ros_midterm/share/colcon-core/packages/ros_midterm)
+[6.634s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:closing loop
+[6.636s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:loop closed
+[6.637s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete finished with '1'
+[6.638s] DEBUG:colcon.colcon_core.event_reactor:joining thread
+[6.705s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.terminal_notifier': Not used on non-Darwin systems
+[6.707s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.win32': Not used on non-Windows systems
+[6.707s] INFO:colcon.colcon_notification.desktop_notification:Sending desktop notification using 'notify2'
+[6.739s] DEBUG:colcon.colcon_core.event_reactor:joined thread
+[6.740s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/ros/ros2_ws/src/AdvancedRobotics_Midterm/install/local_setup.ps1'
+[6.754s] INFO:colcon.colcon_core.shell:Creating prefix util module '/home/ros/ros2_ws/src/AdvancedRobotics_Midterm/install/_local_setup_util_ps1.py'
+[6.760s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/ros/ros2_ws/src/AdvancedRobotics_Midterm/install/setup.ps1'
+[6.766s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/ros/ros2_ws/src/AdvancedRobotics_Midterm/install/local_setup.sh'
+[6.774s] INFO:colcon.colcon_core.shell:Creating prefix util module '/home/ros/ros2_ws/src/AdvancedRobotics_Midterm/install/_local_setup_util_sh.py'
+[6.776s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/ros/ros2_ws/src/AdvancedRobotics_Midterm/install/setup.sh'
+[6.781s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/ros/ros2_ws/src/AdvancedRobotics_Midterm/install/local_setup.bash'
+[6.784s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/ros/ros2_ws/src/AdvancedRobotics_Midterm/install/setup.bash'
+[6.790s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/ros/ros2_ws/src/AdvancedRobotics_Midterm/install/local_setup.zsh'
+[6.793s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/ros/ros2_ws/src/AdvancedRobotics_Midterm/install/setup.zsh'

log/build_2025-11-18_14-16-36/ros_midterm/command.log

@@ -0,0 +1,2 @@
+Invoking command in '/home/ros/ros2_ws/src/AdvancedRobotics_Midterm/build/ros_midterm': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/ros/turtlebot3_ws/install/turtlebot3_teleop:/home/ros/turtlebot3_ws/install/turtlebot3_example:/opt/ros/humble /usr/bin/cmake /home/ros/ros2_ws/src/AdvancedRobotics_Midterm/ros_midterm -DCMAKE_INSTALL_PREFIX=/home/ros/ros2_ws/src/AdvancedRobotics_Midterm/install/ros_midterm
+Invoked command in '/home/ros/ros2_ws/src/AdvancedRobotics_Midterm/build/ros_midterm' returned '1': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/ros/turtlebot3_ws/install/turtlebot3_teleop:/home/ros/turtlebot3_ws/install/turtlebot3_example:/opt/ros/humble /usr/bin/cmake /home/ros/ros2_ws/src/AdvancedRobotics_Midterm/ros_midterm -DCMAKE_INSTALL_PREFIX=/home/ros/ros2_ws/src/AdvancedRobotics_Midterm/install/ros_midterm

log/build_2025-11-18_14-16-36/ros_midterm/stderr.log

@@ -0,0 +1,6 @@
+CMake Error at /opt/ros/humble/share/ament_cmake_target_dependencies/cmake/ament_target_dependencies.cmake:42 (message):
+  ament_target_dependencies() the first argument must be a valid target name
+Call Stack (most recent call first):
+  CMakeLists.txt:43 (ament_target_dependencies)
+
+

log/build_2025-11-18_14-16-36/ros_midterm/stdout.log

@@ -0,0 +1,21 @@
+-- Found ament_cmake: 1.3.12 (/opt/ros/humble/share/ament_cmake/cmake)
+-- Found ament_lint_auto: 0.12.14 (/opt/ros/humble/share/ament_lint_auto/cmake)
+-- Added test 'cppcheck' to perform static code analysis on C / C++ code
+-- Configured cppcheck include dirs: 
+-- Configured cppcheck exclude dirs and/or files: 
+-- Added test 'lint_cmake' to check CMake code style
+-- Added test 'uncrustify' to check C / C++ code style
+-- Configured uncrustify additional arguments: 
+-- Added test 'xmllint' to check XML markup files
+-- Found rclcpp: 16.0.15 (/opt/ros/humble/share/rclcpp/cmake)
+-- Found rosidl_generator_c: 3.1.7 (/opt/ros/humble/share/rosidl_generator_c/cmake)
+-- Found rosidl_adapter: 3.1.7 (/opt/ros/humble/share/rosidl_adapter/cmake)
+-- Found rosidl_generator_cpp: 3.1.7 (/opt/ros/humble/share/rosidl_generator_cpp/cmake)
+-- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c
+-- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp
+-- Found rmw_implementation_cmake: 6.1.2 (/opt/ros/humble/share/rmw_implementation_cmake/cmake)
+-- Found rmw_fastrtps_cpp: 6.2.8 (/opt/ros/humble/share/rmw_fastrtps_cpp/cmake)
+-- Using RMW implementation 'rmw_fastrtps_cpp' as default
+-- Found sensor_msgs: 4.9.0 (/opt/ros/humble/share/sensor_msgs/cmake)
+-- Configuring incomplete, errors occurred!
+See also "/home/ros/ros2_ws/src/AdvancedRobotics_Midterm/build/ros_midterm/CMakeFiles/CMakeOutput.log".

log/build_2025-11-18_14-16-36/ros_midterm/stdout_stderr.log

@@ -0,0 +1,27 @@
+-- Found ament_cmake: 1.3.12 (/opt/ros/humble/share/ament_cmake/cmake)
+-- Found ament_lint_auto: 0.12.14 (/opt/ros/humble/share/ament_lint_auto/cmake)
+-- Added test 'cppcheck' to perform static code analysis on C / C++ code
+-- Configured cppcheck include dirs: 
+-- Configured cppcheck exclude dirs and/or files: 
+-- Added test 'lint_cmake' to check CMake code style
+-- Added test 'uncrustify' to check C / C++ code style
+-- Configured uncrustify additional arguments: 
+-- Added test 'xmllint' to check XML markup files
+-- Found rclcpp: 16.0.15 (/opt/ros/humble/share/rclcpp/cmake)
+-- Found rosidl_generator_c: 3.1.7 (/opt/ros/humble/share/rosidl_generator_c/cmake)
+-- Found rosidl_adapter: 3.1.7 (/opt/ros/humble/share/rosidl_adapter/cmake)
+-- Found rosidl_generator_cpp: 3.1.7 (/opt/ros/humble/share/rosidl_generator_cpp/cmake)
+-- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c
+-- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp
+-- Found rmw_implementation_cmake: 6.1.2 (/opt/ros/humble/share/rmw_implementation_cmake/cmake)
+-- Found rmw_fastrtps_cpp: 6.2.8 (/opt/ros/humble/share/rmw_fastrtps_cpp/cmake)
+-- Using RMW implementation 'rmw_fastrtps_cpp' as default
+-- Found sensor_msgs: 4.9.0 (/opt/ros/humble/share/sensor_msgs/cmake)
+CMake Error at /opt/ros/humble/share/ament_cmake_target_dependencies/cmake/ament_target_dependencies.cmake:42 (message):
+  ament_target_dependencies() the first argument must be a valid target name
+Call Stack (most recent call first):
+  CMakeLists.txt:43 (ament_target_dependencies)
+
+
+-- Configuring incomplete, errors occurred!
+See also "/home/ros/ros2_ws/src/AdvancedRobotics_Midterm/build/ros_midterm/CMakeFiles/CMakeOutput.log".

log/build_2025-11-18_14-16-36/ros_midterm/streams.log

@@ -0,0 +1,29 @@
+[0.061s] Invoking command in '/home/ros/ros2_ws/src/AdvancedRobotics_Midterm/build/ros_midterm': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/ros/turtlebot3_ws/install/turtlebot3_teleop:/home/ros/turtlebot3_ws/install/turtlebot3_example:/opt/ros/humble /usr/bin/cmake /home/ros/ros2_ws/src/AdvancedRobotics_Midterm/ros_midterm -DCMAKE_INSTALL_PREFIX=/home/ros/ros2_ws/src/AdvancedRobotics_Midterm/install/ros_midterm
+[0.313s] -- Found ament_cmake: 1.3.12 (/opt/ros/humble/share/ament_cmake/cmake)
+[0.834s] -- Found ament_lint_auto: 0.12.14 (/opt/ros/humble/share/ament_lint_auto/cmake)
+[1.025s] -- Added test 'cppcheck' to perform static code analysis on C / C++ code
+[1.025s] -- Configured cppcheck include dirs: 
+[1.025s] -- Configured cppcheck exclude dirs and/or files: 
+[1.028s] -- Added test 'lint_cmake' to check CMake code style
+[1.033s] -- Added test 'uncrustify' to check C / C++ code style
+[1.033s] -- Configured uncrustify additional arguments: 
+[1.036s] -- Added test 'xmllint' to check XML markup files
+[1.049s] -- Found rclcpp: 16.0.15 (/opt/ros/humble/share/rclcpp/cmake)
+[1.238s] -- Found rosidl_generator_c: 3.1.7 (/opt/ros/humble/share/rosidl_generator_c/cmake)
+[1.260s] -- Found rosidl_adapter: 3.1.7 (/opt/ros/humble/share/rosidl_adapter/cmake)
+[1.316s] -- Found rosidl_generator_cpp: 3.1.7 (/opt/ros/humble/share/rosidl_generator_cpp/cmake)
+[1.402s] -- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c
+[1.476s] -- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp
+[1.697s] -- Found rmw_implementation_cmake: 6.1.2 (/opt/ros/humble/share/rmw_implementation_cmake/cmake)
+[1.697s] -- Found rmw_fastrtps_cpp: 6.2.8 (/opt/ros/humble/share/rmw_fastrtps_cpp/cmake)
+[1.970s] -- Using RMW implementation 'rmw_fastrtps_cpp' as default
+[2.274s] -- Found sensor_msgs: 4.9.0 (/opt/ros/humble/share/sensor_msgs/cmake)
+[2.432s] CMake Error at /opt/ros/humble/share/ament_cmake_target_dependencies/cmake/ament_target_dependencies.cmake:42 (message):
+[2.432s]   ament_target_dependencies() the first argument must be a valid target name
+[2.433s] Call Stack (most recent call first):
+[2.433s]   CMakeLists.txt:43 (ament_target_dependencies)
+[2.433s] 
+[2.433s] 
+[2.433s] -- Configuring incomplete, errors occurred!
+[2.433s] See also "/home/ros/ros2_ws/src/AdvancedRobotics_Midterm/build/ros_midterm/CMakeFiles/CMakeOutput.log".
+[2.463s] Invoked command in '/home/ros/ros2_ws/src/AdvancedRobotics_Midterm/build/ros_midterm' returned '1': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/ros/turtlebot3_ws/install/turtlebot3_teleop:/home/ros/turtlebot3_ws/install/turtlebot3_example:/opt/ros/humble /usr/bin/cmake /home/ros/ros2_ws/src/AdvancedRobotics_Midterm/ros_midterm -DCMAKE_INSTALL_PREFIX=/home/ros/ros2_ws/src/AdvancedRobotics_Midterm/install/ros_midterm

log/latest

@@ -0,0 +1 @@
+latest_build

log/latest_build

@@ -0,0 +1 @@
+build_2025-11-18_14-16-36

ros_midterm/CMakeLists.txt

@@ -0,0 +1,44 @@
+cmake_minimum_required(VERSION 3.8)
+# Use the first project name for the package
+project(ros_midterm) 
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies (COMBINED SECTION)
+find_package(ament_cmake REQUIRED)
+# Add the specific required ROS 2 dependencies here:
+find_package(rclcpp REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
+
+# Add the executable and its dependencies (FROM SECOND HALF)
+add_executable(imu_sub src/imu_sub.cpp)
+ament_target_dependencies(imu_sub rclcpp sensor_msgs)
+
+add_executable(cmd_pub src/cmd_pub.cpp)
+ament_target_dependencies(cmd_pub rclcpp geometry_msgs)
+
+# Install the executable
+install(TARGETS
+  imu_sub
+  cmd_pub
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+# Linting and testing block (KEEP ONLY ONE COPY)
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+# This must be called only ONCE at the end of the file.
+ament_package()

ros_midterm/package.xml

@@ -0,0 +1,22 @@
+<?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>ros_midterm</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="ros@todo.todo">ros</maintainer>
+  <license>Apache-2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  
+  <depend>rclcpp</depend>
+  <depend>sensor_msgs</depend>
+  <depend>geometry_msgs</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

ros_midterm/src/cmd_pub.cpp

@@ -0,0 +1,50 @@
+#include <rclcpp/rclcpp.hpp>
+#include <geometry_msgs/msg/twist.hpp>
+#include <cstdlib> 
+#include <ctime> 
+
+class CmdVelPublisher : public rclcpp::Node
+{
+public:
+  CmdVelPublisher()
+  : Node("cmd_pub")
+  {
+    std::srand(std::time(0));
+
+    publisher_ = this->create_publisher<geometry_msgs::msg::Twist>("/cmd_vel", 10);
+
+    timer_ = this->create_wall_timer(
+      std::chrono::seconds(1),
+      std::bind(&CmdVelPublisher::timer_callback, this));
+
+    RCLCPP_INFO(this->get_logger(), "Command Publisher Node initialized. Publishing random rotation to /cmd_vel every 1s...");
+  }
+
+private:
+  void timer_callback()
+  {
+    auto twist_msg = geometry_msgs::msg::Twist();
+
+    double random_z = (rand() / (double)RAND_MAX) * 2.0 - 1.0;
+    
+    twist_msg.angular.z = random_z;
+
+    publisher_->publish(twist_msg);
+
+    RCLCPP_INFO(this->get_logger(), "Published cmd_vel: angular.z = %f", random_z);
+  }
+  
+  rclcpp::Publisher<geometry_msgs::msg::Twist>::SharedPtr publisher_;
+  rclcpp::TimerBase::SharedPtr timer_;
+};
+
+int main(int argc, char * argv[])
+{
+
+  rclcpp::init(argc, argv);
+
+  rclcpp::spin(std::make_shared<CmdVelPublisher>());
+
+  rclcpp::shutdown();
+  return 0;
+}

ros_midterm/src/imu_sub.cpp

@@ -0,0 +1,40 @@
+#include <rclcpp/rclcpp.hpp>
+#include <sensor_msgs/msg/imu.hpp>
+
+
+class ImuSubscriber : public rclcpp::Node
+{
+public:
+  ImuSubscriber()
+  : Node("imu_sub")
+  {
+    subscription_ = this->create_subscription<sensor_msgs::msg::Imu>(
+      "/imu",
+      10,
+      std::bind(&ImuSubscriber::imu_callback, this, std::placeholders::_1));
+
+    RCLCPP_INFO(this->get_logger(), "IMU Subscriber Node initialized. Listening to /imu...");
+  }
+
+private:
+  void imu_callback(const sensor_msgs::msg::Imu::SharedPtr msg)
+  {
+    double angular_velocity_z = msg->angular_velocity.z;
+
+    RCLCPP_INFO(this->get_logger(), 
+                "Angular Velocity around Z: %f rad/s", 
+                angular_velocity_z);
+  }
+  
+  rclcpp::Subscription<sensor_msgs::msg::Imu>::SharedPtr subscription_;
+};
+
+int main(int argc, char * argv[])
+{
+  rclcpp::init(argc, argv);
+
+  rclcpp::spin(std::make_shared<ImuSubscriber>());
+
+  rclcpp::shutdown();
+  return 0;
+}