diff --git a/.gitignore b/.gitignore
index 0c09721..792aee9 100644
--- a/.gitignore
+++ b/.gitignore
@@ -160,9 +160,13 @@ cython_debug/
 #.idea/
 .vscode
 
-deploy/ros2_ws/log
-deploy/ros2_ws/install
-deploy/ros2_ws/build
+deploy/robot_ws/log
+deploy/robot_ws/install
+deploy/robot_ws/build
+
+deploy/dock_ws/log
+deploy/dock_ws/install
+deploy/dock_ws/build
 
 _isaac_sim
 .vscode
\ No newline at end of file
diff --git a/Go2Py/make_msgs.sh b/Go2Py/make_msgs.sh
index fa4dd8a..72d7554 100755
--- a/Go2Py/make_msgs.sh
+++ b/Go2Py/make_msgs.sh
@@ -20,6 +20,6 @@ do
     idlc -l ../../idl/libcycloneddsidlcxx.so.0.10.2 $file
 done
 cd ../..
-rm -r ../cpp_bridge/include/go2py
-mv msgs/cpp ../cpp_bridge/include/go2py
+# rm -r ../cpp_bridge/include/go2py
+# mv msgs/cpp ../cpp_bridge/include/go2py
 echo -e "${GREEN} Done with DDS type generation${NC}"
\ No newline at end of file
diff --git a/Go2Py/msgs/.idlpy_manifest b/Go2Py/msgs/.idlpy_manifest
deleted file mode 100644
index 8ffd2a6..0000000
--- a/Go2Py/msgs/.idlpy_manifest
+++ /dev/null
@@ -1,11 +0,0 @@
-Imu
-
-Imu
-
-LowCmd
-
-LowCmd
-
-LowState
-
-LowState
diff --git a/Go2Py/msgs/_Imu.py b/Go2Py/msgs/_Imu.py
deleted file mode 100644
index 231946a..0000000
--- a/Go2Py/msgs/_Imu.py
+++ /dev/null
@@ -1,31 +0,0 @@
-"""
-  Generated by Eclipse Cyclone DDS idlc Python Backend
-  Cyclone DDS IDL version: v0.11.0
-  Module: msgs
-  IDL file: Imu.idl
-
-"""
-
-from enum import auto
-from typing import TYPE_CHECKING, Optional
-from dataclasses import dataclass
-
-import cyclonedds.idl as idl
-import cyclonedds.idl.annotations as annotate
-import cyclonedds.idl.types as types
-
-# root module import for resolving types
-import msgs
-
-
-@dataclass
-@annotate.final
-@annotate.autoid("sequential")
-class Imu(idl.IdlStruct, typename="msgs.Imu"):
-    q: types.array[types.float32, 4]
-    gyro: types.array[types.float32, 3]
-    accel: types.array[types.float32, 3]
-    rpy: types.array[types.float32, 3]
-    tmp: types.uint8
-
-
diff --git a/Go2Py/msgs/_LowCmd.py b/Go2Py/msgs/_LowCmd.py
deleted file mode 100644
index 777fb93..0000000
--- a/Go2Py/msgs/_LowCmd.py
+++ /dev/null
@@ -1,32 +0,0 @@
-"""
-  Generated by Eclipse Cyclone DDS idlc Python Backend
-  Cyclone DDS IDL version: v0.11.0
-  Module: msgs
-  IDL file: LowCmd.idl
-
-"""
-
-from enum import auto
-from typing import TYPE_CHECKING, Optional
-from dataclasses import dataclass
-
-import cyclonedds.idl as idl
-import cyclonedds.idl.annotations as annotate
-import cyclonedds.idl.types as types
-
-# root module import for resolving types
-import msgs
-
-
-@dataclass
-@annotate.final
-@annotate.autoid("sequential")
-class LowCmd(idl.IdlStruct, typename="msgs.LowCmd"):
-    q: types.array[types.float32, 12]
-    dq: types.array[types.float32, 12]
-    tau_ff: types.array[types.float32, 12]
-    kp: types.array[types.float32, 12]
-    kv: types.array[types.float32, 12]
-    e_stop: types.uint8
-
-
diff --git a/Go2Py/msgs/_LowState.py b/Go2Py/msgs/_LowState.py
deleted file mode 100644
index 16b9c65..0000000
--- a/Go2Py/msgs/_LowState.py
+++ /dev/null
@@ -1,39 +0,0 @@
-"""
-  Generated by Eclipse Cyclone DDS idlc Python Backend
-  Cyclone DDS IDL version: v0.11.0
-  Module: msgs
-  IDL file: LowState.idl
-
-"""
-
-from enum import auto
-from typing import TYPE_CHECKING, Optional
-from dataclasses import dataclass
-
-import cyclonedds.idl as idl
-import cyclonedds.idl.annotations as annotate
-import cyclonedds.idl.types as types
-
-# root module import for resolving types
-import msgs
-
-
-@dataclass
-@annotate.final
-@annotate.autoid("sequential")
-class LowState(idl.IdlStruct, typename="msgs.LowState"):
-    q: types.array[types.float32, 12]
-    dq: types.array[types.float32, 12]
-    ddq: types.array[types.float32, 12]
-    tau_est: types.array[types.float32, 12]
-    tmp: types.array[types.float32, 12]
-    contact: types.array[types.float32, 4]
-    quat: types.array[types.float32, 4]
-    gyro: types.array[types.float32, 3]
-    accel: types.array[types.float32, 3]
-    rpy: types.array[types.float32, 3]
-    imu_tmp: types.uint8
-    voltage: types.float32
-    current: types.float32
-
-
diff --git a/Go2Py/msgs/__init__.py b/Go2Py/msgs/__init__.py
deleted file mode 100644
index 5a541f5..0000000
--- a/Go2Py/msgs/__init__.py
+++ /dev/null
@@ -1,11 +0,0 @@
-"""
-  Generated by Eclipse Cyclone DDS idlc Python Backend
-  Cyclone DDS IDL version: v0.11.0
-  Module: msgs
-
-"""
-
-from ._Imu import Imu
-from ._LowCmd import LowCmd
-from ._LowState import LowState
-__all__ = ["Imu", "LowCmd", "LowState", ]
diff --git a/Go2Py/robot/interface/ros2.py b/Go2Py/robot/interface/ros2.py
index cf62f39..d653e2f 100644
--- a/Go2Py/robot/interface/ros2.py
+++ b/Go2Py/robot/interface/ros2.py
@@ -12,7 +12,7 @@ from rclpy.executors import MultiThreadedExecutor
 from geometry_msgs.msg import TransformStamped
 from Go2Py.joy import xKeySwitch, xRockerBtn
 from geometry_msgs.msg import TwistStamped
-from unitree_go.msg import LowState
+from unitree_go.msg import LowState, LowCmd
 from nav_msgs.msg import Odometry   
 
 
@@ -57,7 +57,6 @@ class ROS2ExecutorManager:
         if self.executor_thread:
             self.executor_thread.join()
 
-
 class GO2Real(Node):
     def __init__(
         self,
@@ -70,6 +69,7 @@ class GO2Real(Node):
         self.mode = mode
         self.node_name = "go2py_highlevel_subscriber"
         self.highcmd_topic = "/go2/twist_cmd"
+        self.lowcmd_topic = "/go2/lowcmd"
         self.joint_state_topic = "/go2/joint_states"
         self.lowstate_topic = "/lowstate"
         super().__init__(self.node_name)
@@ -77,6 +77,7 @@ class GO2Real(Node):
         self.lowstate_subscriber = self.create_subscription(
             LowState, self.lowstate_topic, self.lowstate_callback, 1
         )
+        self.lowcmd_publisher = self.create_publisher(LowCmd, self.lowcmd_topic, 1)
 
         self.odometry_subscriber = self.create_subscription(
             Odometry, "/utlidar/robot_odom", self.odom_callback, 1
@@ -94,6 +95,8 @@ class GO2Real(Node):
         self.ωz_max = ωz_max
         self.ωz_min = -ωz_max
         self.running = True
+        self.setCommands = {'lowstate':self.setCommandsLow,
+                            'highstate':self.setCommandsHigh}[self.mode]
 
     def lowstate_callback(self, msg):
         """
@@ -169,7 +172,6 @@ class GO2Real(Node):
 
         keySwitch = xKeySwitch(*btn)
         rockerBtn = xRockerBtn(head, keySwitch, lx, rx, ry, L2, ly)
-
         return rockerBtn
 
     def getCommandFromRemote(self):
@@ -191,18 +193,25 @@ class GO2Real(Node):
         batteryState = self.state.bms
         return batteryState.SOC
 
-    def setCommands(self, v_x, v_y, ω_z, bodyHeight=0.0, footRaiseHeight=0.0, mode=2):
-        if self.mode == 'highlevel':
-            self.cmd_watchdog_timer = time.time()
-            _v_x, _v_y, _ω_z = self.clip_velocity(v_x, v_y, ω_z)
-            self.highcmd.header.stamp = self.get_clock().now().to_msg()
-            self.highcmd.header.frame_id = "base_link"
-            self.highcmd.twist.linear.x = _v_x
-            self.highcmd.twist.linear.y = _v_y
-            self.highcmd.twist.angular.z = _ω_z
-            self.highcmd_publisher.publish(self.highcmd)
-        else:
-            raise NotImplementedError("Low level control command is not implemented yet")
+    def setCommandsHigh(self, v_x, v_y, ω_z, bodyHeight=0.0, footRaiseHeight=0.0, mode=2):
+        self.cmd_watchdog_timer = time.time()
+        _v_x, _v_y, _ω_z = self.clip_velocity(v_x, v_y, ω_z)
+        self.highcmd.header.stamp = self.get_clock().now().to_msg()
+        self.highcmd.header.frame_id = "base_link"
+        self.highcmd.twist.linear.x = _v_x
+        self.highcmd.twist.linear.y = _v_y
+        self.highcmd.twist.angular.z = _ω_z
+        self.highcmd_publisher.publish(self.highcmd)
+
+    def setCommandsLow(q, dq, kp, kd, tau_ff):
+        assert q.size == qd.size == kp.size == kd.size == tau_ff.size == 12, "q, dq, kp, kd, tau_ff should have size 12"
+        lowcmd = LowCmd()
+        lowcmd.motor_cmd.q = q.tolist()
+        lowcmd.motor_cmd.dq = dq.tolist()
+        lowcmd.motor_cmd.kp = kp.tolist()
+        lowcmd.motor_cmd.kd = kd.tolist()
+        lowcmd.motor_cmd.tau_ff = tau_ff.tolist()
+        self.lowcmd_publisher.publish(lowcmd)
 
     def close(self):
         self.running = False
diff --git a/deploy/perception_ws/src/lidar_node/CMakeLists.txt b/deploy/dock_ws/src/lidar_node/CMakeLists.txt
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/CMakeLists.txt
rename to deploy/dock_ws/src/lidar_node/CMakeLists.txt
diff --git a/deploy/perception_ws/src/lidar_node/README.md b/deploy/dock_ws/src/lidar_node/README.md
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/README.md
rename to deploy/dock_ws/src/lidar_node/README.md
diff --git a/deploy/perception_ws/src/lidar_node/Version.h.in b/deploy/dock_ws/src/lidar_node/Version.h.in
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/Version.h.in
rename to deploy/dock_ws/src/lidar_node/Version.h.in
diff --git a/deploy/perception_ws/src/lidar_node/config/config.yaml b/deploy/dock_ws/src/lidar_node/config/config.yaml
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/config/config.yaml
rename to deploy/dock_ws/src/lidar_node/config/config.yaml
diff --git a/deploy/perception_ws/src/lidar_node/launch/dashing_start.py b/deploy/dock_ws/src/lidar_node/launch/dashing_start.py
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/launch/dashing_start.py
rename to deploy/dock_ws/src/lidar_node/launch/dashing_start.py
diff --git a/deploy/perception_ws/src/lidar_node/launch/start.launch b/deploy/dock_ws/src/lidar_node/launch/start.launch
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/launch/start.launch
rename to deploy/dock_ws/src/lidar_node/launch/start.launch
diff --git a/deploy/perception_ws/src/lidar_node/launch/start.py b/deploy/dock_ws/src/lidar_node/launch/start.py
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/launch/start.py
rename to deploy/dock_ws/src/lidar_node/launch/start.py
diff --git a/deploy/perception_ws/src/lidar_node/msg/UdpFrame.msg b/deploy/dock_ws/src/lidar_node/msg/UdpFrame.msg
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/msg/UdpFrame.msg
rename to deploy/dock_ws/src/lidar_node/msg/UdpFrame.msg
diff --git a/deploy/perception_ws/src/lidar_node/msg/UdpPacket.msg b/deploy/dock_ws/src/lidar_node/msg/UdpPacket.msg
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/msg/UdpPacket.msg
rename to deploy/dock_ws/src/lidar_node/msg/UdpPacket.msg
diff --git a/deploy/perception_ws/src/lidar_node/msg/msg_ros2/UdpFrame.msg b/deploy/dock_ws/src/lidar_node/msg/msg_ros2/UdpFrame.msg
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/msg/msg_ros2/UdpFrame.msg
rename to deploy/dock_ws/src/lidar_node/msg/msg_ros2/UdpFrame.msg
diff --git a/deploy/perception_ws/src/lidar_node/msg/msg_ros2/UdpPacket.msg b/deploy/dock_ws/src/lidar_node/msg/msg_ros2/UdpPacket.msg
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/msg/msg_ros2/UdpPacket.msg
rename to deploy/dock_ws/src/lidar_node/msg/msg_ros2/UdpPacket.msg
diff --git a/deploy/perception_ws/src/lidar_node/node/hesai_ros_driver_node.cc b/deploy/dock_ws/src/lidar_node/node/hesai_ros_driver_node.cc
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/node/hesai_ros_driver_node.cc
rename to deploy/dock_ws/src/lidar_node/node/hesai_ros_driver_node.cc
diff --git a/deploy/perception_ws/src/lidar_node/node/hesai_ros_driver_node.cu b/deploy/dock_ws/src/lidar_node/node/hesai_ros_driver_node.cu
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/node/hesai_ros_driver_node.cu
rename to deploy/dock_ws/src/lidar_node/node/hesai_ros_driver_node.cu
diff --git a/deploy/perception_ws/src/lidar_node/package.xml b/deploy/dock_ws/src/lidar_node/package.xml
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/package.xml
rename to deploy/dock_ws/src/lidar_node/package.xml
diff --git a/deploy/perception_ws/src/lidar_node/rviz/rviz.rviz b/deploy/dock_ws/src/lidar_node/rviz/rviz.rviz
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/rviz/rviz.rviz
rename to deploy/dock_ws/src/lidar_node/rviz/rviz.rviz
diff --git a/deploy/perception_ws/src/lidar_node/rviz/rviz2.rviz b/deploy/dock_ws/src/lidar_node/rviz/rviz2.rviz
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/rviz/rviz2.rviz
rename to deploy/dock_ws/src/lidar_node/rviz/rviz2.rviz
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/CMakeLists.txt b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/CMakeLists.txt
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/CMakeLists.txt
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/CMakeLists.txt
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/LICENSE b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/LICENSE
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/LICENSE
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/LICENSE
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/README.md b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/README.md
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/README.md
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/README.md
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/Version.h.in b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/Version.h.in
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/Version.h.in
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/Version.h.in
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/change notes.md b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/change notes.md
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/change notes.md
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/change notes.md
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/AT128E2X_Angle Correction File.dat b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/AT128E2X_Angle Correction File.dat
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/AT128E2X_Angle Correction File.dat
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/AT128E2X_Angle Correction File.dat
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/FT120C1X_Angle Correction File.dat b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/FT120C1X_Angle Correction File.dat
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/FT120C1X_Angle Correction File.dat
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/FT120C1X_Angle Correction File.dat
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/OT128_Angle Correction File.csv b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/OT128_Angle Correction File.csv
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/OT128_Angle Correction File.csv
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/OT128_Angle Correction File.csv
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/Pandar128E3X_Angle Correction File.csv b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/Pandar128E3X_Angle Correction File.csv
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/Pandar128E3X_Angle Correction File.csv
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/Pandar128E3X_Angle Correction File.csv
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/Pandar40M_Angle Correction File.csv b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/Pandar40M_Angle Correction File.csv
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/Pandar40M_Angle Correction File.csv
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/Pandar40M_Angle Correction File.csv
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/Pandar40P_Angle Correction File.csv b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/Pandar40P_Angle Correction File.csv
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/Pandar40P_Angle Correction File.csv
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/Pandar40P_Angle Correction File.csv
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/Pandar64_Angle Correction File.csv b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/Pandar64_Angle Correction File.csv
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/Pandar64_Angle Correction File.csv
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/Pandar64_Angle Correction File.csv
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/Pandar90E3X_Angle Correction File.csv b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/Pandar90E3X_Angle Correction File.csv
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/Pandar90E3X_Angle Correction File.csv
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/Pandar90E3X_Angle Correction File.csv
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/PandarQT_Angle Correction File.csv b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/PandarQT_Angle Correction File.csv
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/PandarQT_Angle Correction File.csv
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/PandarQT_Angle Correction File.csv
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/PandarXT-16_Angle Correction File.csv b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/PandarXT-16_Angle Correction File.csv
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/PandarXT-16_Angle Correction File.csv
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/PandarXT-16_Angle Correction File.csv
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/PandarXT_Angle Correction File.csv b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/PandarXT_Angle Correction File.csv
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/PandarXT_Angle Correction File.csv
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/PandarXT_Angle Correction File.csv
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/QT128C2X_Angle Correction File.csv b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/QT128C2X_Angle Correction File.csv
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/QT128C2X_Angle Correction File.csv
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/QT128C2X_Angle Correction File.csv
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/QT128C2X_Channel_Cofig.csv b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/QT128C2X_Channel_Cofig.csv
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/QT128C2X_Channel_Cofig.csv
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/QT128C2X_Channel_Cofig.csv
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/XT32M2X_Angle Correction File.csv b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/XT32M2X_Angle Correction File.csv
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/XT32M2X_Angle Correction File.csv
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/XT32M2X_Angle Correction File.csv
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/firetime_correction/AT128E2X_Firetime Correction File.csv b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/firetime_correction/AT128E2X_Firetime Correction File.csv
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/firetime_correction/AT128E2X_Firetime Correction File.csv
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/firetime_correction/AT128E2X_Firetime Correction File.csv
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/firetime_correction/Pandar128E3X_Firetime Correction File.csv b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/firetime_correction/Pandar128E3X_Firetime Correction File.csv
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/firetime_correction/Pandar128E3X_Firetime Correction File.csv
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/firetime_correction/Pandar128E3X_Firetime Correction File.csv
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/firetime_correction/Pandar40E3X_Firetime Correction File.csv b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/firetime_correction/Pandar40E3X_Firetime Correction File.csv
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/firetime_correction/Pandar40E3X_Firetime Correction File.csv
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/firetime_correction/Pandar40E3X_Firetime Correction File.csv
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/firetime_correction/Pandar40P_Firetime Correction File.csv b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/firetime_correction/Pandar40P_Firetime Correction File.csv
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/firetime_correction/Pandar40P_Firetime Correction File.csv
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/firetime_correction/Pandar40P_Firetime Correction File.csv
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/firetime_correction/Pandar64E3X_Firetime Correction File.csv b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/firetime_correction/Pandar64E3X_Firetime Correction File.csv
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/firetime_correction/Pandar64E3X_Firetime Correction File.csv
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/firetime_correction/Pandar64E3X_Firetime Correction File.csv
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/firetime_correction/Pandar64_Firetime Correction File.csv b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/firetime_correction/Pandar64_Firetime Correction File.csv
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/firetime_correction/Pandar64_Firetime Correction File.csv
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/firetime_correction/Pandar64_Firetime Correction File.csv
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/firetime_correction/Pandar90_Firetime Correction File.csv b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/firetime_correction/Pandar90_Firetime Correction File.csv
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/firetime_correction/Pandar90_Firetime Correction File.csv
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/firetime_correction/Pandar90_Firetime Correction File.csv
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/firetime_correction/PandarXT-16_Firetime Correction File.csv b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/firetime_correction/PandarXT-16_Firetime Correction File.csv
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/firetime_correction/PandarXT-16_Firetime Correction File.csv
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/firetime_correction/PandarXT-16_Firetime Correction File.csv
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/firetime_correction/PandarXT_Firetime Correction File.csv b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/firetime_correction/PandarXT_Firetime Correction File.csv
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/firetime_correction/PandarXT_Firetime Correction File.csv
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/firetime_correction/PandarXT_Firetime Correction File.csv
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/firetime_correction/QT128C2X_Firetime Correction File.csv b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/firetime_correction/QT128C2X_Firetime Correction File.csv
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/firetime_correction/QT128C2X_Firetime Correction File.csv
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/firetime_correction/QT128C2X_Firetime Correction File.csv
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/driver/hesai_lidar_sdk.hpp b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/driver/hesai_lidar_sdk.hpp
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/driver/hesai_lidar_sdk.hpp
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/driver/hesai_lidar_sdk.hpp
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/driver/hesai_lidar_sdk_gpu.cuh b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/driver/hesai_lidar_sdk_gpu.cuh
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/driver/hesai_lidar_sdk_gpu.cuh
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/driver/hesai_lidar_sdk_gpu.cuh
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/CMakeLists.txt b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/CMakeLists.txt
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/CMakeLists.txt
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/CMakeLists.txt
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Container/include/blocking_ring.h b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Container/include/blocking_ring.h
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Container/include/blocking_ring.h
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Container/include/blocking_ring.h
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Container/include/ring.h b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Container/include/ring.h
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Container/include/ring.h
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Container/include/ring.h
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Container/include/ring_2d_shared.h b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Container/include/ring_2d_shared.h
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Container/include/ring_2d_shared.h
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Container/include/ring_2d_shared.h
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Container/include/ring_2dex.h b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Container/include/ring_2dex.h
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Container/include/ring_2dex.h
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Container/include/ring_2dex.h
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Container/src/blocking_ring.cc b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Container/src/blocking_ring.cc
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Container/src/blocking_ring.cc
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Container/src/blocking_ring.cc
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Container/src/ring.cc b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Container/src/ring.cc
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Container/src/ring.cc
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Container/src/ring.cc
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Container/src/ring_2d_shared.cc b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Container/src/ring_2d_shared.cc
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Container/src/ring_2d_shared.cc
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Container/src/ring_2d_shared.cc
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Container/src/ring_2dex.cc b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Container/src/ring_2dex.cc
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Container/src/ring_2dex.cc
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Container/src/ring_2dex.cc
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Lidar/lidar.cc b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Lidar/lidar.cc
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Lidar/lidar.cc
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Lidar/lidar.cc
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Lidar/lidar.h b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Lidar/lidar.h
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Lidar/lidar.h
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Lidar/lidar.h
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Lidar/lidar_types.h b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Lidar/lidar_types.h
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Lidar/lidar_types.h
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Lidar/lidar_types.h
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Logger/include/logger.h b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Logger/include/logger.h
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Logger/include/logger.h
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Logger/include/logger.h
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Logger/src/logger.cc b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Logger/src/logger.cc
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Logger/src/logger.cc
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Logger/src/logger.cc
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcClient/include/client_base.h b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcClient/include/client_base.h
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcClient/include/client_base.h
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcClient/include/client_base.h
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcClient/include/lidar_communication_header.h b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcClient/include/lidar_communication_header.h
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcClient/include/lidar_communication_header.h
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcClient/include/lidar_communication_header.h
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcClient/include/ptc_client.h b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcClient/include/ptc_client.h
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcClient/include/ptc_client.h
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcClient/include/ptc_client.h
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcClient/include/tcp_client.h b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcClient/include/tcp_client.h
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcClient/include/tcp_client.h
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcClient/include/tcp_client.h
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcClient/include/tcp_ssl_client.h b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcClient/include/tcp_ssl_client.h
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcClient/include/tcp_ssl_client.h
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcClient/include/tcp_ssl_client.h
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcClient/src/ptc_client.cc b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcClient/src/ptc_client.cc
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcClient/src/ptc_client.cc
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcClient/src/ptc_client.cc
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcClient/src/tcp_client.cc b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcClient/src/tcp_client.cc
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcClient/src/tcp_client.cc
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcClient/src/tcp_client.cc
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcClient/src/tcp_ssl_client.cc b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcClient/src/tcp_ssl_client.cc
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcClient/src/tcp_ssl_client.cc
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcClient/src/tcp_ssl_client.cc
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcParser/include/general_ptc_parser.h b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcParser/include/general_ptc_parser.h
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcParser/include/general_ptc_parser.h
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcParser/include/general_ptc_parser.h
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcParser/include/ptc_1_0_parser.h b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcParser/include/ptc_1_0_parser.h
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcParser/include/ptc_1_0_parser.h
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcParser/include/ptc_1_0_parser.h
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcParser/include/ptc_2_0_parser.h b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcParser/include/ptc_2_0_parser.h
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcParser/include/ptc_2_0_parser.h
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcParser/include/ptc_2_0_parser.h
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcParser/ptc_parser.cc b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcParser/ptc_parser.cc
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcParser/ptc_parser.cc
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcParser/ptc_parser.cc
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcParser/ptc_parser.h b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcParser/ptc_parser.h
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcParser/ptc_parser.h
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcParser/ptc_parser.h
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcParser/src/general_ptc_parser.cc b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcParser/src/general_ptc_parser.cc
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcParser/src/general_ptc_parser.cc
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcParser/src/general_ptc_parser.cc
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcParser/src/ptc_1_0_parser.cc b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcParser/src/ptc_1_0_parser.cc
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcParser/src/ptc_1_0_parser.cc
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcParser/src/ptc_1_0_parser.cc
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcParser/src/ptc_2_0_parser.cc b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcParser/src/ptc_2_0_parser.cc
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcParser/src/ptc_2_0_parser.cc
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcParser/src/ptc_2_0_parser.cc
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Source/include/pcap_saver.h b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Source/include/pcap_saver.h
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Source/include/pcap_saver.h
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Source/include/pcap_saver.h
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Source/include/pcap_source.h b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Source/include/pcap_source.h
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Source/include/pcap_source.h
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Source/include/pcap_source.h
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Source/include/socket_source.h b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Source/include/socket_source.h
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Source/include/socket_source.h
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Source/include/socket_source.h
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Source/include/source.h b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Source/include/source.h
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Source/include/source.h
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Source/include/source.h
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Source/src/pcap_saver.cc b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Source/src/pcap_saver.cc
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Source/src/pcap_saver.cc
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Source/src/pcap_saver.cc
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Source/src/pcap_source.cc b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Source/src/pcap_source.cc
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Source/src/pcap_source.cc
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Source/src/pcap_source.cc
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Source/src/socket_source.cc b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Source/src/socket_source.cc
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Source/src/socket_source.cc
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Source/src/socket_source.cc
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Source/src/source.cc b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Source/src/source.cc
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Source/src/source.cc
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Source/src/source.cc
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/include/general_parser.h b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/include/general_parser.h
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/include/general_parser.h
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/include/general_parser.h
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/include/udp1_4_parser.h b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/include/udp1_4_parser.h
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/include/udp1_4_parser.h
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/include/udp1_4_parser.h
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/include/udp2_4_parser.h b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/include/udp2_4_parser.h
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/include/udp2_4_parser.h
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/include/udp2_4_parser.h
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/include/udp2_5_parser.h b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/include/udp2_5_parser.h
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/include/udp2_5_parser.h
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/include/udp2_5_parser.h
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/include/udp3_1_parser.h b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/include/udp3_1_parser.h
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/include/udp3_1_parser.h
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/include/udp3_1_parser.h
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/include/udp3_2_parser.h b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/include/udp3_2_parser.h
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/include/udp3_2_parser.h
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/include/udp3_2_parser.h
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/include/udp4_3_parser.h b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/include/udp4_3_parser.h
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/include/udp4_3_parser.h
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/include/udp4_3_parser.h
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/include/udp6_1_parser.h b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/include/udp6_1_parser.h
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/include/udp6_1_parser.h
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/include/udp6_1_parser.h
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/include/udp7_2_parser.h b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/include/udp7_2_parser.h
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/include/udp7_2_parser.h
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/include/udp7_2_parser.h
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/include/udp_p40_parser.h b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/include/udp_p40_parser.h
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/include/udp_p40_parser.h
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/include/udp_p40_parser.h
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/include/udp_p64_parser.h b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/include/udp_p64_parser.h
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/include/udp_p64_parser.h
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/include/udp_p64_parser.h
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/src/general_parser.cc b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/src/general_parser.cc
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/src/general_parser.cc
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/src/general_parser.cc
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/src/udp1_4_parser.cc b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/src/udp1_4_parser.cc
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/src/udp1_4_parser.cc
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/src/udp1_4_parser.cc
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/src/udp2_4_parser.cc b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/src/udp2_4_parser.cc
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/src/udp2_4_parser.cc
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/src/udp2_4_parser.cc
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/src/udp2_5_parser.cc b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/src/udp2_5_parser.cc
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/src/udp2_5_parser.cc
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/src/udp2_5_parser.cc
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/src/udp3_1_parser.cc b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/src/udp3_1_parser.cc
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/src/udp3_1_parser.cc
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/src/udp3_1_parser.cc
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/src/udp3_2_parser.cc b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/src/udp3_2_parser.cc
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/src/udp3_2_parser.cc
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/src/udp3_2_parser.cc
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/src/udp4_3_parser.cc b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/src/udp4_3_parser.cc
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/src/udp4_3_parser.cc
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/src/udp4_3_parser.cc
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/src/udp6_1_parser.cc b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/src/udp6_1_parser.cc
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/src/udp6_1_parser.cc
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/src/udp6_1_parser.cc
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/src/udp7_2_parser.cc b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/src/udp7_2_parser.cc
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/src/udp7_2_parser.cc
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/src/udp7_2_parser.cc
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/src/udp_p40_parser.cc b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/src/udp_p40_parser.cc
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/src/udp_p40_parser.cc
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/src/udp_p40_parser.cc
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/src/udp_p64_parser.cc b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/src/udp_p64_parser.cc
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/src/udp_p64_parser.cc
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/src/udp_p64_parser.cc
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/udp_parser.cc b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/udp_parser.cc
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/udp_parser.cc
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/udp_parser.cc
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/udp_parser.h b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/udp_parser.h
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/udp_parser.h
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/udp_parser.h
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/general_parser_gpu.h b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/general_parser_gpu.h
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/general_parser_gpu.h
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/general_parser_gpu.h
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/nvbuffer.h b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/nvbuffer.h
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/nvbuffer.h
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/nvbuffer.h
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/return_code.h b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/return_code.h
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/return_code.h
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/return_code.h
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/safe_call.cuh b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/safe_call.cuh
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/safe_call.cuh
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/safe_call.cuh
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/udp1_4_parser_gpu.h b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/udp1_4_parser_gpu.h
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/udp1_4_parser_gpu.h
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/udp1_4_parser_gpu.h
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/udp2_5_parser_gpu.h b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/udp2_5_parser_gpu.h
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/udp2_5_parser_gpu.h
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/udp2_5_parser_gpu.h
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/udp3_1_parser_gpu.h b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/udp3_1_parser_gpu.h
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/udp3_1_parser_gpu.h
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/udp3_1_parser_gpu.h
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/udp3_2_parser_gpu.h b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/udp3_2_parser_gpu.h
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/udp3_2_parser_gpu.h
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/udp3_2_parser_gpu.h
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/udp4_3_parser_gpu.h b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/udp4_3_parser_gpu.h
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/udp4_3_parser_gpu.h
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/udp4_3_parser_gpu.h
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/udp6_1_parser_gpu.h b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/udp6_1_parser_gpu.h
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/udp6_1_parser_gpu.h
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/udp6_1_parser_gpu.h
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/udp7_2_parser_gpu.h b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/udp7_2_parser_gpu.h
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/udp7_2_parser_gpu.h
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/udp7_2_parser_gpu.h
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/udp_p40_parser_gpu.h b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/udp_p40_parser_gpu.h
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/udp_p40_parser_gpu.h
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/udp_p40_parser_gpu.h
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/udp_p64_parser_gpu.h b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/udp_p64_parser_gpu.h
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/udp_p64_parser_gpu.h
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/udp_p64_parser_gpu.h
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/src/buffer.cu b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/src/buffer.cu
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/src/buffer.cu
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/src/buffer.cu
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/src/general_parser_gpu.cu b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/src/general_parser_gpu.cu
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/src/general_parser_gpu.cu
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/src/general_parser_gpu.cu
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/src/udp1_4_parser_gpu.cu b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/src/udp1_4_parser_gpu.cu
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/src/udp1_4_parser_gpu.cu
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/src/udp1_4_parser_gpu.cu
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/src/udp2_5_parser_gpu.cu b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/src/udp2_5_parser_gpu.cu
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/src/udp2_5_parser_gpu.cu
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/src/udp2_5_parser_gpu.cu
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/src/udp3_1_parser_gpu.cu b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/src/udp3_1_parser_gpu.cu
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/src/udp3_1_parser_gpu.cu
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/src/udp3_1_parser_gpu.cu
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/src/udp3_2_parser_gpu.cu b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/src/udp3_2_parser_gpu.cu
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/src/udp3_2_parser_gpu.cu
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/src/udp3_2_parser_gpu.cu
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/src/udp4_3_parser_gpu.cu b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/src/udp4_3_parser_gpu.cu
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/src/udp4_3_parser_gpu.cu
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/src/udp4_3_parser_gpu.cu
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/src/udp6_1_parser_gpu.cu b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/src/udp6_1_parser_gpu.cu
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/src/udp6_1_parser_gpu.cu
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/src/udp6_1_parser_gpu.cu
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/src/udp7_2_parser_gpu.cu b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/src/udp7_2_parser_gpu.cu
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/src/udp7_2_parser_gpu.cu
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/src/udp7_2_parser_gpu.cu
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/src/udp_p40_parser_gpu.cu b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/src/udp_p40_parser_gpu.cu
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/src/udp_p40_parser_gpu.cu
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/src/udp_p40_parser_gpu.cu
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/src/udp_p64_parser_gpu.cu b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/src/udp_p64_parser_gpu.cu
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/src/udp_p64_parser_gpu.cu
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/src/udp_p64_parser_gpu.cu
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/udp_parser_gpu.cu b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/udp_parser_gpu.cu
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/udp_parser_gpu.cu
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/udp_parser_gpu.cu
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/udp_parser_gpu.h b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/udp_parser_gpu.h
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/udp_parser_gpu.h
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/udp_parser_gpu.h
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/fault_message.h b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/fault_message.h
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/fault_message.h
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/fault_message.h
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/udp_protocol_header.h b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/udp_protocol_header.h
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/udp_protocol_header.h
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/udp_protocol_header.h
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/udp_protocol_p40.h b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/udp_protocol_p40.h
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/udp_protocol_p40.h
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/udp_protocol_p40.h
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/udp_protocol_p64.h b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/udp_protocol_p64.h
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/udp_protocol_p64.h
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/udp_protocol_p64.h
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/udp_protocol_v1_4.h b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/udp_protocol_v1_4.h
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/udp_protocol_v1_4.h
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/udp_protocol_v1_4.h
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/udp_protocol_v2_4.h b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/udp_protocol_v2_4.h
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/udp_protocol_v2_4.h
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/udp_protocol_v2_4.h
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/udp_protocol_v2_5.h b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/udp_protocol_v2_5.h
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/udp_protocol_v2_5.h
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/udp_protocol_v2_5.h
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/udp_protocol_v3_1.h b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/udp_protocol_v3_1.h
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/udp_protocol_v3_1.h
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/udp_protocol_v3_1.h
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/udp_protocol_v3_2.h b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/udp_protocol_v3_2.h
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/udp_protocol_v3_2.h
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/udp_protocol_v3_2.h
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/udp_protocol_v4_3.h b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/udp_protocol_v4_3.h
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/udp_protocol_v4_3.h
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/udp_protocol_v4_3.h
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/udp_protocol_v6_1.h b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/udp_protocol_v6_1.h
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/udp_protocol_v6_1.h
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/udp_protocol_v6_1.h
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/udp_protocol_v7_2.h b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/udp_protocol_v7_2.h
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/udp_protocol_v7_2.h
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/udp_protocol_v7_2.h
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/driver_param.h b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/driver_param.h
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/driver_param.h
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/driver_param.h
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/include/auto_tick_count.h b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/include/auto_tick_count.h
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/include/auto_tick_count.h
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/include/auto_tick_count.h
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/include/plat_utils.h b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/include/plat_utils.h
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/include/plat_utils.h
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/include/plat_utils.h
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/src/auto_tick_count.cc b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/src/auto_tick_count.cc
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/src/auto_tick_count.cc
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/src/auto_tick_count.cc
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/src/plat_utils.cc b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/src/plat_utils.cc
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/src/plat_utils.cc
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/src/plat_utils.cc
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/test/test.cc b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/test/test.cc
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/test/test.cc
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/test/test.cc
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/test/test.cu b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/test/test.cu
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/test/test.cu
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/test/test.cu
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/tool/CMakeLists.txt b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/tool/CMakeLists.txt
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/tool/CMakeLists.txt
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/tool/CMakeLists.txt
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/tool/Version.h.in b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/tool/Version.h.in
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/tool/Version.h.in
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/tool/Version.h.in
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/tool/packet_loss_tool.cc b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/tool/packet_loss_tool.cc
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/tool/packet_loss_tool.cc
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/tool/packet_loss_tool.cc
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/tool/pcl_tool.cc b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/tool/pcl_tool.cc
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/tool/pcl_tool.cc
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/tool/pcl_tool.cc
diff --git a/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/tool/pcl_tool.cu b/deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/tool/pcl_tool.cu
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/tool/pcl_tool.cu
rename to deploy/dock_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/tool/pcl_tool.cu
diff --git a/deploy/perception_ws/src/lidar_node/src/manager/node_manager.cc b/deploy/dock_ws/src/lidar_node/src/manager/node_manager.cc
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/manager/node_manager.cc
rename to deploy/dock_ws/src/lidar_node/src/manager/node_manager.cc
diff --git a/deploy/perception_ws/src/lidar_node/src/manager/node_manager.cu b/deploy/dock_ws/src/lidar_node/src/manager/node_manager.cu
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/manager/node_manager.cu
rename to deploy/dock_ws/src/lidar_node/src/manager/node_manager.cu
diff --git a/deploy/perception_ws/src/lidar_node/src/manager/node_manager.h b/deploy/dock_ws/src/lidar_node/src/manager/node_manager.h
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/manager/node_manager.h
rename to deploy/dock_ws/src/lidar_node/src/manager/node_manager.h
diff --git a/deploy/perception_ws/src/lidar_node/src/manager/source_driver_ros1.hpp b/deploy/dock_ws/src/lidar_node/src/manager/source_driver_ros1.hpp
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/manager/source_driver_ros1.hpp
rename to deploy/dock_ws/src/lidar_node/src/manager/source_driver_ros1.hpp
diff --git a/deploy/perception_ws/src/lidar_node/src/manager/source_driver_ros2.hpp b/deploy/dock_ws/src/lidar_node/src/manager/source_driver_ros2.hpp
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/manager/source_driver_ros2.hpp
rename to deploy/dock_ws/src/lidar_node/src/manager/source_driver_ros2.hpp
diff --git a/deploy/perception_ws/src/lidar_node/src/utility/yaml_reader.hpp b/deploy/dock_ws/src/lidar_node/src/utility/yaml_reader.hpp
similarity index 100%
rename from deploy/perception_ws/src/lidar_node/src/utility/yaml_reader.hpp
rename to deploy/dock_ws/src/lidar_node/src/utility/yaml_reader.hpp
diff --git a/deploy/robot_ws/install/.colcon_install_layout b/deploy/robot_ws/install/.colcon_install_layout
deleted file mode 100644
index 3aad533..0000000
--- a/deploy/robot_ws/install/.colcon_install_layout
+++ /dev/null
@@ -1 +0,0 @@
-isolated
diff --git a/deploy/robot_ws/install/_local_setup_util_ps1.py b/deploy/robot_ws/install/_local_setup_util_ps1.py
deleted file mode 100644
index 83abe63..0000000
--- a/deploy/robot_ws/install/_local_setup_util_ps1.py
+++ /dev/null
@@ -1,407 +0,0 @@
-# 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}"'
-FORMAT_STR_REMOVE_LEADING_SEPARATOR = ''
-FORMAT_STR_REMOVE_TRAILING_SEPARATOR = ''
-
-DSV_TYPE_APPEND_NON_DUPLICATE = 'append-non-duplicate'
-DSV_TYPE_PREPEND_NON_DUPLICATE = 'prepend-non-duplicate'
-DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS = 'prepend-non-duplicate-if-exists'
-DSV_TYPE_SET = 'set'
-DSV_TYPE_SET_IF_UNSET = 'set-if-unset'
-DSV_TYPE_SOURCE = 'source'
-
-
-def main(argv=sys.argv[1:]):  # noqa: D103
-    parser = argparse.ArgumentParser(
-        description='Output shell commands for the packages in topological '
-                    'order')
-    parser.add_argument(
-        'primary_extension',
-        help='The file extension of the primary shell')
-    parser.add_argument(
-        'additional_extension', nargs='?',
-        help='The additional file extension to be considered')
-    parser.add_argument(
-        '--merged-install', action='store_true',
-        help='All install prefixes are merged into a single location')
-    args = parser.parse_args(argv)
-
-    packages = get_packages(Path(__file__).parent, args.merged_install)
-
-    ordered_packages = order_packages(packages)
-    for pkg_name in ordered_packages:
-        if _include_comments():
-            print(
-                FORMAT_STR_COMMENT_LINE.format_map(
-                    {'comment': 'Package: ' + pkg_name}))
-        prefix = os.path.abspath(os.path.dirname(__file__))
-        if not args.merged_install:
-            prefix = os.path.join(prefix, pkg_name)
-        for line in get_commands(
-            pkg_name, prefix, args.primary_extension,
-            args.additional_extension
-        ):
-            print(line)
-
-    for line in _remove_ending_separators():
-        print(line)
-
-
-def get_packages(prefix_path, merged_install):
-    """
-    Find packages based on colcon-specific files created during installation.
-
-    :param Path prefix_path: The install prefix path of all packages
-    :param bool merged_install: The flag if the packages are all installed
-      directly in the prefix or if each package is installed in a subdirectory
-      named after the package
-    :returns: A mapping from the package name to the set of runtime
-      dependencies
-    :rtype: dict
-    """
-    packages = {}
-    # since importing colcon_core isn't feasible here the following constant
-    # must match colcon_core.location.get_relative_package_index_path()
-    subdirectory = 'share/colcon-core/packages'
-    if merged_install:
-        # return if workspace is empty
-        if not (prefix_path / subdirectory).is_dir():
-            return packages
-        # find all files in the subdirectory
-        for p in (prefix_path / subdirectory).iterdir():
-            if not p.is_file():
-                continue
-            if p.name.startswith('.'):
-                continue
-            add_package_runtime_dependencies(p, packages)
-    else:
-        # for each subdirectory look for the package specific file
-        for p in prefix_path.iterdir():
-            if not p.is_dir():
-                continue
-            if p.name.startswith('.'):
-                continue
-            p = p / subdirectory / p.name
-            if p.is_file():
-                add_package_runtime_dependencies(p, packages)
-
-    # remove unknown dependencies
-    pkg_names = set(packages.keys())
-    for k in packages.keys():
-        packages[k] = {d for d in packages[k] if d in pkg_names}
-
-    return packages
-
-
-def add_package_runtime_dependencies(path, packages):
-    """
-    Check the path and if it exists extract the packages runtime dependencies.
-
-    :param Path path: The resource file containing the runtime dependencies
-    :param dict packages: A mapping from package names to the sets of runtime
-      dependencies to add to
-    """
-    content = path.read_text()
-    dependencies = set(content.split(os.pathsep) if content else [])
-    packages[path.name] = dependencies
-
-
-def order_packages(packages):
-    """
-    Order packages topologically.
-
-    :param dict packages: A mapping from package name to the set of runtime
-      dependencies
-    :returns: The package names
-    :rtype: list
-    """
-    # select packages with no dependencies in alphabetical order
-    to_be_ordered = list(packages.keys())
-    ordered = []
-    while to_be_ordered:
-        pkg_names_without_deps = [
-            name for name in to_be_ordered if not packages[name]]
-        if not pkg_names_without_deps:
-            reduce_cycle_set(packages)
-            raise RuntimeError(
-                'Circular dependency between: ' + ', '.join(sorted(packages)))
-        pkg_names_without_deps.sort()
-        pkg_name = pkg_names_without_deps[0]
-        to_be_ordered.remove(pkg_name)
-        ordered.append(pkg_name)
-        # remove item from dependency lists
-        for k in list(packages.keys()):
-            if pkg_name in packages[k]:
-                packages[k].remove(pkg_name)
-    return ordered
-
-
-def reduce_cycle_set(packages):
-    """
-    Reduce the set of packages to the ones part of the circular dependency.
-
-    :param dict packages: A mapping from package name to the set of runtime
-      dependencies which is modified in place
-    """
-    last_depended = None
-    while len(packages) > 0:
-        # get all remaining dependencies
-        depended = set()
-        for pkg_name, dependencies in packages.items():
-            depended = depended.union(dependencies)
-        # remove all packages which are not dependent on
-        for name in list(packages.keys()):
-            if name not in depended:
-                del packages[name]
-        if last_depended:
-            # if remaining packages haven't changed return them
-            if last_depended == depended:
-                return packages.keys()
-        # otherwise reduce again
-        last_depended = depended
-
-
-def _include_comments():
-    # skipping comment lines when COLCON_TRACE is not set speeds up the
-    # processing especially on Windows
-    return bool(os.environ.get('COLCON_TRACE'))
-
-
-def get_commands(pkg_name, prefix, primary_extension, additional_extension):
-    commands = []
-    package_dsv_path = os.path.join(prefix, 'share', pkg_name, 'package.dsv')
-    if os.path.exists(package_dsv_path):
-        commands += process_dsv_file(
-            package_dsv_path, prefix, primary_extension, additional_extension)
-    return commands
-
-
-def process_dsv_file(
-    dsv_path, prefix, primary_extension=None, additional_extension=None
-):
-    commands = []
-    if _include_comments():
-        commands.append(FORMAT_STR_COMMENT_LINE.format_map({'comment': dsv_path}))
-    with open(dsv_path, 'r') as h:
-        content = h.read()
-    lines = content.splitlines()
-
-    basenames = OrderedDict()
-    for i, line in enumerate(lines):
-        # skip over empty or whitespace-only lines
-        if not line.strip():
-            continue
-        # skip over comments
-        if line.startswith('#'):
-            continue
-        try:
-            type_, remainder = line.split(';', 1)
-        except ValueError:
-            raise RuntimeError(
-                "Line %d in '%s' doesn't contain a semicolon separating the "
-                'type from the arguments' % (i + 1, dsv_path))
-        if type_ != DSV_TYPE_SOURCE:
-            # handle non-source lines
-            try:
-                commands += handle_dsv_types_except_source(
-                    type_, remainder, prefix)
-            except RuntimeError as e:
-                raise RuntimeError(
-                    "Line %d in '%s' %s" % (i + 1, dsv_path, e)) from e
-        else:
-            # group remaining source lines by basename
-            path_without_ext, ext = os.path.splitext(remainder)
-            if path_without_ext not in basenames:
-                basenames[path_without_ext] = set()
-            assert ext.startswith('.')
-            ext = ext[1:]
-            if ext in (primary_extension, additional_extension):
-                basenames[path_without_ext].add(ext)
-
-    # add the dsv extension to each basename if the file exists
-    for basename, extensions in basenames.items():
-        if not os.path.isabs(basename):
-            basename = os.path.join(prefix, basename)
-        if os.path.exists(basename + '.dsv'):
-            extensions.add('dsv')
-
-    for basename, extensions in basenames.items():
-        if not os.path.isabs(basename):
-            basename = os.path.join(prefix, basename)
-        if 'dsv' in extensions:
-            # process dsv files recursively
-            commands += process_dsv_file(
-                basename + '.dsv', prefix, primary_extension=primary_extension,
-                additional_extension=additional_extension)
-        elif primary_extension in extensions and len(extensions) == 1:
-            # source primary-only files
-            commands += [
-                FORMAT_STR_INVOKE_SCRIPT.format_map({
-                    'prefix': prefix,
-                    'script_path': basename + '.' + primary_extension})]
-        elif additional_extension in extensions:
-            # source non-primary files
-            commands += [
-                FORMAT_STR_INVOKE_SCRIPT.format_map({
-                    'prefix': prefix,
-                    'script_path': basename + '.' + additional_extension})]
-
-    return commands
-
-
-def handle_dsv_types_except_source(type_, remainder, prefix):
-    commands = []
-    if type_ in (DSV_TYPE_SET, DSV_TYPE_SET_IF_UNSET):
-        try:
-            env_name, value = remainder.split(';', 1)
-        except ValueError:
-            raise RuntimeError(
-                "doesn't contain a semicolon separating the environment name "
-                'from the value')
-        try_prefixed_value = os.path.join(prefix, value) if value else prefix
-        if os.path.exists(try_prefixed_value):
-            value = try_prefixed_value
-        if type_ == DSV_TYPE_SET:
-            commands += _set(env_name, value)
-        elif type_ == DSV_TYPE_SET_IF_UNSET:
-            commands += _set_if_unset(env_name, value)
-        else:
-            assert False
-    elif type_ in (
-        DSV_TYPE_APPEND_NON_DUPLICATE,
-        DSV_TYPE_PREPEND_NON_DUPLICATE,
-        DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS
-    ):
-        try:
-            env_name_and_values = remainder.split(';')
-        except ValueError:
-            raise RuntimeError(
-                "doesn't contain a semicolon separating the environment name "
-                'from the values')
-        env_name = env_name_and_values[0]
-        values = env_name_and_values[1:]
-        for value in values:
-            if not value:
-                value = prefix
-            elif not os.path.isabs(value):
-                value = os.path.join(prefix, value)
-            if (
-                type_ == DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS and
-                not os.path.exists(value)
-            ):
-                comment = f'skip extending {env_name} with not existing ' \
-                    f'path: {value}'
-                if _include_comments():
-                    commands.append(
-                        FORMAT_STR_COMMENT_LINE.format_map({'comment': comment}))
-            elif type_ == DSV_TYPE_APPEND_NON_DUPLICATE:
-                commands += _append_unique_value(env_name, value)
-            else:
-                commands += _prepend_unique_value(env_name, value)
-    else:
-        raise RuntimeError(
-            'contains an unknown environment hook type: ' + type_)
-    return commands
-
-
-env_state = {}
-
-
-def _append_unique_value(name, value):
-    global env_state
-    if name not in env_state:
-        if os.environ.get(name):
-            env_state[name] = set(os.environ[name].split(os.pathsep))
-        else:
-            env_state[name] = set()
-    # append even if the variable has not been set yet, in case a shell script sets the
-    # same variable without the knowledge of this Python script.
-    # later _remove_ending_separators() will cleanup any unintentional leading separator
-    extend = FORMAT_STR_USE_ENV_VAR.format_map({'name': name}) + os.pathsep
-    line = FORMAT_STR_SET_ENV_VAR.format_map(
-        {'name': name, 'value': extend + value})
-    if value not in env_state[name]:
-        env_state[name].add(value)
-    else:
-        if not _include_comments():
-            return []
-        line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line})
-    return [line]
-
-
-def _prepend_unique_value(name, value):
-    global env_state
-    if name not in env_state:
-        if os.environ.get(name):
-            env_state[name] = set(os.environ[name].split(os.pathsep))
-        else:
-            env_state[name] = set()
-    # prepend even if the variable has not been set yet, in case a shell script sets the
-    # same variable without the knowledge of this Python script.
-    # later _remove_ending_separators() will cleanup any unintentional trailing separator
-    extend = os.pathsep + FORMAT_STR_USE_ENV_VAR.format_map({'name': name})
-    line = FORMAT_STR_SET_ENV_VAR.format_map(
-        {'name': name, 'value': value + extend})
-    if value not in env_state[name]:
-        env_state[name].add(value)
-    else:
-        if not _include_comments():
-            return []
-        line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line})
-    return [line]
-
-
-# generate commands for removing prepended underscores
-def _remove_ending_separators():
-    # do nothing if the shell extension does not implement the logic
-    if FORMAT_STR_REMOVE_TRAILING_SEPARATOR is None:
-        return []
-
-    global env_state
-    commands = []
-    for name in env_state:
-        # skip variables that already had values before this script started prepending
-        if name in os.environ:
-            continue
-        commands += [
-            FORMAT_STR_REMOVE_LEADING_SEPARATOR.format_map({'name': name}),
-            FORMAT_STR_REMOVE_TRAILING_SEPARATOR.format_map({'name': name})]
-    return commands
-
-
-def _set(name, value):
-    global env_state
-    env_state[name] = value
-    line = FORMAT_STR_SET_ENV_VAR.format_map(
-        {'name': name, 'value': value})
-    return [line]
-
-
-def _set_if_unset(name, value):
-    global env_state
-    line = FORMAT_STR_SET_ENV_VAR.format_map(
-        {'name': name, 'value': value})
-    if env_state.get(name, os.environ.get(name)):
-        line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line})
-    return [line]
-
-
-if __name__ == '__main__':  # pragma: no cover
-    try:
-        rc = main()
-    except RuntimeError as e:
-        print(str(e), file=sys.stderr)
-        rc = 1
-    sys.exit(rc)
diff --git a/deploy/robot_ws/install/_local_setup_util_sh.py b/deploy/robot_ws/install/_local_setup_util_sh.py
deleted file mode 100644
index ff31198..0000000
--- a/deploy/robot_ws/install/_local_setup_util_sh.py
+++ /dev/null
@@ -1,407 +0,0 @@
-# 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}"'
-FORMAT_STR_REMOVE_LEADING_SEPARATOR = 'if [ "$(echo -n ${name} | head -c 1)" = ":" ]; then export {name}=${{{name}#?}} ; fi'
-FORMAT_STR_REMOVE_TRAILING_SEPARATOR = 'if [ "$(echo -n ${name} | tail -c 1)" = ":" ]; then export {name}=${{{name}%?}} ; fi'
-
-DSV_TYPE_APPEND_NON_DUPLICATE = 'append-non-duplicate'
-DSV_TYPE_PREPEND_NON_DUPLICATE = 'prepend-non-duplicate'
-DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS = 'prepend-non-duplicate-if-exists'
-DSV_TYPE_SET = 'set'
-DSV_TYPE_SET_IF_UNSET = 'set-if-unset'
-DSV_TYPE_SOURCE = 'source'
-
-
-def main(argv=sys.argv[1:]):  # noqa: D103
-    parser = argparse.ArgumentParser(
-        description='Output shell commands for the packages in topological '
-                    'order')
-    parser.add_argument(
-        'primary_extension',
-        help='The file extension of the primary shell')
-    parser.add_argument(
-        'additional_extension', nargs='?',
-        help='The additional file extension to be considered')
-    parser.add_argument(
-        '--merged-install', action='store_true',
-        help='All install prefixes are merged into a single location')
-    args = parser.parse_args(argv)
-
-    packages = get_packages(Path(__file__).parent, args.merged_install)
-
-    ordered_packages = order_packages(packages)
-    for pkg_name in ordered_packages:
-        if _include_comments():
-            print(
-                FORMAT_STR_COMMENT_LINE.format_map(
-                    {'comment': 'Package: ' + pkg_name}))
-        prefix = os.path.abspath(os.path.dirname(__file__))
-        if not args.merged_install:
-            prefix = os.path.join(prefix, pkg_name)
-        for line in get_commands(
-            pkg_name, prefix, args.primary_extension,
-            args.additional_extension
-        ):
-            print(line)
-
-    for line in _remove_ending_separators():
-        print(line)
-
-
-def get_packages(prefix_path, merged_install):
-    """
-    Find packages based on colcon-specific files created during installation.
-
-    :param Path prefix_path: The install prefix path of all packages
-    :param bool merged_install: The flag if the packages are all installed
-      directly in the prefix or if each package is installed in a subdirectory
-      named after the package
-    :returns: A mapping from the package name to the set of runtime
-      dependencies
-    :rtype: dict
-    """
-    packages = {}
-    # since importing colcon_core isn't feasible here the following constant
-    # must match colcon_core.location.get_relative_package_index_path()
-    subdirectory = 'share/colcon-core/packages'
-    if merged_install:
-        # return if workspace is empty
-        if not (prefix_path / subdirectory).is_dir():
-            return packages
-        # find all files in the subdirectory
-        for p in (prefix_path / subdirectory).iterdir():
-            if not p.is_file():
-                continue
-            if p.name.startswith('.'):
-                continue
-            add_package_runtime_dependencies(p, packages)
-    else:
-        # for each subdirectory look for the package specific file
-        for p in prefix_path.iterdir():
-            if not p.is_dir():
-                continue
-            if p.name.startswith('.'):
-                continue
-            p = p / subdirectory / p.name
-            if p.is_file():
-                add_package_runtime_dependencies(p, packages)
-
-    # remove unknown dependencies
-    pkg_names = set(packages.keys())
-    for k in packages.keys():
-        packages[k] = {d for d in packages[k] if d in pkg_names}
-
-    return packages
-
-
-def add_package_runtime_dependencies(path, packages):
-    """
-    Check the path and if it exists extract the packages runtime dependencies.
-
-    :param Path path: The resource file containing the runtime dependencies
-    :param dict packages: A mapping from package names to the sets of runtime
-      dependencies to add to
-    """
-    content = path.read_text()
-    dependencies = set(content.split(os.pathsep) if content else [])
-    packages[path.name] = dependencies
-
-
-def order_packages(packages):
-    """
-    Order packages topologically.
-
-    :param dict packages: A mapping from package name to the set of runtime
-      dependencies
-    :returns: The package names
-    :rtype: list
-    """
-    # select packages with no dependencies in alphabetical order
-    to_be_ordered = list(packages.keys())
-    ordered = []
-    while to_be_ordered:
-        pkg_names_without_deps = [
-            name for name in to_be_ordered if not packages[name]]
-        if not pkg_names_without_deps:
-            reduce_cycle_set(packages)
-            raise RuntimeError(
-                'Circular dependency between: ' + ', '.join(sorted(packages)))
-        pkg_names_without_deps.sort()
-        pkg_name = pkg_names_without_deps[0]
-        to_be_ordered.remove(pkg_name)
-        ordered.append(pkg_name)
-        # remove item from dependency lists
-        for k in list(packages.keys()):
-            if pkg_name in packages[k]:
-                packages[k].remove(pkg_name)
-    return ordered
-
-
-def reduce_cycle_set(packages):
-    """
-    Reduce the set of packages to the ones part of the circular dependency.
-
-    :param dict packages: A mapping from package name to the set of runtime
-      dependencies which is modified in place
-    """
-    last_depended = None
-    while len(packages) > 0:
-        # get all remaining dependencies
-        depended = set()
-        for pkg_name, dependencies in packages.items():
-            depended = depended.union(dependencies)
-        # remove all packages which are not dependent on
-        for name in list(packages.keys()):
-            if name not in depended:
-                del packages[name]
-        if last_depended:
-            # if remaining packages haven't changed return them
-            if last_depended == depended:
-                return packages.keys()
-        # otherwise reduce again
-        last_depended = depended
-
-
-def _include_comments():
-    # skipping comment lines when COLCON_TRACE is not set speeds up the
-    # processing especially on Windows
-    return bool(os.environ.get('COLCON_TRACE'))
-
-
-def get_commands(pkg_name, prefix, primary_extension, additional_extension):
-    commands = []
-    package_dsv_path = os.path.join(prefix, 'share', pkg_name, 'package.dsv')
-    if os.path.exists(package_dsv_path):
-        commands += process_dsv_file(
-            package_dsv_path, prefix, primary_extension, additional_extension)
-    return commands
-
-
-def process_dsv_file(
-    dsv_path, prefix, primary_extension=None, additional_extension=None
-):
-    commands = []
-    if _include_comments():
-        commands.append(FORMAT_STR_COMMENT_LINE.format_map({'comment': dsv_path}))
-    with open(dsv_path, 'r') as h:
-        content = h.read()
-    lines = content.splitlines()
-
-    basenames = OrderedDict()
-    for i, line in enumerate(lines):
-        # skip over empty or whitespace-only lines
-        if not line.strip():
-            continue
-        # skip over comments
-        if line.startswith('#'):
-            continue
-        try:
-            type_, remainder = line.split(';', 1)
-        except ValueError:
-            raise RuntimeError(
-                "Line %d in '%s' doesn't contain a semicolon separating the "
-                'type from the arguments' % (i + 1, dsv_path))
-        if type_ != DSV_TYPE_SOURCE:
-            # handle non-source lines
-            try:
-                commands += handle_dsv_types_except_source(
-                    type_, remainder, prefix)
-            except RuntimeError as e:
-                raise RuntimeError(
-                    "Line %d in '%s' %s" % (i + 1, dsv_path, e)) from e
-        else:
-            # group remaining source lines by basename
-            path_without_ext, ext = os.path.splitext(remainder)
-            if path_without_ext not in basenames:
-                basenames[path_without_ext] = set()
-            assert ext.startswith('.')
-            ext = ext[1:]
-            if ext in (primary_extension, additional_extension):
-                basenames[path_without_ext].add(ext)
-
-    # add the dsv extension to each basename if the file exists
-    for basename, extensions in basenames.items():
-        if not os.path.isabs(basename):
-            basename = os.path.join(prefix, basename)
-        if os.path.exists(basename + '.dsv'):
-            extensions.add('dsv')
-
-    for basename, extensions in basenames.items():
-        if not os.path.isabs(basename):
-            basename = os.path.join(prefix, basename)
-        if 'dsv' in extensions:
-            # process dsv files recursively
-            commands += process_dsv_file(
-                basename + '.dsv', prefix, primary_extension=primary_extension,
-                additional_extension=additional_extension)
-        elif primary_extension in extensions and len(extensions) == 1:
-            # source primary-only files
-            commands += [
-                FORMAT_STR_INVOKE_SCRIPT.format_map({
-                    'prefix': prefix,
-                    'script_path': basename + '.' + primary_extension})]
-        elif additional_extension in extensions:
-            # source non-primary files
-            commands += [
-                FORMAT_STR_INVOKE_SCRIPT.format_map({
-                    'prefix': prefix,
-                    'script_path': basename + '.' + additional_extension})]
-
-    return commands
-
-
-def handle_dsv_types_except_source(type_, remainder, prefix):
-    commands = []
-    if type_ in (DSV_TYPE_SET, DSV_TYPE_SET_IF_UNSET):
-        try:
-            env_name, value = remainder.split(';', 1)
-        except ValueError:
-            raise RuntimeError(
-                "doesn't contain a semicolon separating the environment name "
-                'from the value')
-        try_prefixed_value = os.path.join(prefix, value) if value else prefix
-        if os.path.exists(try_prefixed_value):
-            value = try_prefixed_value
-        if type_ == DSV_TYPE_SET:
-            commands += _set(env_name, value)
-        elif type_ == DSV_TYPE_SET_IF_UNSET:
-            commands += _set_if_unset(env_name, value)
-        else:
-            assert False
-    elif type_ in (
-        DSV_TYPE_APPEND_NON_DUPLICATE,
-        DSV_TYPE_PREPEND_NON_DUPLICATE,
-        DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS
-    ):
-        try:
-            env_name_and_values = remainder.split(';')
-        except ValueError:
-            raise RuntimeError(
-                "doesn't contain a semicolon separating the environment name "
-                'from the values')
-        env_name = env_name_and_values[0]
-        values = env_name_and_values[1:]
-        for value in values:
-            if not value:
-                value = prefix
-            elif not os.path.isabs(value):
-                value = os.path.join(prefix, value)
-            if (
-                type_ == DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS and
-                not os.path.exists(value)
-            ):
-                comment = f'skip extending {env_name} with not existing ' \
-                    f'path: {value}'
-                if _include_comments():
-                    commands.append(
-                        FORMAT_STR_COMMENT_LINE.format_map({'comment': comment}))
-            elif type_ == DSV_TYPE_APPEND_NON_DUPLICATE:
-                commands += _append_unique_value(env_name, value)
-            else:
-                commands += _prepend_unique_value(env_name, value)
-    else:
-        raise RuntimeError(
-            'contains an unknown environment hook type: ' + type_)
-    return commands
-
-
-env_state = {}
-
-
-def _append_unique_value(name, value):
-    global env_state
-    if name not in env_state:
-        if os.environ.get(name):
-            env_state[name] = set(os.environ[name].split(os.pathsep))
-        else:
-            env_state[name] = set()
-    # append even if the variable has not been set yet, in case a shell script sets the
-    # same variable without the knowledge of this Python script.
-    # later _remove_ending_separators() will cleanup any unintentional leading separator
-    extend = FORMAT_STR_USE_ENV_VAR.format_map({'name': name}) + os.pathsep
-    line = FORMAT_STR_SET_ENV_VAR.format_map(
-        {'name': name, 'value': extend + value})
-    if value not in env_state[name]:
-        env_state[name].add(value)
-    else:
-        if not _include_comments():
-            return []
-        line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line})
-    return [line]
-
-
-def _prepend_unique_value(name, value):
-    global env_state
-    if name not in env_state:
-        if os.environ.get(name):
-            env_state[name] = set(os.environ[name].split(os.pathsep))
-        else:
-            env_state[name] = set()
-    # prepend even if the variable has not been set yet, in case a shell script sets the
-    # same variable without the knowledge of this Python script.
-    # later _remove_ending_separators() will cleanup any unintentional trailing separator
-    extend = os.pathsep + FORMAT_STR_USE_ENV_VAR.format_map({'name': name})
-    line = FORMAT_STR_SET_ENV_VAR.format_map(
-        {'name': name, 'value': value + extend})
-    if value not in env_state[name]:
-        env_state[name].add(value)
-    else:
-        if not _include_comments():
-            return []
-        line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line})
-    return [line]
-
-
-# generate commands for removing prepended underscores
-def _remove_ending_separators():
-    # do nothing if the shell extension does not implement the logic
-    if FORMAT_STR_REMOVE_TRAILING_SEPARATOR is None:
-        return []
-
-    global env_state
-    commands = []
-    for name in env_state:
-        # skip variables that already had values before this script started prepending
-        if name in os.environ:
-            continue
-        commands += [
-            FORMAT_STR_REMOVE_LEADING_SEPARATOR.format_map({'name': name}),
-            FORMAT_STR_REMOVE_TRAILING_SEPARATOR.format_map({'name': name})]
-    return commands
-
-
-def _set(name, value):
-    global env_state
-    env_state[name] = value
-    line = FORMAT_STR_SET_ENV_VAR.format_map(
-        {'name': name, 'value': value})
-    return [line]
-
-
-def _set_if_unset(name, value):
-    global env_state
-    line = FORMAT_STR_SET_ENV_VAR.format_map(
-        {'name': name, 'value': value})
-    if env_state.get(name, os.environ.get(name)):
-        line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line})
-    return [line]
-
-
-if __name__ == '__main__':  # pragma: no cover
-    try:
-        rc = main()
-    except RuntimeError as e:
-        print(str(e), file=sys.stderr)
-        rc = 1
-    sys.exit(rc)
diff --git a/deploy/robot_ws/install/go2py_node/lib/go2py_node/bridge b/deploy/robot_ws/install/go2py_node/lib/go2py_node/bridge
deleted file mode 100755
index cdc4f5a..0000000
Binary files a/deploy/robot_ws/install/go2py_node/lib/go2py_node/bridge and /dev/null differ
diff --git a/deploy/robot_ws/install/go2py_node/share/ament_index/resource_index/package_run_dependencies/go2py_node b/deploy/robot_ws/install/go2py_node/share/ament_index/resource_index/package_run_dependencies/go2py_node
deleted file mode 100644
index ce14ac7..0000000
--- a/deploy/robot_ws/install/go2py_node/share/ament_index/resource_index/package_run_dependencies/go2py_node
+++ /dev/null
@@ -1 +0,0 @@
-unitree_go;unitree_api;rclcpp;std_msgs;rosbag2_cpp;ament_lint_auto;ament_lint_common
\ No newline at end of file
diff --git a/deploy/robot_ws/install/go2py_node/share/ament_index/resource_index/packages/go2py_node b/deploy/robot_ws/install/go2py_node/share/ament_index/resource_index/packages/go2py_node
deleted file mode 100644
index e69de29..0000000
diff --git a/deploy/robot_ws/install/go2py_node/share/ament_index/resource_index/parent_prefix_path/go2py_node b/deploy/robot_ws/install/go2py_node/share/ament_index/resource_index/parent_prefix_path/go2py_node
deleted file mode 100644
index c626313..0000000
--- a/deploy/robot_ws/install/go2py_node/share/ament_index/resource_index/parent_prefix_path/go2py_node
+++ /dev/null
@@ -1 +0,0 @@
-/home/unitree/locomotion/Go2Py/deploy/robot_ws/install/unitree_go:/home/unitree/locomotion/Go2Py/deploy/robot_ws/install/unitree_api:/home/unitree/locomotion/Go2Py/deploy/ros2_ws/install/go2py_node:/home/unitree/locomotion/Go2Py/deploy/ros2_ws/install/unitree_go:/home/unitree/locomotion/Go2Py/deploy/ros2_ws/install/unitree_api:/home/unitree/locomotion/Go2Py/deploy/ros2_ws/install/hesai_ros_driver:/home/unitree/locomotion/unitree_ros2/cyclonedds_ws/install/unitree_go:/home/unitree/locomotion/unitree_ros2/cyclonedds_ws/install/unitree_api:/home/unitree/locomotion/unitree_ros2/cyclonedds_ws/install/rmw_cyclonedds_cpp:/opt/ros/foxy
\ No newline at end of file
diff --git a/deploy/robot_ws/install/go2py_node/share/colcon-core/packages/go2py_node b/deploy/robot_ws/install/go2py_node/share/colcon-core/packages/go2py_node
deleted file mode 100644
index 006e304..0000000
--- a/deploy/robot_ws/install/go2py_node/share/colcon-core/packages/go2py_node
+++ /dev/null
@@ -1 +0,0 @@
-rclcpp:rosbag2_cpp:std_msgs:unitree_api:unitree_go
\ No newline at end of file
diff --git a/deploy/robot_ws/install/go2py_node/share/go2py_node/cmake/go2py_nodeConfig-version.cmake b/deploy/robot_ws/install/go2py_node/share/go2py_node/cmake/go2py_nodeConfig-version.cmake
deleted file mode 100644
index 7beb732..0000000
--- a/deploy/robot_ws/install/go2py_node/share/go2py_node/cmake/go2py_nodeConfig-version.cmake
+++ /dev/null
@@ -1,14 +0,0 @@
-# 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()
diff --git a/deploy/robot_ws/install/go2py_node/share/go2py_node/cmake/go2py_nodeConfig.cmake b/deploy/robot_ws/install/go2py_node/share/go2py_node/cmake/go2py_nodeConfig.cmake
deleted file mode 100644
index bbfd2f5..0000000
--- a/deploy/robot_ws/install/go2py_node/share/go2py_node/cmake/go2py_nodeConfig.cmake
+++ /dev/null
@@ -1,42 +0,0 @@
-# generated from ament/cmake/core/templates/nameConfig.cmake.in
-
-# prevent multiple inclusion
-if(_go2py_node_CONFIG_INCLUDED)
-  # ensure to keep the found flag the same
-  if(NOT DEFINED go2py_node_FOUND)
-    # explicitly set it to FALSE, otherwise CMake will set it to TRUE
-    set(go2py_node_FOUND FALSE)
-  elseif(NOT go2py_node_FOUND)
-    # use separate condition to avoid uninitialized variable warning
-    set(go2py_node_FOUND FALSE)
-  endif()
-  return()
-endif()
-set(_go2py_node_CONFIG_INCLUDED TRUE)
-
-# output package information
-if(NOT go2py_node_FIND_QUIETLY)
-  message(STATUS "Found go2py_node: 0.0.0 (${go2py_node_DIR})")
-endif()
-
-# warn when using a deprecated package
-if(NOT "" STREQUAL "")
-  set(_msg "Package 'go2py_node' is deprecated")
-  # append custom deprecation text if available
-  if(NOT "" STREQUAL "TRUE")
-    set(_msg "${_msg} ()")
-  endif()
-  # optionally quiet the deprecation message
-  if(NOT ${go2py_node_DEPRECATED_QUIET})
-    message(DEPRECATION "${_msg}")
-  endif()
-endif()
-
-# flag package as ament-based to distinguish it after being find_package()-ed
-set(go2py_node_FOUND_AMENT_PACKAGE TRUE)
-
-# include all config extra files
-set(_extras "")
-foreach(_extra ${_extras})
-  include("${go2py_node_DIR}/${_extra}")
-endforeach()
diff --git a/deploy/robot_ws/install/go2py_node/share/go2py_node/environment/ament_prefix_path.dsv b/deploy/robot_ws/install/go2py_node/share/go2py_node/environment/ament_prefix_path.dsv
deleted file mode 100644
index 79d4c95..0000000
--- a/deploy/robot_ws/install/go2py_node/share/go2py_node/environment/ament_prefix_path.dsv
+++ /dev/null
@@ -1 +0,0 @@
-prepend-non-duplicate;AMENT_PREFIX_PATH;
diff --git a/deploy/robot_ws/install/go2py_node/share/go2py_node/environment/ament_prefix_path.sh b/deploy/robot_ws/install/go2py_node/share/go2py_node/environment/ament_prefix_path.sh
deleted file mode 100644
index 02e441b..0000000
--- a/deploy/robot_ws/install/go2py_node/share/go2py_node/environment/ament_prefix_path.sh
+++ /dev/null
@@ -1,4 +0,0 @@
-# copied from
-# ament_cmake_core/cmake/environment_hooks/environment/ament_prefix_path.sh
-
-ament_prepend_unique_value AMENT_PREFIX_PATH "$AMENT_CURRENT_PREFIX"
diff --git a/deploy/robot_ws/install/go2py_node/share/go2py_node/environment/path.dsv b/deploy/robot_ws/install/go2py_node/share/go2py_node/environment/path.dsv
deleted file mode 100644
index b94426a..0000000
--- a/deploy/robot_ws/install/go2py_node/share/go2py_node/environment/path.dsv
+++ /dev/null
@@ -1 +0,0 @@
-prepend-non-duplicate-if-exists;PATH;bin
diff --git a/deploy/robot_ws/install/go2py_node/share/go2py_node/environment/path.sh b/deploy/robot_ws/install/go2py_node/share/go2py_node/environment/path.sh
deleted file mode 100644
index e59b749..0000000
--- a/deploy/robot_ws/install/go2py_node/share/go2py_node/environment/path.sh
+++ /dev/null
@@ -1,5 +0,0 @@
-# copied from ament_cmake_core/cmake/environment_hooks/environment/path.sh
-
-if [ -d "$AMENT_CURRENT_PREFIX/bin" ]; then
-  ament_prepend_unique_value PATH "$AMENT_CURRENT_PREFIX/bin"
-fi
diff --git a/deploy/robot_ws/install/go2py_node/share/go2py_node/hook/cmake_prefix_path.dsv b/deploy/robot_ws/install/go2py_node/share/go2py_node/hook/cmake_prefix_path.dsv
deleted file mode 100644
index e119f32..0000000
--- a/deploy/robot_ws/install/go2py_node/share/go2py_node/hook/cmake_prefix_path.dsv
+++ /dev/null
@@ -1 +0,0 @@
-prepend-non-duplicate;CMAKE_PREFIX_PATH;
diff --git a/deploy/robot_ws/install/go2py_node/share/go2py_node/hook/cmake_prefix_path.ps1 b/deploy/robot_ws/install/go2py_node/share/go2py_node/hook/cmake_prefix_path.ps1
deleted file mode 100644
index d03facc..0000000
--- a/deploy/robot_ws/install/go2py_node/share/go2py_node/hook/cmake_prefix_path.ps1
+++ /dev/null
@@ -1,3 +0,0 @@
-# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em
-
-colcon_prepend_unique_value CMAKE_PREFIX_PATH "$env:COLCON_CURRENT_PREFIX"
diff --git a/deploy/robot_ws/install/go2py_node/share/go2py_node/hook/cmake_prefix_path.sh b/deploy/robot_ws/install/go2py_node/share/go2py_node/hook/cmake_prefix_path.sh
deleted file mode 100644
index a948e68..0000000
--- a/deploy/robot_ws/install/go2py_node/share/go2py_node/hook/cmake_prefix_path.sh
+++ /dev/null
@@ -1,3 +0,0 @@
-# generated from colcon_core/shell/template/hook_prepend_value.sh.em
-
-_colcon_prepend_unique_value CMAKE_PREFIX_PATH "$COLCON_CURRENT_PREFIX"
diff --git a/deploy/robot_ws/install/go2py_node/share/go2py_node/local_setup.bash b/deploy/robot_ws/install/go2py_node/share/go2py_node/local_setup.bash
deleted file mode 100644
index 49782f2..0000000
--- a/deploy/robot_ws/install/go2py_node/share/go2py_node/local_setup.bash
+++ /dev/null
@@ -1,46 +0,0 @@
-# generated from ament_package/template/package_level/local_setup.bash.in
-
-# source local_setup.sh from same directory as this file
-_this_path=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" && pwd)
-# provide AMENT_CURRENT_PREFIX to shell script
-AMENT_CURRENT_PREFIX=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`/../.." && pwd)
-# store AMENT_CURRENT_PREFIX to restore it before each environment hook
-_package_local_setup_AMENT_CURRENT_PREFIX=$AMENT_CURRENT_PREFIX
-
-# trace output
-if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then
-  echo "# . \"$_this_path/local_setup.sh\""
-fi
-. "$_this_path/local_setup.sh"
-unset _this_path
-
-# unset AMENT_ENVIRONMENT_HOOKS
-# if not appending to them for return
-if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
-  unset AMENT_ENVIRONMENT_HOOKS
-fi
-
-# restore AMENT_CURRENT_PREFIX before evaluating the environment hooks
-AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
-# list all environment hooks of this package
-
-# source all shell-specific environment hooks of this package
-# if not returning them
-if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
-  _package_local_setup_IFS=$IFS
-  IFS=":"
-  for _hook in $AMENT_ENVIRONMENT_HOOKS; do
-    # restore AMENT_CURRENT_PREFIX for each environment hook
-    AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
-    # restore IFS before sourcing other files
-    IFS=$_package_local_setup_IFS
-    . "$_hook"
-  done
-  unset _hook
-  IFS=$_package_local_setup_IFS
-  unset _package_local_setup_IFS
-  unset AMENT_ENVIRONMENT_HOOKS
-fi
-
-unset _package_local_setup_AMENT_CURRENT_PREFIX
-unset AMENT_CURRENT_PREFIX
diff --git a/deploy/robot_ws/install/go2py_node/share/go2py_node/local_setup.dsv b/deploy/robot_ws/install/go2py_node/share/go2py_node/local_setup.dsv
deleted file mode 100644
index aaca281..0000000
--- a/deploy/robot_ws/install/go2py_node/share/go2py_node/local_setup.dsv
+++ /dev/null
@@ -1,2 +0,0 @@
-source;share/go2py_node/environment/ament_prefix_path.sh
-source;share/go2py_node/environment/path.sh
diff --git a/deploy/robot_ws/install/go2py_node/share/go2py_node/local_setup.sh b/deploy/robot_ws/install/go2py_node/share/go2py_node/local_setup.sh
deleted file mode 100644
index 927791e..0000000
--- a/deploy/robot_ws/install/go2py_node/share/go2py_node/local_setup.sh
+++ /dev/null
@@ -1,133 +0,0 @@
-# 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
-: ${AMENT_CURRENT_PREFIX:="/home/unitree/locomotion/Go2Py/deploy/robot_ws/install/go2py_node"}
-if [ ! -d "$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 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 "$AMENT_CURRENT_PREFIX/share/go2py_node/environment/ament_prefix_path.sh"
-ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/go2py_node/environment/path.sh"
-
-# source all shell-specific environment hooks of this package
-# if not returning them
-if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
-  _package_local_setup_IFS=$IFS
-  IFS=":"
-  if [ "$AMENT_SHELL" = "zsh" ]; then
-    ament_zsh_to_array AMENT_ENVIRONMENT_HOOKS
-  fi
-  for _hook in $AMENT_ENVIRONMENT_HOOKS; do
-    if [ -f "$_hook" ]; then
-      # restore IFS before sourcing other files
-      IFS=$_package_local_setup_IFS
-      # trace output
-      if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then
-        echo "# . \"$_hook\""
-      fi
-      . "$_hook"
-    fi
-  done
-  unset _hook
-  IFS=$_package_local_setup_IFS
-  unset _package_local_setup_IFS
-  unset AMENT_ENVIRONMENT_HOOKS
-fi
-
-# reset AMENT_CURRENT_PREFIX after each package
-# allowing to source multiple package-level setup files
-unset AMENT_CURRENT_PREFIX
diff --git a/deploy/robot_ws/install/go2py_node/share/go2py_node/local_setup.zsh b/deploy/robot_ws/install/go2py_node/share/go2py_node/local_setup.zsh
deleted file mode 100644
index fe161be..0000000
--- a/deploy/robot_ws/install/go2py_node/share/go2py_node/local_setup.zsh
+++ /dev/null
@@ -1,59 +0,0 @@
-# generated from ament_package/template/package_level/local_setup.zsh.in
-
-AMENT_SHELL=zsh
-
-# source local_setup.sh from same directory as this file
-_this_path=$(builtin cd -q "`dirname "${(%):-%N}"`" > /dev/null && pwd)
-# provide AMENT_CURRENT_PREFIX to shell script
-AMENT_CURRENT_PREFIX=$(builtin cd -q "`dirname "${(%):-%N}"`/../.." > /dev/null && pwd)
-# store AMENT_CURRENT_PREFIX to restore it before each environment hook
-_package_local_setup_AMENT_CURRENT_PREFIX=$AMENT_CURRENT_PREFIX
-
-# function to convert array-like strings into arrays
-# to wordaround SH_WORD_SPLIT not being set
-ament_zsh_to_array() {
-  local _listname=$1
-  local _dollar="$"
-  local _split="{="
-  local _to_array="(\"$_dollar$_split$_listname}\")"
-  eval $_listname=$_to_array
-}
-
-# trace output
-if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then
-  echo "# . \"$_this_path/local_setup.sh\""
-fi
-# the package-level local_setup file unsets AMENT_CURRENT_PREFIX
-. "$_this_path/local_setup.sh"
-unset _this_path
-
-# unset AMENT_ENVIRONMENT_HOOKS
-# if not appending to them for return
-if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
-  unset AMENT_ENVIRONMENT_HOOKS
-fi
-
-# restore AMENT_CURRENT_PREFIX before evaluating the environment hooks
-AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
-# list all environment hooks of this package
-
-# source all shell-specific environment hooks of this package
-# if not returning them
-if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
-  _package_local_setup_IFS=$IFS
-  IFS=":"
-  for _hook in $AMENT_ENVIRONMENT_HOOKS; do
-    # restore AMENT_CURRENT_PREFIX for each environment hook
-    AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
-    # restore IFS before sourcing other files
-    IFS=$_package_local_setup_IFS
-    . "$_hook"
-  done
-  unset _hook
-  IFS=$_package_local_setup_IFS
-  unset _package_local_setup_IFS
-  unset AMENT_ENVIRONMENT_HOOKS
-fi
-
-unset _package_local_setup_AMENT_CURRENT_PREFIX
-unset AMENT_CURRENT_PREFIX
diff --git a/deploy/robot_ws/install/go2py_node/share/go2py_node/package.bash b/deploy/robot_ws/install/go2py_node/share/go2py_node/package.bash
deleted file mode 100644
index a6bf720..0000000
--- a/deploy/robot_ws/install/go2py_node/share/go2py_node/package.bash
+++ /dev/null
@@ -1,39 +0,0 @@
-# generated from colcon_bash/shell/template/package.bash.em
-
-# This script extends the environment for this package.
-
-# a bash script is able to determine its own path if necessary
-if [ -z "$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/go2py_node/package.sh"
-
-# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced scripts
-COLCON_CURRENT_PREFIX="$_colcon_package_bash_COLCON_CURRENT_PREFIX"
-
-# source bash hooks
-_colcon_package_bash_source_script "$COLCON_CURRENT_PREFIX/share/go2py_node/local_setup.bash"
-
-unset COLCON_CURRENT_PREFIX
-
-unset _colcon_package_bash_source_script
-unset _colcon_package_bash_COLCON_CURRENT_PREFIX
diff --git a/deploy/robot_ws/install/go2py_node/share/go2py_node/package.dsv b/deploy/robot_ws/install/go2py_node/share/go2py_node/package.dsv
deleted file mode 100644
index 2a99b11..0000000
--- a/deploy/robot_ws/install/go2py_node/share/go2py_node/package.dsv
+++ /dev/null
@@ -1,8 +0,0 @@
-source;share/go2py_node/hook/cmake_prefix_path.ps1
-source;share/go2py_node/hook/cmake_prefix_path.dsv
-source;share/go2py_node/hook/cmake_prefix_path.sh
-source;share/go2py_node/local_setup.bash
-source;share/go2py_node/local_setup.dsv
-source;share/go2py_node/local_setup.ps1
-source;share/go2py_node/local_setup.sh
-source;share/go2py_node/local_setup.zsh
diff --git a/deploy/robot_ws/install/go2py_node/share/go2py_node/package.ps1 b/deploy/robot_ws/install/go2py_node/share/go2py_node/package.ps1
deleted file mode 100644
index 5b7f9fc..0000000
--- a/deploy/robot_ws/install/go2py_node/share/go2py_node/package.ps1
+++ /dev/null
@@ -1,116 +0,0 @@
-# generated from colcon_powershell/shell/template/package.ps1.em
-
-# function to append a value to a variable
-# which uses colons as separators
-# duplicates as well as leading separators are avoided
-# first argument: the name of the result variable
-# second argument: the value to be prepended
-function colcon_append_unique_value {
-  param (
-    $_listname,
-    $_value
-  )
-
-  # get values from variable
-  if (Test-Path Env:$_listname) {
-    $_values=(Get-Item env:$_listname).Value
-  } else {
-    $_values=""
-  }
-  $_duplicate=""
-  # start with no values
-  $_all_values=""
-  # iterate over existing values in the variable
-  if ($_values) {
-    $_values.Split(";") | ForEach {
-      # not an empty string
-      if ($_) {
-        # not a duplicate of _value
-        if ($_ -eq $_value) {
-          $_duplicate="1"
-        }
-        if ($_all_values) {
-          $_all_values="${_all_values};$_"
-        } else {
-          $_all_values="$_"
-        }
-      }
-    }
-  }
-  # append only non-duplicates
-  if (!$_duplicate) {
-    # avoid leading separator
-    if ($_all_values) {
-      $_all_values="${_all_values};${_value}"
-    } else {
-      $_all_values="${_value}"
-    }
-  }
-
-  # export the updated variable
-  Set-Item env:\$_listname -Value "$_all_values"
-}
-
-# function to prepend a value to a variable
-# which uses colons as separators
-# duplicates as well as trailing separators are avoided
-# first argument: the name of the result variable
-# second argument: the value to be prepended
-function colcon_prepend_unique_value {
-  param (
-    $_listname,
-    $_value
-  )
-
-  # get values from variable
-  if (Test-Path Env:$_listname) {
-    $_values=(Get-Item env:$_listname).Value
-  } else {
-    $_values=""
-  }
-  # start with the new value
-  $_all_values="$_value"
-  # iterate over existing values in the variable
-  if ($_values) {
-    $_values.Split(";") | ForEach {
-      # not an empty string
-      if ($_) {
-        # not a duplicate of _value
-        if ($_ -ne $_value) {
-          # keep non-duplicate values
-          $_all_values="${_all_values};$_"
-        }
-      }
-    }
-  }
-  # export the updated variable
-  Set-Item env:\$_listname -Value "$_all_values"
-}
-
-# function to source another script with conditional trace output
-# first argument: the path of the script
-# additional arguments: arguments to the script
-function colcon_package_source_powershell_script {
-  param (
-    $_colcon_package_source_powershell_script
-  )
-  # source script with conditional trace output
-  if (Test-Path $_colcon_package_source_powershell_script) {
-    if ($env:COLCON_TRACE) {
-      echo ". '$_colcon_package_source_powershell_script'"
-    }
-    . "$_colcon_package_source_powershell_script"
-  } else {
-    Write-Error "not found: '$_colcon_package_source_powershell_script'"
-  }
-}
-
-
-# a powershell script is able to determine its own path
-# the prefix is two levels up from the package specific share directory
-$env:COLCON_CURRENT_PREFIX=(Get-Item $PSCommandPath).Directory.Parent.Parent.FullName
-
-colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX\share/go2py_node/hook/cmake_prefix_path.ps1"
-colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX\share/go2py_node/local_setup.ps1"
-
-Remove-Item Env:\COLCON_CURRENT_PREFIX
diff --git a/deploy/robot_ws/install/go2py_node/share/go2py_node/package.sh b/deploy/robot_ws/install/go2py_node/share/go2py_node/package.sh
deleted file mode 100644
index 9deaf9d..0000000
--- a/deploy/robot_ws/install/go2py_node/share/go2py_node/package.sh
+++ /dev/null
@@ -1,87 +0,0 @@
-# generated from colcon_core/shell/template/package.sh.em
-
-# This script extends the environment for this package.
-
-# function to prepend a value to a variable
-# which uses colons as separators
-# duplicates as well as trailing separators are avoided
-# first argument: the name of the result variable
-# second argument: the value to be prepended
-_colcon_prepend_unique_value() {
-  # arguments
-  _listname="$1"
-  _value="$2"
-
-  # get values from variable
-  eval _values=\"\$$_listname\"
-  # backup the field separator
-  _colcon_prepend_unique_value_IFS=$IFS
-  IFS=":"
-  # start with the new value
-  _all_values="$_value"
-  # workaround SH_WORD_SPLIT not being set in zsh
-  if [ "$(command -v colcon_zsh_convert_to_array)" ]; then
-    colcon_zsh_convert_to_array _values
-  fi
-  # iterate over existing values in the variable
-  for _item in $_values; do
-    # ignore empty strings
-    if [ -z "$_item" ]; then
-      continue
-    fi
-    # ignore duplicates of _value
-    if [ "$_item" = "$_value" ]; then
-      continue
-    fi
-    # keep non-duplicate values
-    _all_values="$_all_values:$_item"
-  done
-  unset _item
-  # restore the field separator
-  IFS=$_colcon_prepend_unique_value_IFS
-  unset _colcon_prepend_unique_value_IFS
-  # export the updated variable
-  eval export $_listname=\"$_all_values\"
-  unset _all_values
-  unset _values
-
-  unset _value
-  unset _listname
-}
-
-# since a plain shell script can't determine its own path when being sourced
-# either use the provided COLCON_CURRENT_PREFIX
-# or fall back to the build time prefix (if it exists)
-_colcon_package_sh_COLCON_CURRENT_PREFIX="/home/unitree/locomotion/Go2Py/deploy/robot_ws/install/go2py_node"
-if [ -z "$COLCON_CURRENT_PREFIX" ]; then
-  if [ ! -d "$_colcon_package_sh_COLCON_CURRENT_PREFIX" ]; then
-    echo "The build time path \"$_colcon_package_sh_COLCON_CURRENT_PREFIX\" doesn't exist. Either source a script for a different shell or set the environment variable \"COLCON_CURRENT_PREFIX\" explicitly." 1>&2
-    unset _colcon_package_sh_COLCON_CURRENT_PREFIX
-    return 1
-  fi
-  COLCON_CURRENT_PREFIX="$_colcon_package_sh_COLCON_CURRENT_PREFIX"
-fi
-unset _colcon_package_sh_COLCON_CURRENT_PREFIX
-
-# function to source another script with conditional trace output
-# first argument: the path of the script
-# additional arguments: arguments to the script
-_colcon_package_sh_source_script() {
-  if [ -f "$1" ]; then
-    if [ -n "$COLCON_TRACE" ]; then
-      echo "# . \"$1\""
-    fi
-    . "$@"
-  else
-    echo "not found: \"$1\"" 1>&2
-  fi
-}
-
-# source sh hooks
-_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/go2py_node/hook/cmake_prefix_path.sh"
-_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/go2py_node/local_setup.sh"
-
-unset _colcon_package_sh_source_script
-unset COLCON_CURRENT_PREFIX
-
-# do not unset _colcon_prepend_unique_value since it might be used by non-primary shell hooks
diff --git a/deploy/robot_ws/install/go2py_node/share/go2py_node/package.xml b/deploy/robot_ws/install/go2py_node/share/go2py_node/package.xml
deleted file mode 100644
index edb456d..0000000
--- a/deploy/robot_ws/install/go2py_node/share/go2py_node/package.xml
+++ /dev/null
@@ -1,24 +0,0 @@
-<?xml version="1.0"?>
-<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
-<package format="3">
-  <name>go2py_node</name>
-  <version>0.0.0</version>
-  <description>TODO: Package description</description>
-  <maintainer email="zeendi@163.com">zeen</maintainer>
-  <license>TODO: License declaration</license>
-
-  <buildtool_depend>ament_cmake</buildtool_depend>
-
-  <depend>unitree_go</depend>
-  <depend>unitree_api</depend>
-  <depend>rclcpp</depend>
-  <depend>std_msgs</depend>
-  <depend>rosbag2_cpp</depend>
-
-  <test_depend>ament_lint_auto</test_depend>
-  <test_depend>ament_lint_common</test_depend>
-
-  <export>
-    <build_type>ament_cmake</build_type>
-  </export>
-</package>
diff --git a/deploy/robot_ws/install/go2py_node/share/go2py_node/package.zsh b/deploy/robot_ws/install/go2py_node/share/go2py_node/package.zsh
deleted file mode 100644
index 650d599..0000000
--- a/deploy/robot_ws/install/go2py_node/share/go2py_node/package.zsh
+++ /dev/null
@@ -1,50 +0,0 @@
-# generated from colcon_zsh/shell/template/package.zsh.em
-
-# This script extends the environment for this package.
-
-# a zsh script is able to determine its own path if necessary
-if [ -z "$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 "$_colcon_package_zsh_COLCON_CURRENT_PREFIX/share/go2py_node/package.sh"
-unset convert_zsh_to_array
-
-# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced scripts
-COLCON_CURRENT_PREFIX="$_colcon_package_zsh_COLCON_CURRENT_PREFIX"
-
-# source zsh hooks
-_colcon_package_zsh_source_script "$COLCON_CURRENT_PREFIX/share/go2py_node/local_setup.zsh"
-
-unset COLCON_CURRENT_PREFIX
-
-unset _colcon_package_zsh_source_script
-unset _colcon_package_zsh_COLCON_CURRENT_PREFIX
diff --git a/deploy/robot_ws/install/local_setup.bash b/deploy/robot_ws/install/local_setup.bash
deleted file mode 100644
index 03f0025..0000000
--- a/deploy/robot_ws/install/local_setup.bash
+++ /dev/null
@@ -1,121 +0,0 @@
-# generated from colcon_bash/shell/template/prefix.bash.em
-
-# This script extends the environment with all packages contained in this
-# prefix path.
-
-# a bash script is able to determine its own path if necessary
-if [ -z "$COLCON_CURRENT_PREFIX" ]; then
-  _colcon_prefix_bash_COLCON_CURRENT_PREFIX="$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)"
-else
-  _colcon_prefix_bash_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
-fi
-
-# function to prepend a value to a variable
-# which uses colons as separators
-# duplicates as well as trailing separators are avoided
-# first argument: the name of the result variable
-# second argument: the value to be prepended
-_colcon_prefix_bash_prepend_unique_value() {
-  # arguments
-  _listname="$1"
-  _value="$2"
-
-  # get values from variable
-  eval _values=\"\$$_listname\"
-  # backup the field separator
-  _colcon_prefix_bash_prepend_unique_value_IFS="$IFS"
-  IFS=":"
-  # start with the new value
-  _all_values="$_value"
-  _contained_value=""
-  # iterate over existing values in the variable
-  for _item in $_values; do
-    # ignore empty strings
-    if [ -z "$_item" ]; then
-      continue
-    fi
-    # ignore duplicates of _value
-    if [ "$_item" = "$_value" ]; then
-      _contained_value=1
-      continue
-    fi
-    # keep non-duplicate values
-    _all_values="$_all_values:$_item"
-  done
-  unset _item
-  if [ -z "$_contained_value" ]; then
-    if [ -n "$COLCON_TRACE" ]; then
-      if [ "$_all_values" = "$_value" ]; then
-        echo "export $_listname=$_value"
-      else
-        echo "export $_listname=$_value:\$$_listname"
-      fi
-    fi
-  fi
-  unset _contained_value
-  # restore the field separator
-  IFS="$_colcon_prefix_bash_prepend_unique_value_IFS"
-  unset _colcon_prefix_bash_prepend_unique_value_IFS
-  # export the updated variable
-  eval export $_listname=\"$_all_values\"
-  unset _all_values
-  unset _values
-
-  unset _value
-  unset _listname
-}
-
-# add this prefix to the COLCON_PREFIX_PATH
-_colcon_prefix_bash_prepend_unique_value COLCON_PREFIX_PATH "$_colcon_prefix_bash_COLCON_CURRENT_PREFIX"
-unset _colcon_prefix_bash_prepend_unique_value
-
-# check environment variable for custom Python executable
-if [ -n "$COLCON_PYTHON_EXECUTABLE" ]; then
-  if [ ! -f "$COLCON_PYTHON_EXECUTABLE" ]; then
-    echo "error: COLCON_PYTHON_EXECUTABLE '$COLCON_PYTHON_EXECUTABLE' doesn't exist"
-    return 1
-  fi
-  _colcon_python_executable="$COLCON_PYTHON_EXECUTABLE"
-else
-  # try the Python executable known at configure time
-  _colcon_python_executable="/usr/bin/python3"
-  # if it doesn't exist try a fall back
-  if [ ! -f "$_colcon_python_executable" ]; then
-    if ! /usr/bin/env python3 --version > /dev/null 2> /dev/null; then
-      echo "error: unable to find python3 executable"
-      return 1
-    fi
-    _colcon_python_executable=`/usr/bin/env python3 -c "import sys; print(sys.executable)"`
-  fi
-fi
-
-# function to source another script with conditional trace output
-# first argument: the path of the script
-_colcon_prefix_sh_source_script() {
-  if [ -f "$1" ]; then
-    if [ -n "$COLCON_TRACE" ]; then
-      echo "# . \"$1\""
-    fi
-    . "$1"
-  else
-    echo "not found: \"$1\"" 1>&2
-  fi
-}
-
-# get all commands in topological order
-_colcon_ordered_commands="$($_colcon_python_executable "$_colcon_prefix_bash_COLCON_CURRENT_PREFIX/_local_setup_util_sh.py" sh bash)"
-unset _colcon_python_executable
-if [ -n "$COLCON_TRACE" ]; then
-  echo "$(declare -f _colcon_prefix_sh_source_script)"
-  echo "# Execute generated script:"
-  echo "# <<<"
-  echo "${_colcon_ordered_commands}"
-  echo "# >>>"
-  echo "unset _colcon_prefix_sh_source_script"
-fi
-eval "${_colcon_ordered_commands}"
-unset _colcon_ordered_commands
-
-unset _colcon_prefix_sh_source_script
-
-unset _colcon_prefix_bash_COLCON_CURRENT_PREFIX
diff --git a/deploy/robot_ws/install/local_setup.ps1 b/deploy/robot_ws/install/local_setup.ps1
deleted file mode 100644
index 6f68c8d..0000000
--- a/deploy/robot_ws/install/local_setup.ps1
+++ /dev/null
@@ -1,55 +0,0 @@
-# generated from colcon_powershell/shell/template/prefix.ps1.em
-
-# This script extends the environment with all packages contained in this
-# prefix path.
-
-# check environment variable for custom Python executable
-if ($env:COLCON_PYTHON_EXECUTABLE) {
-  if (!(Test-Path "$env:COLCON_PYTHON_EXECUTABLE" -PathType Leaf)) {
-    echo "error: COLCON_PYTHON_EXECUTABLE '$env:COLCON_PYTHON_EXECUTABLE' doesn't exist"
-    exit 1
-  }
-  $_colcon_python_executable="$env:COLCON_PYTHON_EXECUTABLE"
-} else {
-  # use the Python executable known at configure time
-  $_colcon_python_executable="/usr/bin/python3"
-  # if it doesn't exist try a fall back
-  if (!(Test-Path "$_colcon_python_executable" -PathType Leaf)) {
-    if (!(Get-Command "python3" -ErrorAction SilentlyContinue)) {
-      echo "error: unable to find python3 executable"
-      exit 1
-    }
-    $_colcon_python_executable="python3"
-  }
-}
-
-# function to source another script with conditional trace output
-# first argument: the path of the script
-function _colcon_prefix_powershell_source_script {
-  param (
-    $_colcon_prefix_powershell_source_script_param
-  )
-  # source script with conditional trace output
-  if (Test-Path $_colcon_prefix_powershell_source_script_param) {
-    if ($env:COLCON_TRACE) {
-      echo ". '$_colcon_prefix_powershell_source_script_param'"
-    }
-    . "$_colcon_prefix_powershell_source_script_param"
-  } else {
-    Write-Error "not found: '$_colcon_prefix_powershell_source_script_param'"
-  }
-}
-
-# get all commands in topological order
-$_colcon_ordered_commands = & "$_colcon_python_executable" "$(Split-Path $PSCommandPath -Parent)/_local_setup_util_ps1.py" ps1
-
-# execute all commands in topological order
-if ($env:COLCON_TRACE) {
-  echo "Execute generated script:"
-  echo "<<<"
-  $_colcon_ordered_commands.Split([Environment]::NewLine, [StringSplitOptions]::RemoveEmptyEntries) | Write-Output
-  echo ">>>"
-}
-if ($_colcon_ordered_commands) {
-  $_colcon_ordered_commands.Split([Environment]::NewLine, [StringSplitOptions]::RemoveEmptyEntries) | Invoke-Expression
-}
diff --git a/deploy/robot_ws/install/local_setup.sh b/deploy/robot_ws/install/local_setup.sh
deleted file mode 100644
index 982598d..0000000
--- a/deploy/robot_ws/install/local_setup.sh
+++ /dev/null
@@ -1,137 +0,0 @@
-# generated from colcon_core/shell/template/prefix.sh.em
-
-# This script extends the environment with all packages contained in this
-# prefix path.
-
-# since a plain shell script can't determine its own path when being sourced
-# either use the provided COLCON_CURRENT_PREFIX
-# or fall back to the build time prefix (if it exists)
-_colcon_prefix_sh_COLCON_CURRENT_PREFIX="/home/unitree/locomotion/Go2Py/deploy/robot_ws/install"
-if [ -z "$COLCON_CURRENT_PREFIX" ]; then
-  if [ ! -d "$_colcon_prefix_sh_COLCON_CURRENT_PREFIX" ]; then
-    echo "The build time path \"$_colcon_prefix_sh_COLCON_CURRENT_PREFIX\" doesn't exist. Either source a script for a different shell or set the environment variable \"COLCON_CURRENT_PREFIX\" explicitly." 1>&2
-    unset _colcon_prefix_sh_COLCON_CURRENT_PREFIX
-    return 1
-  fi
-else
-  _colcon_prefix_sh_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
-fi
-
-# function to prepend a value to a variable
-# which uses colons as separators
-# duplicates as well as trailing separators are avoided
-# first argument: the name of the result variable
-# second argument: the value to be prepended
-_colcon_prefix_sh_prepend_unique_value() {
-  # arguments
-  _listname="$1"
-  _value="$2"
-
-  # get values from variable
-  eval _values=\"\$$_listname\"
-  # backup the field separator
-  _colcon_prefix_sh_prepend_unique_value_IFS="$IFS"
-  IFS=":"
-  # start with the new value
-  _all_values="$_value"
-  _contained_value=""
-  # iterate over existing values in the variable
-  for _item in $_values; do
-    # ignore empty strings
-    if [ -z "$_item" ]; then
-      continue
-    fi
-    # ignore duplicates of _value
-    if [ "$_item" = "$_value" ]; then
-      _contained_value=1
-      continue
-    fi
-    # keep non-duplicate values
-    _all_values="$_all_values:$_item"
-  done
-  unset _item
-  if [ -z "$_contained_value" ]; then
-    if [ -n "$COLCON_TRACE" ]; then
-      if [ "$_all_values" = "$_value" ]; then
-        echo "export $_listname=$_value"
-      else
-        echo "export $_listname=$_value:\$$_listname"
-      fi
-    fi
-  fi
-  unset _contained_value
-  # restore the field separator
-  IFS="$_colcon_prefix_sh_prepend_unique_value_IFS"
-  unset _colcon_prefix_sh_prepend_unique_value_IFS
-  # export the updated variable
-  eval export $_listname=\"$_all_values\"
-  unset _all_values
-  unset _values
-
-  unset _value
-  unset _listname
-}
-
-# add this prefix to the COLCON_PREFIX_PATH
-_colcon_prefix_sh_prepend_unique_value COLCON_PREFIX_PATH "$_colcon_prefix_sh_COLCON_CURRENT_PREFIX"
-unset _colcon_prefix_sh_prepend_unique_value
-
-# check environment variable for custom Python executable
-if [ -n "$COLCON_PYTHON_EXECUTABLE" ]; then
-  if [ ! -f "$COLCON_PYTHON_EXECUTABLE" ]; then
-    echo "error: COLCON_PYTHON_EXECUTABLE '$COLCON_PYTHON_EXECUTABLE' doesn't exist"
-    return 1
-  fi
-  _colcon_python_executable="$COLCON_PYTHON_EXECUTABLE"
-else
-  # try the Python executable known at configure time
-  _colcon_python_executable="/usr/bin/python3"
-  # if it doesn't exist try a fall back
-  if [ ! -f "$_colcon_python_executable" ]; then
-    if ! /usr/bin/env python3 --version > /dev/null 2> /dev/null; then
-      echo "error: unable to find python3 executable"
-      return 1
-    fi
-    _colcon_python_executable=`/usr/bin/env python3 -c "import sys; print(sys.executable)"`
-  fi
-fi
-
-# function to source another script with conditional trace output
-# first argument: the path of the script
-_colcon_prefix_sh_source_script() {
-  if [ -f "$1" ]; then
-    if [ -n "$COLCON_TRACE" ]; then
-      echo "# . \"$1\""
-    fi
-    . "$1"
-  else
-    echo "not found: \"$1\"" 1>&2
-  fi
-}
-
-# get all commands in topological order
-_colcon_ordered_commands="$($_colcon_python_executable "$_colcon_prefix_sh_COLCON_CURRENT_PREFIX/_local_setup_util_sh.py" sh)"
-unset _colcon_python_executable
-if [ -n "$COLCON_TRACE" ]; then
-  echo "_colcon_prefix_sh_source_script() {
-    if [ -f \"\$1\" ]; then
-      if [ -n \"\$COLCON_TRACE\" ]; then
-        echo \"# . \\\"\$1\\\"\"
-      fi
-      . \"\$1\"
-    else
-      echo \"not found: \\\"\$1\\\"\" 1>&2
-    fi
-  }"
-  echo "# Execute generated script:"
-  echo "# <<<"
-  echo "${_colcon_ordered_commands}"
-  echo "# >>>"
-  echo "unset _colcon_prefix_sh_source_script"
-fi
-eval "${_colcon_ordered_commands}"
-unset _colcon_ordered_commands
-
-unset _colcon_prefix_sh_source_script
-
-unset _colcon_prefix_sh_COLCON_CURRENT_PREFIX
diff --git a/deploy/robot_ws/install/local_setup.zsh b/deploy/robot_ws/install/local_setup.zsh
deleted file mode 100644
index b648710..0000000
--- a/deploy/robot_ws/install/local_setup.zsh
+++ /dev/null
@@ -1,134 +0,0 @@
-# generated from colcon_zsh/shell/template/prefix.zsh.em
-
-# This script extends the environment with all packages contained in this
-# prefix path.
-
-# a zsh script is able to determine its own path if necessary
-if [ -z "$COLCON_CURRENT_PREFIX" ]; then
-  _colcon_prefix_zsh_COLCON_CURRENT_PREFIX="$(builtin cd -q "`dirname "${(%):-%N}"`" > /dev/null && pwd)"
-else
-  _colcon_prefix_zsh_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
-fi
-
-# function to convert array-like strings into arrays
-# to workaround SH_WORD_SPLIT not being set
-_colcon_prefix_zsh_convert_to_array() {
-  local _listname=$1
-  local _dollar="$"
-  local _split="{="
-  local _to_array="(\"$_dollar$_split$_listname}\")"
-  eval $_listname=$_to_array
-}
-
-# function to prepend a value to a variable
-# which uses colons as separators
-# duplicates as well as trailing separators are avoided
-# first argument: the name of the result variable
-# second argument: the value to be prepended
-_colcon_prefix_zsh_prepend_unique_value() {
-  # arguments
-  _listname="$1"
-  _value="$2"
-
-  # get values from variable
-  eval _values=\"\$$_listname\"
-  # backup the field separator
-  _colcon_prefix_zsh_prepend_unique_value_IFS="$IFS"
-  IFS=":"
-  # start with the new value
-  _all_values="$_value"
-  _contained_value=""
-  # workaround SH_WORD_SPLIT not being set
-  _colcon_prefix_zsh_convert_to_array _values
-  # iterate over existing values in the variable
-  for _item in $_values; do
-    # ignore empty strings
-    if [ -z "$_item" ]; then
-      continue
-    fi
-    # ignore duplicates of _value
-    if [ "$_item" = "$_value" ]; then
-      _contained_value=1
-      continue
-    fi
-    # keep non-duplicate values
-    _all_values="$_all_values:$_item"
-  done
-  unset _item
-  if [ -z "$_contained_value" ]; then
-    if [ -n "$COLCON_TRACE" ]; then
-      if [ "$_all_values" = "$_value" ]; then
-        echo "export $_listname=$_value"
-      else
-        echo "export $_listname=$_value:\$$_listname"
-      fi
-    fi
-  fi
-  unset _contained_value
-  # restore the field separator
-  IFS="$_colcon_prefix_zsh_prepend_unique_value_IFS"
-  unset _colcon_prefix_zsh_prepend_unique_value_IFS
-  # export the updated variable
-  eval export $_listname=\"$_all_values\"
-  unset _all_values
-  unset _values
-
-  unset _value
-  unset _listname
-}
-
-# add this prefix to the COLCON_PREFIX_PATH
-_colcon_prefix_zsh_prepend_unique_value COLCON_PREFIX_PATH "$_colcon_prefix_zsh_COLCON_CURRENT_PREFIX"
-unset _colcon_prefix_zsh_prepend_unique_value
-unset _colcon_prefix_zsh_convert_to_array
-
-# check environment variable for custom Python executable
-if [ -n "$COLCON_PYTHON_EXECUTABLE" ]; then
-  if [ ! -f "$COLCON_PYTHON_EXECUTABLE" ]; then
-    echo "error: COLCON_PYTHON_EXECUTABLE '$COLCON_PYTHON_EXECUTABLE' doesn't exist"
-    return 1
-  fi
-  _colcon_python_executable="$COLCON_PYTHON_EXECUTABLE"
-else
-  # try the Python executable known at configure time
-  _colcon_python_executable="/usr/bin/python3"
-  # if it doesn't exist try a fall back
-  if [ ! -f "$_colcon_python_executable" ]; then
-    if ! /usr/bin/env python3 --version > /dev/null 2> /dev/null; then
-      echo "error: unable to find python3 executable"
-      return 1
-    fi
-    _colcon_python_executable=`/usr/bin/env python3 -c "import sys; print(sys.executable)"`
-  fi
-fi
-
-# function to source another script with conditional trace output
-# first argument: the path of the script
-_colcon_prefix_sh_source_script() {
-  if [ -f "$1" ]; then
-    if [ -n "$COLCON_TRACE" ]; then
-      echo "# . \"$1\""
-    fi
-    . "$1"
-  else
-    echo "not found: \"$1\"" 1>&2
-  fi
-}
-
-# get all commands in topological order
-_colcon_ordered_commands="$($_colcon_python_executable "$_colcon_prefix_zsh_COLCON_CURRENT_PREFIX/_local_setup_util_sh.py" sh zsh)"
-unset _colcon_python_executable
-if [ -n "$COLCON_TRACE" ]; then
-  echo "$(declare -f _colcon_prefix_sh_source_script)"
-  echo "# Execute generated script:"
-  echo "# <<<"
-  echo "${_colcon_ordered_commands}"
-  echo "# >>>"
-  echo "unset _colcon_prefix_sh_source_script"
-fi
-eval "${_colcon_ordered_commands}"
-unset _colcon_ordered_commands
-
-unset _colcon_prefix_sh_source_script
-
-unset _colcon_prefix_zsh_COLCON_CURRENT_PREFIX
diff --git a/deploy/robot_ws/install/setup.bash b/deploy/robot_ws/install/setup.bash
deleted file mode 100644
index a687872..0000000
--- a/deploy/robot_ws/install/setup.bash
+++ /dev/null
@@ -1,34 +0,0 @@
-# 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: \"$1\"" 1>&2
-  fi
-}
-
-# source chained prefixes
-# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
-COLCON_CURRENT_PREFIX="/opt/ros/foxy"
-_colcon_prefix_chain_bash_source_script "$COLCON_CURRENT_PREFIX/local_setup.bash"
-# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
-COLCON_CURRENT_PREFIX="/home/unitree/locomotion/unitree_ros2/cyclonedds_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
diff --git a/deploy/robot_ws/install/setup.ps1 b/deploy/robot_ws/install/setup.ps1
deleted file mode 100644
index a2b9119..0000000
--- a/deploy/robot_ws/install/setup.ps1
+++ /dev/null
@@ -1,30 +0,0 @@
-# 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: '$_colcon_prefix_chain_powershell_source_script_param'"
-  }
-}
-
-# source chained prefixes
-_colcon_prefix_chain_powershell_source_script "/opt/ros/foxy\local_setup.ps1"
-_colcon_prefix_chain_powershell_source_script "/home/unitree/locomotion/unitree_ros2/cyclonedds_ws/install\local_setup.ps1"
-
-# source this prefix
-$env:COLCON_CURRENT_PREFIX=(Split-Path $PSCommandPath -Parent)
-_colcon_prefix_chain_powershell_source_script "$env:COLCON_CURRENT_PREFIX\local_setup.ps1"
diff --git a/deploy/robot_ws/install/setup.sh b/deploy/robot_ws/install/setup.sh
deleted file mode 100644
index 379a35a..0000000
--- a/deploy/robot_ws/install/setup.sh
+++ /dev/null
@@ -1,49 +0,0 @@
-# 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/unitree/locomotion/Go2Py/deploy/robot_ws/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: \"$1\"" 1>&2
-  fi
-}
-
-# source chained prefixes
-# setting COLCON_CURRENT_PREFIX avoids relying on the build time prefix of the sourced script
-COLCON_CURRENT_PREFIX="/opt/ros/foxy"
-_colcon_prefix_chain_sh_source_script "$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/unitree/locomotion/unitree_ros2/cyclonedds_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
diff --git a/deploy/robot_ws/install/setup.zsh b/deploy/robot_ws/install/setup.zsh
deleted file mode 100644
index de47bbf..0000000
--- a/deploy/robot_ws/install/setup.zsh
+++ /dev/null
@@ -1,34 +0,0 @@
-# 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: \"$1\"" 1>&2
-  fi
-}
-
-# source chained prefixes
-# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
-COLCON_CURRENT_PREFIX="/opt/ros/foxy"
-_colcon_prefix_chain_zsh_source_script "$COLCON_CURRENT_PREFIX/local_setup.zsh"
-# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
-COLCON_CURRENT_PREFIX="/home/unitree/locomotion/unitree_ros2/cyclonedds_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
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request__builder.hpp b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request__builder.hpp
deleted file mode 100644
index b41c8e6..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request__builder.hpp
+++ /dev/null
@@ -1,87 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__builder.hpp.em
-// with input from unitree_api:msg/Request.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__DETAIL__REQUEST__BUILDER_HPP_
-#define UNITREE_API__MSG__DETAIL__REQUEST__BUILDER_HPP_
-
-#include "unitree_api/msg/detail/request__struct.hpp"
-#include <rosidl_runtime_cpp/message_initialization.hpp>
-#include <algorithm>
-#include <utility>
-
-
-namespace unitree_api
-{
-
-namespace msg
-{
-
-namespace builder
-{
-
-class Init_Request_binary
-{
-public:
-  explicit Init_Request_binary(::unitree_api::msg::Request & msg)
-  : msg_(msg)
-  {}
-  ::unitree_api::msg::Request binary(::unitree_api::msg::Request::_binary_type arg)
-  {
-    msg_.binary = std::move(arg);
-    return std::move(msg_);
-  }
-
-private:
-  ::unitree_api::msg::Request msg_;
-};
-
-class Init_Request_parameter
-{
-public:
-  explicit Init_Request_parameter(::unitree_api::msg::Request & msg)
-  : msg_(msg)
-  {}
-  Init_Request_binary parameter(::unitree_api::msg::Request::_parameter_type arg)
-  {
-    msg_.parameter = std::move(arg);
-    return Init_Request_binary(msg_);
-  }
-
-private:
-  ::unitree_api::msg::Request msg_;
-};
-
-class Init_Request_header
-{
-public:
-  Init_Request_header()
-  : msg_(::rosidl_runtime_cpp::MessageInitialization::SKIP)
-  {}
-  Init_Request_parameter header(::unitree_api::msg::Request::_header_type arg)
-  {
-    msg_.header = std::move(arg);
-    return Init_Request_parameter(msg_);
-  }
-
-private:
-  ::unitree_api::msg::Request msg_;
-};
-
-}  // namespace builder
-
-}  // namespace msg
-
-template<typename MessageType>
-auto build();
-
-template<>
-inline
-auto build<::unitree_api::msg::Request>()
-{
-  return unitree_api::msg::builder::Init_Request_header();
-}
-
-}  // namespace unitree_api
-
-#endif  // UNITREE_API__MSG__DETAIL__REQUEST__BUILDER_HPP_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request__functions.c b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request__functions.c
deleted file mode 100644
index a815295..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request__functions.c
+++ /dev/null
@@ -1,288 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__functions.c.em
-// with input from unitree_api:msg/Request.idl
-// generated code does not contain a copyright notice
-#include "unitree_api/msg/detail/request__functions.h"
-
-#include <assert.h>
-#include <stdbool.h>
-#include <stdlib.h>
-#include <string.h>
-
-#include "rcutils/allocator.h"
-
-
-// Include directives for member types
-// Member `header`
-#include "unitree_api/msg/detail/request_header__functions.h"
-// Member `parameter`
-#include "rosidl_runtime_c/string_functions.h"
-// Member `binary`
-#include "rosidl_runtime_c/primitives_sequence_functions.h"
-
-bool
-unitree_api__msg__Request__init(unitree_api__msg__Request * msg)
-{
-  if (!msg) {
-    return false;
-  }
-  // header
-  if (!unitree_api__msg__RequestHeader__init(&msg->header)) {
-    unitree_api__msg__Request__fini(msg);
-    return false;
-  }
-  // parameter
-  if (!rosidl_runtime_c__String__init(&msg->parameter)) {
-    unitree_api__msg__Request__fini(msg);
-    return false;
-  }
-  // binary
-  if (!rosidl_runtime_c__uint8__Sequence__init(&msg->binary, 0)) {
-    unitree_api__msg__Request__fini(msg);
-    return false;
-  }
-  return true;
-}
-
-void
-unitree_api__msg__Request__fini(unitree_api__msg__Request * msg)
-{
-  if (!msg) {
-    return;
-  }
-  // header
-  unitree_api__msg__RequestHeader__fini(&msg->header);
-  // parameter
-  rosidl_runtime_c__String__fini(&msg->parameter);
-  // binary
-  rosidl_runtime_c__uint8__Sequence__fini(&msg->binary);
-}
-
-bool
-unitree_api__msg__Request__are_equal(const unitree_api__msg__Request * lhs, const unitree_api__msg__Request * rhs)
-{
-  if (!lhs || !rhs) {
-    return false;
-  }
-  // header
-  if (!unitree_api__msg__RequestHeader__are_equal(
-      &(lhs->header), &(rhs->header)))
-  {
-    return false;
-  }
-  // parameter
-  if (!rosidl_runtime_c__String__are_equal(
-      &(lhs->parameter), &(rhs->parameter)))
-  {
-    return false;
-  }
-  // binary
-  if (!rosidl_runtime_c__uint8__Sequence__are_equal(
-      &(lhs->binary), &(rhs->binary)))
-  {
-    return false;
-  }
-  return true;
-}
-
-bool
-unitree_api__msg__Request__copy(
-  const unitree_api__msg__Request * input,
-  unitree_api__msg__Request * output)
-{
-  if (!input || !output) {
-    return false;
-  }
-  // header
-  if (!unitree_api__msg__RequestHeader__copy(
-      &(input->header), &(output->header)))
-  {
-    return false;
-  }
-  // parameter
-  if (!rosidl_runtime_c__String__copy(
-      &(input->parameter), &(output->parameter)))
-  {
-    return false;
-  }
-  // binary
-  if (!rosidl_runtime_c__uint8__Sequence__copy(
-      &(input->binary), &(output->binary)))
-  {
-    return false;
-  }
-  return true;
-}
-
-unitree_api__msg__Request *
-unitree_api__msg__Request__create()
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  unitree_api__msg__Request * msg = (unitree_api__msg__Request *)allocator.allocate(sizeof(unitree_api__msg__Request), allocator.state);
-  if (!msg) {
-    return NULL;
-  }
-  memset(msg, 0, sizeof(unitree_api__msg__Request));
-  bool success = unitree_api__msg__Request__init(msg);
-  if (!success) {
-    allocator.deallocate(msg, allocator.state);
-    return NULL;
-  }
-  return msg;
-}
-
-void
-unitree_api__msg__Request__destroy(unitree_api__msg__Request * msg)
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  if (msg) {
-    unitree_api__msg__Request__fini(msg);
-  }
-  allocator.deallocate(msg, allocator.state);
-}
-
-
-bool
-unitree_api__msg__Request__Sequence__init(unitree_api__msg__Request__Sequence * array, size_t size)
-{
-  if (!array) {
-    return false;
-  }
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  unitree_api__msg__Request * data = NULL;
-
-  if (size) {
-    data = (unitree_api__msg__Request *)allocator.zero_allocate(size, sizeof(unitree_api__msg__Request), allocator.state);
-    if (!data) {
-      return false;
-    }
-    // initialize all array elements
-    size_t i;
-    for (i = 0; i < size; ++i) {
-      bool success = unitree_api__msg__Request__init(&data[i]);
-      if (!success) {
-        break;
-      }
-    }
-    if (i < size) {
-      // if initialization failed finalize the already initialized array elements
-      for (; i > 0; --i) {
-        unitree_api__msg__Request__fini(&data[i - 1]);
-      }
-      allocator.deallocate(data, allocator.state);
-      return false;
-    }
-  }
-  array->data = data;
-  array->size = size;
-  array->capacity = size;
-  return true;
-}
-
-void
-unitree_api__msg__Request__Sequence__fini(unitree_api__msg__Request__Sequence * array)
-{
-  if (!array) {
-    return;
-  }
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-
-  if (array->data) {
-    // ensure that data and capacity values are consistent
-    assert(array->capacity > 0);
-    // finalize all array elements
-    for (size_t i = 0; i < array->capacity; ++i) {
-      unitree_api__msg__Request__fini(&array->data[i]);
-    }
-    allocator.deallocate(array->data, allocator.state);
-    array->data = NULL;
-    array->size = 0;
-    array->capacity = 0;
-  } else {
-    // ensure that data, size, and capacity values are consistent
-    assert(0 == array->size);
-    assert(0 == array->capacity);
-  }
-}
-
-unitree_api__msg__Request__Sequence *
-unitree_api__msg__Request__Sequence__create(size_t size)
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  unitree_api__msg__Request__Sequence * array = (unitree_api__msg__Request__Sequence *)allocator.allocate(sizeof(unitree_api__msg__Request__Sequence), allocator.state);
-  if (!array) {
-    return NULL;
-  }
-  bool success = unitree_api__msg__Request__Sequence__init(array, size);
-  if (!success) {
-    allocator.deallocate(array, allocator.state);
-    return NULL;
-  }
-  return array;
-}
-
-void
-unitree_api__msg__Request__Sequence__destroy(unitree_api__msg__Request__Sequence * array)
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  if (array) {
-    unitree_api__msg__Request__Sequence__fini(array);
-  }
-  allocator.deallocate(array, allocator.state);
-}
-
-bool
-unitree_api__msg__Request__Sequence__are_equal(const unitree_api__msg__Request__Sequence * lhs, const unitree_api__msg__Request__Sequence * rhs)
-{
-  if (!lhs || !rhs) {
-    return false;
-  }
-  if (lhs->size != rhs->size) {
-    return false;
-  }
-  for (size_t i = 0; i < lhs->size; ++i) {
-    if (!unitree_api__msg__Request__are_equal(&(lhs->data[i]), &(rhs->data[i]))) {
-      return false;
-    }
-  }
-  return true;
-}
-
-bool
-unitree_api__msg__Request__Sequence__copy(
-  const unitree_api__msg__Request__Sequence * input,
-  unitree_api__msg__Request__Sequence * output)
-{
-  if (!input || !output) {
-    return false;
-  }
-  if (output->capacity < input->size) {
-    const size_t allocation_size =
-      input->size * sizeof(unitree_api__msg__Request);
-    unitree_api__msg__Request * data =
-      (unitree_api__msg__Request *)realloc(output->data, allocation_size);
-    if (!data) {
-      return false;
-    }
-    for (size_t i = output->capacity; i < input->size; ++i) {
-      if (!unitree_api__msg__Request__init(&data[i])) {
-        /* free currently allocated and return false */
-        for (; i-- > output->capacity; ) {
-          unitree_api__msg__Request__fini(&data[i]);
-        }
-        free(data);
-        return false;
-      }
-    }
-    output->data = data;
-    output->capacity = input->size;
-  }
-  output->size = input->size;
-  for (size_t i = 0; i < input->size; ++i) {
-    if (!unitree_api__msg__Request__copy(
-        &(input->data[i]), &(output->data[i])))
-    {
-      return false;
-    }
-  }
-  return true;
-}
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request__functions.h b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request__functions.h
deleted file mode 100644
index fd22ad0..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request__functions.h
+++ /dev/null
@@ -1,177 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__functions.h.em
-// with input from unitree_api:msg/Request.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__DETAIL__REQUEST__FUNCTIONS_H_
-#define UNITREE_API__MSG__DETAIL__REQUEST__FUNCTIONS_H_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include <stdbool.h>
-#include <stdlib.h>
-
-#include "rosidl_runtime_c/visibility_control.h"
-#include "unitree_api/msg/rosidl_generator_c__visibility_control.h"
-
-#include "unitree_api/msg/detail/request__struct.h"
-
-/// Initialize msg/Request message.
-/**
- * If the init function is called twice for the same message without
- * calling fini inbetween previously allocated memory will be leaked.
- * \param[in,out] msg The previously allocated message pointer.
- * Fields without a default value will not be initialized by this function.
- * You might want to call memset(msg, 0, sizeof(
- * unitree_api__msg__Request
- * )) before or use
- * unitree_api__msg__Request__create()
- * to allocate and initialize the message.
- * \return true if initialization was successful, otherwise false
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-bool
-unitree_api__msg__Request__init(unitree_api__msg__Request * msg);
-
-/// Finalize msg/Request message.
-/**
- * \param[in,out] msg The allocated message pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-void
-unitree_api__msg__Request__fini(unitree_api__msg__Request * msg);
-
-/// Create msg/Request message.
-/**
- * It allocates the memory for the message, sets the memory to zero, and
- * calls
- * unitree_api__msg__Request__init().
- * \return The pointer to the initialized message if successful,
- * otherwise NULL
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-unitree_api__msg__Request *
-unitree_api__msg__Request__create();
-
-/// Destroy msg/Request message.
-/**
- * It calls
- * unitree_api__msg__Request__fini()
- * and frees the memory of the message.
- * \param[in,out] msg The allocated message pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-void
-unitree_api__msg__Request__destroy(unitree_api__msg__Request * msg);
-
-/// Check for msg/Request message equality.
-/**
- * \param[in] lhs The message on the left hand size of the equality operator.
- * \param[in] rhs The message on the right hand size of the equality operator.
- * \return true if messages are equal, otherwise false.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-bool
-unitree_api__msg__Request__are_equal(const unitree_api__msg__Request * lhs, const unitree_api__msg__Request * rhs);
-
-/// Copy a msg/Request message.
-/**
- * This functions performs a deep copy, as opposed to the shallow copy that
- * plain assignment yields.
- *
- * \param[in] input The source message pointer.
- * \param[out] output The target message pointer, which must
- *   have been initialized before calling this function.
- * \return true if successful, or false if either pointer is null
- *   or memory allocation fails.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-bool
-unitree_api__msg__Request__copy(
-  const unitree_api__msg__Request * input,
-  unitree_api__msg__Request * output);
-
-/// Initialize array of msg/Request messages.
-/**
- * It allocates the memory for the number of elements and calls
- * unitree_api__msg__Request__init()
- * for each element of the array.
- * \param[in,out] array The allocated array pointer.
- * \param[in] size The size / capacity of the array.
- * \return true if initialization was successful, otherwise false
- * If the array pointer is valid and the size is zero it is guaranteed
- # to return true.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-bool
-unitree_api__msg__Request__Sequence__init(unitree_api__msg__Request__Sequence * array, size_t size);
-
-/// Finalize array of msg/Request messages.
-/**
- * It calls
- * unitree_api__msg__Request__fini()
- * for each element of the array and frees the memory for the number of
- * elements.
- * \param[in,out] array The initialized array pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-void
-unitree_api__msg__Request__Sequence__fini(unitree_api__msg__Request__Sequence * array);
-
-/// Create array of msg/Request messages.
-/**
- * It allocates the memory for the array and calls
- * unitree_api__msg__Request__Sequence__init().
- * \param[in] size The size / capacity of the array.
- * \return The pointer to the initialized array if successful, otherwise NULL
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-unitree_api__msg__Request__Sequence *
-unitree_api__msg__Request__Sequence__create(size_t size);
-
-/// Destroy array of msg/Request messages.
-/**
- * It calls
- * unitree_api__msg__Request__Sequence__fini()
- * on the array,
- * and frees the memory of the array.
- * \param[in,out] array The initialized array pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-void
-unitree_api__msg__Request__Sequence__destroy(unitree_api__msg__Request__Sequence * array);
-
-/// Check for msg/Request message array equality.
-/**
- * \param[in] lhs The message array on the left hand size of the equality operator.
- * \param[in] rhs The message array on the right hand size of the equality operator.
- * \return true if message arrays are equal in size and content, otherwise false.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-bool
-unitree_api__msg__Request__Sequence__are_equal(const unitree_api__msg__Request__Sequence * lhs, const unitree_api__msg__Request__Sequence * rhs);
-
-/// Copy an array of msg/Request messages.
-/**
- * This functions performs a deep copy, as opposed to the shallow copy that
- * plain assignment yields.
- *
- * \param[in] input The source array pointer.
- * \param[out] output The target array pointer, which must
- *   have been initialized before calling this function.
- * \return true if successful, or false if either pointer
- *   is null or memory allocation fails.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-bool
-unitree_api__msg__Request__Sequence__copy(
-  const unitree_api__msg__Request__Sequence * input,
-  unitree_api__msg__Request__Sequence * output);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_API__MSG__DETAIL__REQUEST__FUNCTIONS_H_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request__rosidl_typesupport_fastrtps_c.h b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request__rosidl_typesupport_fastrtps_c.h
deleted file mode 100644
index 4765adc..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request__rosidl_typesupport_fastrtps_c.h
+++ /dev/null
@@ -1,36 +0,0 @@
-// generated from rosidl_typesupport_fastrtps_c/resource/idl__rosidl_typesupport_fastrtps_c.h.em
-// with input from unitree_api:msg/Request.idl
-// generated code does not contain a copyright notice
-#ifndef UNITREE_API__MSG__DETAIL__REQUEST__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_
-#define UNITREE_API__MSG__DETAIL__REQUEST__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_
-
-
-#include <stddef.h>
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_api/msg/rosidl_typesupport_fastrtps_c__visibility_control.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_api
-size_t get_serialized_size_unitree_api__msg__Request(
-  const void * untyped_ros_message,
-  size_t current_alignment);
-
-ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_api
-size_t max_serialized_size_unitree_api__msg__Request(
-  bool & full_bounded,
-  size_t current_alignment);
-
-ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_api
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_fastrtps_c, unitree_api, msg, Request)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_API__MSG__DETAIL__REQUEST__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request__rosidl_typesupport_fastrtps_cpp.hpp b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request__rosidl_typesupport_fastrtps_cpp.hpp
deleted file mode 100644
index 1796b89..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request__rosidl_typesupport_fastrtps_cpp.hpp
+++ /dev/null
@@ -1,79 +0,0 @@
-// generated from rosidl_typesupport_fastrtps_cpp/resource/idl__rosidl_typesupport_fastrtps_cpp.hpp.em
-// with input from unitree_api:msg/Request.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__DETAIL__REQUEST__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_
-#define UNITREE_API__MSG__DETAIL__REQUEST__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_api/msg/rosidl_typesupport_fastrtps_cpp__visibility_control.h"
-#include "unitree_api/msg/detail/request__struct.hpp"
-
-#ifndef _WIN32
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wunused-parameter"
-# ifdef __clang__
-#  pragma clang diagnostic ignored "-Wdeprecated-register"
-#  pragma clang diagnostic ignored "-Wreturn-type-c-linkage"
-# endif
-#endif
-#ifndef _WIN32
-# pragma GCC diagnostic pop
-#endif
-
-#include "fastcdr/Cdr.h"
-
-namespace unitree_api
-{
-
-namespace msg
-{
-
-namespace typesupport_fastrtps_cpp
-{
-
-bool
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_api
-cdr_serialize(
-  const unitree_api::msg::Request & ros_message,
-  eprosima::fastcdr::Cdr & cdr);
-
-bool
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_api
-cdr_deserialize(
-  eprosima::fastcdr::Cdr & cdr,
-  unitree_api::msg::Request & ros_message);
-
-size_t
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_api
-get_serialized_size(
-  const unitree_api::msg::Request & ros_message,
-  size_t current_alignment);
-
-size_t
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_api
-max_serialized_size_Request(
-  bool & full_bounded,
-  size_t current_alignment);
-
-}  // namespace typesupport_fastrtps_cpp
-
-}  // namespace msg
-
-}  // namespace unitree_api
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_api
-const rosidl_message_type_support_t *
-  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_fastrtps_cpp, unitree_api, msg, Request)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_API__MSG__DETAIL__REQUEST__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request__rosidl_typesupport_introspection_c.h b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request__rosidl_typesupport_introspection_c.h
deleted file mode 100644
index 084587c..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request__rosidl_typesupport_introspection_c.h
+++ /dev/null
@@ -1,26 +0,0 @@
-// generated from rosidl_typesupport_introspection_c/resource/idl__rosidl_typesupport_introspection_c.h.em
-// with input from unitree_api:msg/Request.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__DETAIL__REQUEST__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
-#define UNITREE_API__MSG__DETAIL__REQUEST__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_api/msg/rosidl_typesupport_introspection_c__visibility_control.h"
-
-ROSIDL_TYPESUPPORT_INTROSPECTION_C_PUBLIC_unitree_api
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, unitree_api, msg, Request)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_API__MSG__DETAIL__REQUEST__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request__rosidl_typesupport_introspection_cpp.hpp b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request__rosidl_typesupport_introspection_cpp.hpp
deleted file mode 100644
index a880f48..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request__rosidl_typesupport_introspection_cpp.hpp
+++ /dev/null
@@ -1,27 +0,0 @@
-// generated from rosidl_typesupport_introspection_cpp/resource/idl__rosidl_typesupport_introspection_cpp.h.em
-// with input from unitree_api:msg/Request.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__DETAIL__REQUEST__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_
-#define UNITREE_API__MSG__DETAIL__REQUEST__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_
-
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "rosidl_typesupport_introspection_cpp/visibility_control.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-// TODO(dirk-thomas) these visibility macros should be message package specific
-ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
-const rosidl_message_type_support_t *
-  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_cpp, unitree_api, msg, Request)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_API__MSG__DETAIL__REQUEST__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request__struct.h b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request__struct.h
deleted file mode 100644
index 5325d3e..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request__struct.h
+++ /dev/null
@@ -1,50 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__struct.h.em
-// with input from unitree_api:msg/Request.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__DETAIL__REQUEST__STRUCT_H_
-#define UNITREE_API__MSG__DETAIL__REQUEST__STRUCT_H_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include <stdbool.h>
-#include <stddef.h>
-#include <stdint.h>
-
-
-// Constants defined in the message
-
-// Include directives for member types
-// Member 'header'
-#include "unitree_api/msg/detail/request_header__struct.h"
-// Member 'parameter'
-#include "rosidl_runtime_c/string.h"
-// Member 'binary'
-#include "rosidl_runtime_c/primitives_sequence.h"
-
-// Struct defined in msg/Request in the package unitree_api.
-typedef struct unitree_api__msg__Request
-{
-  unitree_api__msg__RequestHeader header;
-  rosidl_runtime_c__String parameter;
-  rosidl_runtime_c__uint8__Sequence binary;
-} unitree_api__msg__Request;
-
-// Struct for a sequence of unitree_api__msg__Request.
-typedef struct unitree_api__msg__Request__Sequence
-{
-  unitree_api__msg__Request * data;
-  /// The number of valid items in data
-  size_t size;
-  /// The number of allocated items in data
-  size_t capacity;
-} unitree_api__msg__Request__Sequence;
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_API__MSG__DETAIL__REQUEST__STRUCT_H_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request__struct.hpp b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request__struct.hpp
deleted file mode 100644
index d6ca5ea..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request__struct.hpp
+++ /dev/null
@@ -1,160 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__struct.hpp.em
-// with input from unitree_api:msg/Request.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__DETAIL__REQUEST__STRUCT_HPP_
-#define UNITREE_API__MSG__DETAIL__REQUEST__STRUCT_HPP_
-
-#include <rosidl_runtime_cpp/bounded_vector.hpp>
-#include <rosidl_runtime_cpp/message_initialization.hpp>
-#include <algorithm>
-#include <array>
-#include <memory>
-#include <string>
-#include <vector>
-
-
-// Include directives for member types
-// Member 'header'
-#include "unitree_api/msg/detail/request_header__struct.hpp"
-
-#ifndef _WIN32
-# define DEPRECATED__unitree_api__msg__Request __attribute__((deprecated))
-#else
-# define DEPRECATED__unitree_api__msg__Request __declspec(deprecated)
-#endif
-
-namespace unitree_api
-{
-
-namespace msg
-{
-
-// message struct
-template<class ContainerAllocator>
-struct Request_
-{
-  using Type = Request_<ContainerAllocator>;
-
-  explicit Request_(rosidl_runtime_cpp::MessageInitialization _init = rosidl_runtime_cpp::MessageInitialization::ALL)
-  : header(_init)
-  {
-    if (rosidl_runtime_cpp::MessageInitialization::ALL == _init ||
-      rosidl_runtime_cpp::MessageInitialization::ZERO == _init)
-    {
-      this->parameter = "";
-    }
-  }
-
-  explicit Request_(const ContainerAllocator & _alloc, rosidl_runtime_cpp::MessageInitialization _init = rosidl_runtime_cpp::MessageInitialization::ALL)
-  : header(_alloc, _init),
-    parameter(_alloc)
-  {
-    if (rosidl_runtime_cpp::MessageInitialization::ALL == _init ||
-      rosidl_runtime_cpp::MessageInitialization::ZERO == _init)
-    {
-      this->parameter = "";
-    }
-  }
-
-  // field types and members
-  using _header_type =
-    unitree_api::msg::RequestHeader_<ContainerAllocator>;
-  _header_type header;
-  using _parameter_type =
-    std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other>;
-  _parameter_type parameter;
-  using _binary_type =
-    std::vector<uint8_t, typename ContainerAllocator::template rebind<uint8_t>::other>;
-  _binary_type binary;
-
-  // setters for named parameter idiom
-  Type & set__header(
-    const unitree_api::msg::RequestHeader_<ContainerAllocator> & _arg)
-  {
-    this->header = _arg;
-    return *this;
-  }
-  Type & set__parameter(
-    const std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other> & _arg)
-  {
-    this->parameter = _arg;
-    return *this;
-  }
-  Type & set__binary(
-    const std::vector<uint8_t, typename ContainerAllocator::template rebind<uint8_t>::other> & _arg)
-  {
-    this->binary = _arg;
-    return *this;
-  }
-
-  // constant declarations
-
-  // pointer types
-  using RawPtr =
-    unitree_api::msg::Request_<ContainerAllocator> *;
-  using ConstRawPtr =
-    const unitree_api::msg::Request_<ContainerAllocator> *;
-  using SharedPtr =
-    std::shared_ptr<unitree_api::msg::Request_<ContainerAllocator>>;
-  using ConstSharedPtr =
-    std::shared_ptr<unitree_api::msg::Request_<ContainerAllocator> const>;
-
-  template<typename Deleter = std::default_delete<
-      unitree_api::msg::Request_<ContainerAllocator>>>
-  using UniquePtrWithDeleter =
-    std::unique_ptr<unitree_api::msg::Request_<ContainerAllocator>, Deleter>;
-
-  using UniquePtr = UniquePtrWithDeleter<>;
-
-  template<typename Deleter = std::default_delete<
-      unitree_api::msg::Request_<ContainerAllocator>>>
-  using ConstUniquePtrWithDeleter =
-    std::unique_ptr<unitree_api::msg::Request_<ContainerAllocator> const, Deleter>;
-  using ConstUniquePtr = ConstUniquePtrWithDeleter<>;
-
-  using WeakPtr =
-    std::weak_ptr<unitree_api::msg::Request_<ContainerAllocator>>;
-  using ConstWeakPtr =
-    std::weak_ptr<unitree_api::msg::Request_<ContainerAllocator> const>;
-
-  // pointer types similar to ROS 1, use SharedPtr / ConstSharedPtr instead
-  // NOTE: Can't use 'using' here because GNU C++ can't parse attributes properly
-  typedef DEPRECATED__unitree_api__msg__Request
-    std::shared_ptr<unitree_api::msg::Request_<ContainerAllocator>>
-    Ptr;
-  typedef DEPRECATED__unitree_api__msg__Request
-    std::shared_ptr<unitree_api::msg::Request_<ContainerAllocator> const>
-    ConstPtr;
-
-  // comparison operators
-  bool operator==(const Request_ & other) const
-  {
-    if (this->header != other.header) {
-      return false;
-    }
-    if (this->parameter != other.parameter) {
-      return false;
-    }
-    if (this->binary != other.binary) {
-      return false;
-    }
-    return true;
-  }
-  bool operator!=(const Request_ & other) const
-  {
-    return !this->operator==(other);
-  }
-};  // struct Request_
-
-// alias to use template instance with default allocator
-using Request =
-  unitree_api::msg::Request_<std::allocator<void>>;
-
-// constant definitions
-
-}  // namespace msg
-
-}  // namespace unitree_api
-
-#endif  // UNITREE_API__MSG__DETAIL__REQUEST__STRUCT_HPP_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request__traits.hpp b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request__traits.hpp
deleted file mode 100644
index 205fa6f..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request__traits.hpp
+++ /dev/null
@@ -1,46 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__traits.hpp.em
-// with input from unitree_api:msg/Request.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__DETAIL__REQUEST__TRAITS_HPP_
-#define UNITREE_API__MSG__DETAIL__REQUEST__TRAITS_HPP_
-
-#include "unitree_api/msg/detail/request__struct.hpp"
-#include <rosidl_runtime_cpp/traits.hpp>
-#include <stdint.h>
-#include <type_traits>
-
-// Include directives for member types
-// Member 'header'
-#include "unitree_api/msg/detail/request_header__traits.hpp"
-
-namespace rosidl_generator_traits
-{
-
-template<>
-inline const char * data_type<unitree_api::msg::Request>()
-{
-  return "unitree_api::msg::Request";
-}
-
-template<>
-inline const char * name<unitree_api::msg::Request>()
-{
-  return "unitree_api/msg/Request";
-}
-
-template<>
-struct has_fixed_size<unitree_api::msg::Request>
-  : std::integral_constant<bool, false> {};
-
-template<>
-struct has_bounded_size<unitree_api::msg::Request>
-  : std::integral_constant<bool, false> {};
-
-template<>
-struct is_message<unitree_api::msg::Request>
-  : std::true_type {};
-
-}  // namespace rosidl_generator_traits
-
-#endif  // UNITREE_API__MSG__DETAIL__REQUEST__TRAITS_HPP_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request__type_support.c b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request__type_support.c
deleted file mode 100644
index 9e0cfdf..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request__type_support.c
+++ /dev/null
@@ -1,123 +0,0 @@
-// generated from rosidl_typesupport_introspection_c/resource/idl__type_support.c.em
-// with input from unitree_api:msg/Request.idl
-// generated code does not contain a copyright notice
-
-#include <stddef.h>
-#include "unitree_api/msg/detail/request__rosidl_typesupport_introspection_c.h"
-#include "unitree_api/msg/rosidl_typesupport_introspection_c__visibility_control.h"
-#include "rosidl_typesupport_introspection_c/field_types.h"
-#include "rosidl_typesupport_introspection_c/identifier.h"
-#include "rosidl_typesupport_introspection_c/message_introspection.h"
-#include "unitree_api/msg/detail/request__functions.h"
-#include "unitree_api/msg/detail/request__struct.h"
-
-
-// Include directives for member types
-// Member `header`
-#include "unitree_api/msg/request_header.h"
-// Member `header`
-#include "unitree_api/msg/detail/request_header__rosidl_typesupport_introspection_c.h"
-// Member `parameter`
-#include "rosidl_runtime_c/string_functions.h"
-// Member `binary`
-#include "rosidl_runtime_c/primitives_sequence_functions.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-void Request__rosidl_typesupport_introspection_c__Request_init_function(
-  void * message_memory, enum rosidl_runtime_c__message_initialization _init)
-{
-  // TODO(karsten1987): initializers are not yet implemented for typesupport c
-  // see https://github.com/ros2/ros2/issues/397
-  (void) _init;
-  unitree_api__msg__Request__init(message_memory);
-}
-
-void Request__rosidl_typesupport_introspection_c__Request_fini_function(void * message_memory)
-{
-  unitree_api__msg__Request__fini(message_memory);
-}
-
-static rosidl_typesupport_introspection_c__MessageMember Request__rosidl_typesupport_introspection_c__Request_message_member_array[3] = {
-  {
-    "header",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_MESSAGE,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message (initialized later)
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_api__msg__Request, header),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "parameter",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_STRING,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_api__msg__Request, parameter),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "binary",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_UINT8,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    true,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_api__msg__Request, binary),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  }
-};
-
-static const rosidl_typesupport_introspection_c__MessageMembers Request__rosidl_typesupport_introspection_c__Request_message_members = {
-  "unitree_api__msg",  // message namespace
-  "Request",  // message name
-  3,  // number of fields
-  sizeof(unitree_api__msg__Request),
-  Request__rosidl_typesupport_introspection_c__Request_message_member_array,  // message members
-  Request__rosidl_typesupport_introspection_c__Request_init_function,  // function to initialize message memory (memory has to be allocated)
-  Request__rosidl_typesupport_introspection_c__Request_fini_function  // function to terminate message instance (will not free memory)
-};
-
-// this is not const since it must be initialized on first access
-// since C does not allow non-integral compile-time constants
-static rosidl_message_type_support_t Request__rosidl_typesupport_introspection_c__Request_message_type_support_handle = {
-  0,
-  &Request__rosidl_typesupport_introspection_c__Request_message_members,
-  get_message_typesupport_handle_function,
-};
-
-ROSIDL_TYPESUPPORT_INTROSPECTION_C_EXPORT_unitree_api
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, unitree_api, msg, Request)() {
-  Request__rosidl_typesupport_introspection_c__Request_message_member_array[0].members_ =
-    ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, unitree_api, msg, RequestHeader)();
-  if (!Request__rosidl_typesupport_introspection_c__Request_message_type_support_handle.typesupport_identifier) {
-    Request__rosidl_typesupport_introspection_c__Request_message_type_support_handle.typesupport_identifier =
-      rosidl_typesupport_introspection_c__identifier;
-  }
-  return &Request__rosidl_typesupport_introspection_c__Request_message_type_support_handle;
-}
-#ifdef __cplusplus
-}
-#endif
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request__type_support.cpp b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request__type_support.cpp
deleted file mode 100644
index fb8fc8c..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request__type_support.cpp
+++ /dev/null
@@ -1,164 +0,0 @@
-// generated from rosidl_typesupport_introspection_cpp/resource/idl__type_support.cpp.em
-// with input from unitree_api:msg/Request.idl
-// generated code does not contain a copyright notice
-
-#include "array"
-#include "cstddef"
-#include "string"
-#include "vector"
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_cpp/message_type_support.hpp"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_api/msg/detail/request__struct.hpp"
-#include "rosidl_typesupport_introspection_cpp/field_types.hpp"
-#include "rosidl_typesupport_introspection_cpp/identifier.hpp"
-#include "rosidl_typesupport_introspection_cpp/message_introspection.hpp"
-#include "rosidl_typesupport_introspection_cpp/message_type_support_decl.hpp"
-#include "rosidl_typesupport_introspection_cpp/visibility_control.h"
-
-namespace unitree_api
-{
-
-namespace msg
-{
-
-namespace rosidl_typesupport_introspection_cpp
-{
-
-void Request_init_function(
-  void * message_memory, rosidl_runtime_cpp::MessageInitialization _init)
-{
-  new (message_memory) unitree_api::msg::Request(_init);
-}
-
-void Request_fini_function(void * message_memory)
-{
-  auto typed_message = static_cast<unitree_api::msg::Request *>(message_memory);
-  typed_message->~Request();
-}
-
-size_t size_function__Request__binary(const void * untyped_member)
-{
-  const auto * member = reinterpret_cast<const std::vector<uint8_t> *>(untyped_member);
-  return member->size();
-}
-
-const void * get_const_function__Request__binary(const void * untyped_member, size_t index)
-{
-  const auto & member =
-    *reinterpret_cast<const std::vector<uint8_t> *>(untyped_member);
-  return &member[index];
-}
-
-void * get_function__Request__binary(void * untyped_member, size_t index)
-{
-  auto & member =
-    *reinterpret_cast<std::vector<uint8_t> *>(untyped_member);
-  return &member[index];
-}
-
-void resize_function__Request__binary(void * untyped_member, size_t size)
-{
-  auto * member =
-    reinterpret_cast<std::vector<uint8_t> *>(untyped_member);
-  member->resize(size);
-}
-
-static const ::rosidl_typesupport_introspection_cpp::MessageMember Request_message_member_array[3] = {
-  {
-    "header",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_MESSAGE,  // type
-    0,  // upper bound of string
-    ::rosidl_typesupport_introspection_cpp::get_message_type_support_handle<unitree_api::msg::RequestHeader>(),  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_api::msg::Request, header),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "parameter",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_STRING,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_api::msg::Request, parameter),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "binary",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT8,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    true,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_api::msg::Request, binary),  // bytes offset in struct
-    nullptr,  // default value
-    size_function__Request__binary,  // size() function pointer
-    get_const_function__Request__binary,  // get_const(index) function pointer
-    get_function__Request__binary,  // get(index) function pointer
-    resize_function__Request__binary  // resize(index) function pointer
-  }
-};
-
-static const ::rosidl_typesupport_introspection_cpp::MessageMembers Request_message_members = {
-  "unitree_api::msg",  // message namespace
-  "Request",  // message name
-  3,  // number of fields
-  sizeof(unitree_api::msg::Request),
-  Request_message_member_array,  // message members
-  Request_init_function,  // function to initialize message memory (memory has to be allocated)
-  Request_fini_function  // function to terminate message instance (will not free memory)
-};
-
-static const rosidl_message_type_support_t Request_message_type_support_handle = {
-  ::rosidl_typesupport_introspection_cpp::typesupport_identifier,
-  &Request_message_members,
-  get_message_typesupport_handle_function,
-};
-
-}  // namespace rosidl_typesupport_introspection_cpp
-
-}  // namespace msg
-
-}  // namespace unitree_api
-
-
-namespace rosidl_typesupport_introspection_cpp
-{
-
-template<>
-ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
-const rosidl_message_type_support_t *
-get_message_type_support_handle<unitree_api::msg::Request>()
-{
-  return &::unitree_api::msg::rosidl_typesupport_introspection_cpp::Request_message_type_support_handle;
-}
-
-}  // namespace rosidl_typesupport_introspection_cpp
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_cpp, unitree_api, msg, Request)() {
-  return &::unitree_api::msg::rosidl_typesupport_introspection_cpp::Request_message_type_support_handle;
-}
-
-#ifdef __cplusplus
-}
-#endif
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request__type_support.h b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request__type_support.h
deleted file mode 100644
index d662fff..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request__type_support.h
+++ /dev/null
@@ -1,33 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__type_support.h.em
-// with input from unitree_api:msg/Request.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__DETAIL__REQUEST__TYPE_SUPPORT_H_
-#define UNITREE_API__MSG__DETAIL__REQUEST__TYPE_SUPPORT_H_
-
-#include "rosidl_typesupport_interface/macros.h"
-
-#include "unitree_api/msg/rosidl_generator_c__visibility_control.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-
-// Forward declare the get type support functions for this type.
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
-  rosidl_typesupport_c,
-  unitree_api,
-  msg,
-  Request
-)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_API__MSG__DETAIL__REQUEST__TYPE_SUPPORT_H_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request__type_support.hpp b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request__type_support.hpp
deleted file mode 100644
index 02a5188..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request__type_support.hpp
+++ /dev/null
@@ -1,31 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__type_support.hpp.em
-// with input from unitree_api:msg/Request.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__DETAIL__REQUEST__TYPE_SUPPORT_HPP_
-#define UNITREE_API__MSG__DETAIL__REQUEST__TYPE_SUPPORT_HPP_
-
-#include "rosidl_typesupport_interface/macros.h"
-
-#include "unitree_api/msg/rosidl_generator_cpp__visibility_control.hpp"
-
-#include "rosidl_typesupport_cpp/message_type_support.hpp"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-// Forward declare the get type support functions for this type.
-ROSIDL_GENERATOR_CPP_PUBLIC_unitree_api
-const rosidl_message_type_support_t *
-  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
-  rosidl_typesupport_cpp,
-  unitree_api,
-  msg,
-  Request
-)();
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_API__MSG__DETAIL__REQUEST__TYPE_SUPPORT_HPP_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_header__builder.hpp b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_header__builder.hpp
deleted file mode 100644
index 193c4b0..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_header__builder.hpp
+++ /dev/null
@@ -1,87 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__builder.hpp.em
-// with input from unitree_api:msg/RequestHeader.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__DETAIL__REQUEST_HEADER__BUILDER_HPP_
-#define UNITREE_API__MSG__DETAIL__REQUEST_HEADER__BUILDER_HPP_
-
-#include "unitree_api/msg/detail/request_header__struct.hpp"
-#include <rosidl_runtime_cpp/message_initialization.hpp>
-#include <algorithm>
-#include <utility>
-
-
-namespace unitree_api
-{
-
-namespace msg
-{
-
-namespace builder
-{
-
-class Init_RequestHeader_policy
-{
-public:
-  explicit Init_RequestHeader_policy(::unitree_api::msg::RequestHeader & msg)
-  : msg_(msg)
-  {}
-  ::unitree_api::msg::RequestHeader policy(::unitree_api::msg::RequestHeader::_policy_type arg)
-  {
-    msg_.policy = std::move(arg);
-    return std::move(msg_);
-  }
-
-private:
-  ::unitree_api::msg::RequestHeader msg_;
-};
-
-class Init_RequestHeader_lease
-{
-public:
-  explicit Init_RequestHeader_lease(::unitree_api::msg::RequestHeader & msg)
-  : msg_(msg)
-  {}
-  Init_RequestHeader_policy lease(::unitree_api::msg::RequestHeader::_lease_type arg)
-  {
-    msg_.lease = std::move(arg);
-    return Init_RequestHeader_policy(msg_);
-  }
-
-private:
-  ::unitree_api::msg::RequestHeader msg_;
-};
-
-class Init_RequestHeader_identity
-{
-public:
-  Init_RequestHeader_identity()
-  : msg_(::rosidl_runtime_cpp::MessageInitialization::SKIP)
-  {}
-  Init_RequestHeader_lease identity(::unitree_api::msg::RequestHeader::_identity_type arg)
-  {
-    msg_.identity = std::move(arg);
-    return Init_RequestHeader_lease(msg_);
-  }
-
-private:
-  ::unitree_api::msg::RequestHeader msg_;
-};
-
-}  // namespace builder
-
-}  // namespace msg
-
-template<typename MessageType>
-auto build();
-
-template<>
-inline
-auto build<::unitree_api::msg::RequestHeader>()
-{
-  return unitree_api::msg::builder::Init_RequestHeader_identity();
-}
-
-}  // namespace unitree_api
-
-#endif  // UNITREE_API__MSG__DETAIL__REQUEST_HEADER__BUILDER_HPP_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_header__functions.c b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_header__functions.c
deleted file mode 100644
index 8025f44..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_header__functions.c
+++ /dev/null
@@ -1,288 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__functions.c.em
-// with input from unitree_api:msg/RequestHeader.idl
-// generated code does not contain a copyright notice
-#include "unitree_api/msg/detail/request_header__functions.h"
-
-#include <assert.h>
-#include <stdbool.h>
-#include <stdlib.h>
-#include <string.h>
-
-#include "rcutils/allocator.h"
-
-
-// Include directives for member types
-// Member `identity`
-#include "unitree_api/msg/detail/request_identity__functions.h"
-// Member `lease`
-#include "unitree_api/msg/detail/request_lease__functions.h"
-// Member `policy`
-#include "unitree_api/msg/detail/request_policy__functions.h"
-
-bool
-unitree_api__msg__RequestHeader__init(unitree_api__msg__RequestHeader * msg)
-{
-  if (!msg) {
-    return false;
-  }
-  // identity
-  if (!unitree_api__msg__RequestIdentity__init(&msg->identity)) {
-    unitree_api__msg__RequestHeader__fini(msg);
-    return false;
-  }
-  // lease
-  if (!unitree_api__msg__RequestLease__init(&msg->lease)) {
-    unitree_api__msg__RequestHeader__fini(msg);
-    return false;
-  }
-  // policy
-  if (!unitree_api__msg__RequestPolicy__init(&msg->policy)) {
-    unitree_api__msg__RequestHeader__fini(msg);
-    return false;
-  }
-  return true;
-}
-
-void
-unitree_api__msg__RequestHeader__fini(unitree_api__msg__RequestHeader * msg)
-{
-  if (!msg) {
-    return;
-  }
-  // identity
-  unitree_api__msg__RequestIdentity__fini(&msg->identity);
-  // lease
-  unitree_api__msg__RequestLease__fini(&msg->lease);
-  // policy
-  unitree_api__msg__RequestPolicy__fini(&msg->policy);
-}
-
-bool
-unitree_api__msg__RequestHeader__are_equal(const unitree_api__msg__RequestHeader * lhs, const unitree_api__msg__RequestHeader * rhs)
-{
-  if (!lhs || !rhs) {
-    return false;
-  }
-  // identity
-  if (!unitree_api__msg__RequestIdentity__are_equal(
-      &(lhs->identity), &(rhs->identity)))
-  {
-    return false;
-  }
-  // lease
-  if (!unitree_api__msg__RequestLease__are_equal(
-      &(lhs->lease), &(rhs->lease)))
-  {
-    return false;
-  }
-  // policy
-  if (!unitree_api__msg__RequestPolicy__are_equal(
-      &(lhs->policy), &(rhs->policy)))
-  {
-    return false;
-  }
-  return true;
-}
-
-bool
-unitree_api__msg__RequestHeader__copy(
-  const unitree_api__msg__RequestHeader * input,
-  unitree_api__msg__RequestHeader * output)
-{
-  if (!input || !output) {
-    return false;
-  }
-  // identity
-  if (!unitree_api__msg__RequestIdentity__copy(
-      &(input->identity), &(output->identity)))
-  {
-    return false;
-  }
-  // lease
-  if (!unitree_api__msg__RequestLease__copy(
-      &(input->lease), &(output->lease)))
-  {
-    return false;
-  }
-  // policy
-  if (!unitree_api__msg__RequestPolicy__copy(
-      &(input->policy), &(output->policy)))
-  {
-    return false;
-  }
-  return true;
-}
-
-unitree_api__msg__RequestHeader *
-unitree_api__msg__RequestHeader__create()
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  unitree_api__msg__RequestHeader * msg = (unitree_api__msg__RequestHeader *)allocator.allocate(sizeof(unitree_api__msg__RequestHeader), allocator.state);
-  if (!msg) {
-    return NULL;
-  }
-  memset(msg, 0, sizeof(unitree_api__msg__RequestHeader));
-  bool success = unitree_api__msg__RequestHeader__init(msg);
-  if (!success) {
-    allocator.deallocate(msg, allocator.state);
-    return NULL;
-  }
-  return msg;
-}
-
-void
-unitree_api__msg__RequestHeader__destroy(unitree_api__msg__RequestHeader * msg)
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  if (msg) {
-    unitree_api__msg__RequestHeader__fini(msg);
-  }
-  allocator.deallocate(msg, allocator.state);
-}
-
-
-bool
-unitree_api__msg__RequestHeader__Sequence__init(unitree_api__msg__RequestHeader__Sequence * array, size_t size)
-{
-  if (!array) {
-    return false;
-  }
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  unitree_api__msg__RequestHeader * data = NULL;
-
-  if (size) {
-    data = (unitree_api__msg__RequestHeader *)allocator.zero_allocate(size, sizeof(unitree_api__msg__RequestHeader), allocator.state);
-    if (!data) {
-      return false;
-    }
-    // initialize all array elements
-    size_t i;
-    for (i = 0; i < size; ++i) {
-      bool success = unitree_api__msg__RequestHeader__init(&data[i]);
-      if (!success) {
-        break;
-      }
-    }
-    if (i < size) {
-      // if initialization failed finalize the already initialized array elements
-      for (; i > 0; --i) {
-        unitree_api__msg__RequestHeader__fini(&data[i - 1]);
-      }
-      allocator.deallocate(data, allocator.state);
-      return false;
-    }
-  }
-  array->data = data;
-  array->size = size;
-  array->capacity = size;
-  return true;
-}
-
-void
-unitree_api__msg__RequestHeader__Sequence__fini(unitree_api__msg__RequestHeader__Sequence * array)
-{
-  if (!array) {
-    return;
-  }
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-
-  if (array->data) {
-    // ensure that data and capacity values are consistent
-    assert(array->capacity > 0);
-    // finalize all array elements
-    for (size_t i = 0; i < array->capacity; ++i) {
-      unitree_api__msg__RequestHeader__fini(&array->data[i]);
-    }
-    allocator.deallocate(array->data, allocator.state);
-    array->data = NULL;
-    array->size = 0;
-    array->capacity = 0;
-  } else {
-    // ensure that data, size, and capacity values are consistent
-    assert(0 == array->size);
-    assert(0 == array->capacity);
-  }
-}
-
-unitree_api__msg__RequestHeader__Sequence *
-unitree_api__msg__RequestHeader__Sequence__create(size_t size)
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  unitree_api__msg__RequestHeader__Sequence * array = (unitree_api__msg__RequestHeader__Sequence *)allocator.allocate(sizeof(unitree_api__msg__RequestHeader__Sequence), allocator.state);
-  if (!array) {
-    return NULL;
-  }
-  bool success = unitree_api__msg__RequestHeader__Sequence__init(array, size);
-  if (!success) {
-    allocator.deallocate(array, allocator.state);
-    return NULL;
-  }
-  return array;
-}
-
-void
-unitree_api__msg__RequestHeader__Sequence__destroy(unitree_api__msg__RequestHeader__Sequence * array)
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  if (array) {
-    unitree_api__msg__RequestHeader__Sequence__fini(array);
-  }
-  allocator.deallocate(array, allocator.state);
-}
-
-bool
-unitree_api__msg__RequestHeader__Sequence__are_equal(const unitree_api__msg__RequestHeader__Sequence * lhs, const unitree_api__msg__RequestHeader__Sequence * rhs)
-{
-  if (!lhs || !rhs) {
-    return false;
-  }
-  if (lhs->size != rhs->size) {
-    return false;
-  }
-  for (size_t i = 0; i < lhs->size; ++i) {
-    if (!unitree_api__msg__RequestHeader__are_equal(&(lhs->data[i]), &(rhs->data[i]))) {
-      return false;
-    }
-  }
-  return true;
-}
-
-bool
-unitree_api__msg__RequestHeader__Sequence__copy(
-  const unitree_api__msg__RequestHeader__Sequence * input,
-  unitree_api__msg__RequestHeader__Sequence * output)
-{
-  if (!input || !output) {
-    return false;
-  }
-  if (output->capacity < input->size) {
-    const size_t allocation_size =
-      input->size * sizeof(unitree_api__msg__RequestHeader);
-    unitree_api__msg__RequestHeader * data =
-      (unitree_api__msg__RequestHeader *)realloc(output->data, allocation_size);
-    if (!data) {
-      return false;
-    }
-    for (size_t i = output->capacity; i < input->size; ++i) {
-      if (!unitree_api__msg__RequestHeader__init(&data[i])) {
-        /* free currently allocated and return false */
-        for (; i-- > output->capacity; ) {
-          unitree_api__msg__RequestHeader__fini(&data[i]);
-        }
-        free(data);
-        return false;
-      }
-    }
-    output->data = data;
-    output->capacity = input->size;
-  }
-  output->size = input->size;
-  for (size_t i = 0; i < input->size; ++i) {
-    if (!unitree_api__msg__RequestHeader__copy(
-        &(input->data[i]), &(output->data[i])))
-    {
-      return false;
-    }
-  }
-  return true;
-}
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_header__functions.h b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_header__functions.h
deleted file mode 100644
index 1c6c6b8..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_header__functions.h
+++ /dev/null
@@ -1,177 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__functions.h.em
-// with input from unitree_api:msg/RequestHeader.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__DETAIL__REQUEST_HEADER__FUNCTIONS_H_
-#define UNITREE_API__MSG__DETAIL__REQUEST_HEADER__FUNCTIONS_H_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include <stdbool.h>
-#include <stdlib.h>
-
-#include "rosidl_runtime_c/visibility_control.h"
-#include "unitree_api/msg/rosidl_generator_c__visibility_control.h"
-
-#include "unitree_api/msg/detail/request_header__struct.h"
-
-/// Initialize msg/RequestHeader message.
-/**
- * If the init function is called twice for the same message without
- * calling fini inbetween previously allocated memory will be leaked.
- * \param[in,out] msg The previously allocated message pointer.
- * Fields without a default value will not be initialized by this function.
- * You might want to call memset(msg, 0, sizeof(
- * unitree_api__msg__RequestHeader
- * )) before or use
- * unitree_api__msg__RequestHeader__create()
- * to allocate and initialize the message.
- * \return true if initialization was successful, otherwise false
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-bool
-unitree_api__msg__RequestHeader__init(unitree_api__msg__RequestHeader * msg);
-
-/// Finalize msg/RequestHeader message.
-/**
- * \param[in,out] msg The allocated message pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-void
-unitree_api__msg__RequestHeader__fini(unitree_api__msg__RequestHeader * msg);
-
-/// Create msg/RequestHeader message.
-/**
- * It allocates the memory for the message, sets the memory to zero, and
- * calls
- * unitree_api__msg__RequestHeader__init().
- * \return The pointer to the initialized message if successful,
- * otherwise NULL
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-unitree_api__msg__RequestHeader *
-unitree_api__msg__RequestHeader__create();
-
-/// Destroy msg/RequestHeader message.
-/**
- * It calls
- * unitree_api__msg__RequestHeader__fini()
- * and frees the memory of the message.
- * \param[in,out] msg The allocated message pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-void
-unitree_api__msg__RequestHeader__destroy(unitree_api__msg__RequestHeader * msg);
-
-/// Check for msg/RequestHeader message equality.
-/**
- * \param[in] lhs The message on the left hand size of the equality operator.
- * \param[in] rhs The message on the right hand size of the equality operator.
- * \return true if messages are equal, otherwise false.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-bool
-unitree_api__msg__RequestHeader__are_equal(const unitree_api__msg__RequestHeader * lhs, const unitree_api__msg__RequestHeader * rhs);
-
-/// Copy a msg/RequestHeader message.
-/**
- * This functions performs a deep copy, as opposed to the shallow copy that
- * plain assignment yields.
- *
- * \param[in] input The source message pointer.
- * \param[out] output The target message pointer, which must
- *   have been initialized before calling this function.
- * \return true if successful, or false if either pointer is null
- *   or memory allocation fails.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-bool
-unitree_api__msg__RequestHeader__copy(
-  const unitree_api__msg__RequestHeader * input,
-  unitree_api__msg__RequestHeader * output);
-
-/// Initialize array of msg/RequestHeader messages.
-/**
- * It allocates the memory for the number of elements and calls
- * unitree_api__msg__RequestHeader__init()
- * for each element of the array.
- * \param[in,out] array The allocated array pointer.
- * \param[in] size The size / capacity of the array.
- * \return true if initialization was successful, otherwise false
- * If the array pointer is valid and the size is zero it is guaranteed
- # to return true.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-bool
-unitree_api__msg__RequestHeader__Sequence__init(unitree_api__msg__RequestHeader__Sequence * array, size_t size);
-
-/// Finalize array of msg/RequestHeader messages.
-/**
- * It calls
- * unitree_api__msg__RequestHeader__fini()
- * for each element of the array and frees the memory for the number of
- * elements.
- * \param[in,out] array The initialized array pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-void
-unitree_api__msg__RequestHeader__Sequence__fini(unitree_api__msg__RequestHeader__Sequence * array);
-
-/// Create array of msg/RequestHeader messages.
-/**
- * It allocates the memory for the array and calls
- * unitree_api__msg__RequestHeader__Sequence__init().
- * \param[in] size The size / capacity of the array.
- * \return The pointer to the initialized array if successful, otherwise NULL
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-unitree_api__msg__RequestHeader__Sequence *
-unitree_api__msg__RequestHeader__Sequence__create(size_t size);
-
-/// Destroy array of msg/RequestHeader messages.
-/**
- * It calls
- * unitree_api__msg__RequestHeader__Sequence__fini()
- * on the array,
- * and frees the memory of the array.
- * \param[in,out] array The initialized array pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-void
-unitree_api__msg__RequestHeader__Sequence__destroy(unitree_api__msg__RequestHeader__Sequence * array);
-
-/// Check for msg/RequestHeader message array equality.
-/**
- * \param[in] lhs The message array on the left hand size of the equality operator.
- * \param[in] rhs The message array on the right hand size of the equality operator.
- * \return true if message arrays are equal in size and content, otherwise false.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-bool
-unitree_api__msg__RequestHeader__Sequence__are_equal(const unitree_api__msg__RequestHeader__Sequence * lhs, const unitree_api__msg__RequestHeader__Sequence * rhs);
-
-/// Copy an array of msg/RequestHeader messages.
-/**
- * This functions performs a deep copy, as opposed to the shallow copy that
- * plain assignment yields.
- *
- * \param[in] input The source array pointer.
- * \param[out] output The target array pointer, which must
- *   have been initialized before calling this function.
- * \return true if successful, or false if either pointer
- *   is null or memory allocation fails.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-bool
-unitree_api__msg__RequestHeader__Sequence__copy(
-  const unitree_api__msg__RequestHeader__Sequence * input,
-  unitree_api__msg__RequestHeader__Sequence * output);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_API__MSG__DETAIL__REQUEST_HEADER__FUNCTIONS_H_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_header__rosidl_typesupport_fastrtps_c.h b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_header__rosidl_typesupport_fastrtps_c.h
deleted file mode 100644
index ad8b061..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_header__rosidl_typesupport_fastrtps_c.h
+++ /dev/null
@@ -1,36 +0,0 @@
-// generated from rosidl_typesupport_fastrtps_c/resource/idl__rosidl_typesupport_fastrtps_c.h.em
-// with input from unitree_api:msg/RequestHeader.idl
-// generated code does not contain a copyright notice
-#ifndef UNITREE_API__MSG__DETAIL__REQUEST_HEADER__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_
-#define UNITREE_API__MSG__DETAIL__REQUEST_HEADER__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_
-
-
-#include <stddef.h>
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_api/msg/rosidl_typesupport_fastrtps_c__visibility_control.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_api
-size_t get_serialized_size_unitree_api__msg__RequestHeader(
-  const void * untyped_ros_message,
-  size_t current_alignment);
-
-ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_api
-size_t max_serialized_size_unitree_api__msg__RequestHeader(
-  bool & full_bounded,
-  size_t current_alignment);
-
-ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_api
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_fastrtps_c, unitree_api, msg, RequestHeader)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_API__MSG__DETAIL__REQUEST_HEADER__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_header__rosidl_typesupport_fastrtps_cpp.hpp b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_header__rosidl_typesupport_fastrtps_cpp.hpp
deleted file mode 100644
index 2da1080..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_header__rosidl_typesupport_fastrtps_cpp.hpp
+++ /dev/null
@@ -1,79 +0,0 @@
-// generated from rosidl_typesupport_fastrtps_cpp/resource/idl__rosidl_typesupport_fastrtps_cpp.hpp.em
-// with input from unitree_api:msg/RequestHeader.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__DETAIL__REQUEST_HEADER__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_
-#define UNITREE_API__MSG__DETAIL__REQUEST_HEADER__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_api/msg/rosidl_typesupport_fastrtps_cpp__visibility_control.h"
-#include "unitree_api/msg/detail/request_header__struct.hpp"
-
-#ifndef _WIN32
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wunused-parameter"
-# ifdef __clang__
-#  pragma clang diagnostic ignored "-Wdeprecated-register"
-#  pragma clang diagnostic ignored "-Wreturn-type-c-linkage"
-# endif
-#endif
-#ifndef _WIN32
-# pragma GCC diagnostic pop
-#endif
-
-#include "fastcdr/Cdr.h"
-
-namespace unitree_api
-{
-
-namespace msg
-{
-
-namespace typesupport_fastrtps_cpp
-{
-
-bool
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_api
-cdr_serialize(
-  const unitree_api::msg::RequestHeader & ros_message,
-  eprosima::fastcdr::Cdr & cdr);
-
-bool
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_api
-cdr_deserialize(
-  eprosima::fastcdr::Cdr & cdr,
-  unitree_api::msg::RequestHeader & ros_message);
-
-size_t
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_api
-get_serialized_size(
-  const unitree_api::msg::RequestHeader & ros_message,
-  size_t current_alignment);
-
-size_t
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_api
-max_serialized_size_RequestHeader(
-  bool & full_bounded,
-  size_t current_alignment);
-
-}  // namespace typesupport_fastrtps_cpp
-
-}  // namespace msg
-
-}  // namespace unitree_api
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_api
-const rosidl_message_type_support_t *
-  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_fastrtps_cpp, unitree_api, msg, RequestHeader)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_API__MSG__DETAIL__REQUEST_HEADER__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_header__rosidl_typesupport_introspection_c.h b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_header__rosidl_typesupport_introspection_c.h
deleted file mode 100644
index 4ced6ee..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_header__rosidl_typesupport_introspection_c.h
+++ /dev/null
@@ -1,26 +0,0 @@
-// generated from rosidl_typesupport_introspection_c/resource/idl__rosidl_typesupport_introspection_c.h.em
-// with input from unitree_api:msg/RequestHeader.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__DETAIL__REQUEST_HEADER__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
-#define UNITREE_API__MSG__DETAIL__REQUEST_HEADER__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_api/msg/rosidl_typesupport_introspection_c__visibility_control.h"
-
-ROSIDL_TYPESUPPORT_INTROSPECTION_C_PUBLIC_unitree_api
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, unitree_api, msg, RequestHeader)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_API__MSG__DETAIL__REQUEST_HEADER__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_header__rosidl_typesupport_introspection_cpp.hpp b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_header__rosidl_typesupport_introspection_cpp.hpp
deleted file mode 100644
index 050bc93..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_header__rosidl_typesupport_introspection_cpp.hpp
+++ /dev/null
@@ -1,27 +0,0 @@
-// generated from rosidl_typesupport_introspection_cpp/resource/idl__rosidl_typesupport_introspection_cpp.h.em
-// with input from unitree_api:msg/RequestHeader.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__DETAIL__REQUEST_HEADER__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_
-#define UNITREE_API__MSG__DETAIL__REQUEST_HEADER__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_
-
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "rosidl_typesupport_introspection_cpp/visibility_control.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-// TODO(dirk-thomas) these visibility macros should be message package specific
-ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
-const rosidl_message_type_support_t *
-  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_cpp, unitree_api, msg, RequestHeader)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_API__MSG__DETAIL__REQUEST_HEADER__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_header__struct.h b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_header__struct.h
deleted file mode 100644
index 974ea38..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_header__struct.h
+++ /dev/null
@@ -1,50 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__struct.h.em
-// with input from unitree_api:msg/RequestHeader.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__DETAIL__REQUEST_HEADER__STRUCT_H_
-#define UNITREE_API__MSG__DETAIL__REQUEST_HEADER__STRUCT_H_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include <stdbool.h>
-#include <stddef.h>
-#include <stdint.h>
-
-
-// Constants defined in the message
-
-// Include directives for member types
-// Member 'identity'
-#include "unitree_api/msg/detail/request_identity__struct.h"
-// Member 'lease'
-#include "unitree_api/msg/detail/request_lease__struct.h"
-// Member 'policy'
-#include "unitree_api/msg/detail/request_policy__struct.h"
-
-// Struct defined in msg/RequestHeader in the package unitree_api.
-typedef struct unitree_api__msg__RequestHeader
-{
-  unitree_api__msg__RequestIdentity identity;
-  unitree_api__msg__RequestLease lease;
-  unitree_api__msg__RequestPolicy policy;
-} unitree_api__msg__RequestHeader;
-
-// Struct for a sequence of unitree_api__msg__RequestHeader.
-typedef struct unitree_api__msg__RequestHeader__Sequence
-{
-  unitree_api__msg__RequestHeader * data;
-  /// The number of valid items in data
-  size_t size;
-  /// The number of allocated items in data
-  size_t capacity;
-} unitree_api__msg__RequestHeader__Sequence;
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_API__MSG__DETAIL__REQUEST_HEADER__STRUCT_H_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_header__struct.hpp b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_header__struct.hpp
deleted file mode 100644
index 13ed133..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_header__struct.hpp
+++ /dev/null
@@ -1,159 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__struct.hpp.em
-// with input from unitree_api:msg/RequestHeader.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__DETAIL__REQUEST_HEADER__STRUCT_HPP_
-#define UNITREE_API__MSG__DETAIL__REQUEST_HEADER__STRUCT_HPP_
-
-#include <rosidl_runtime_cpp/bounded_vector.hpp>
-#include <rosidl_runtime_cpp/message_initialization.hpp>
-#include <algorithm>
-#include <array>
-#include <memory>
-#include <string>
-#include <vector>
-
-
-// Include directives for member types
-// Member 'identity'
-#include "unitree_api/msg/detail/request_identity__struct.hpp"
-// Member 'lease'
-#include "unitree_api/msg/detail/request_lease__struct.hpp"
-// Member 'policy'
-#include "unitree_api/msg/detail/request_policy__struct.hpp"
-
-#ifndef _WIN32
-# define DEPRECATED__unitree_api__msg__RequestHeader __attribute__((deprecated))
-#else
-# define DEPRECATED__unitree_api__msg__RequestHeader __declspec(deprecated)
-#endif
-
-namespace unitree_api
-{
-
-namespace msg
-{
-
-// message struct
-template<class ContainerAllocator>
-struct RequestHeader_
-{
-  using Type = RequestHeader_<ContainerAllocator>;
-
-  explicit RequestHeader_(rosidl_runtime_cpp::MessageInitialization _init = rosidl_runtime_cpp::MessageInitialization::ALL)
-  : identity(_init),
-    lease(_init),
-    policy(_init)
-  {
-    (void)_init;
-  }
-
-  explicit RequestHeader_(const ContainerAllocator & _alloc, rosidl_runtime_cpp::MessageInitialization _init = rosidl_runtime_cpp::MessageInitialization::ALL)
-  : identity(_alloc, _init),
-    lease(_alloc, _init),
-    policy(_alloc, _init)
-  {
-    (void)_init;
-  }
-
-  // field types and members
-  using _identity_type =
-    unitree_api::msg::RequestIdentity_<ContainerAllocator>;
-  _identity_type identity;
-  using _lease_type =
-    unitree_api::msg::RequestLease_<ContainerAllocator>;
-  _lease_type lease;
-  using _policy_type =
-    unitree_api::msg::RequestPolicy_<ContainerAllocator>;
-  _policy_type policy;
-
-  // setters for named parameter idiom
-  Type & set__identity(
-    const unitree_api::msg::RequestIdentity_<ContainerAllocator> & _arg)
-  {
-    this->identity = _arg;
-    return *this;
-  }
-  Type & set__lease(
-    const unitree_api::msg::RequestLease_<ContainerAllocator> & _arg)
-  {
-    this->lease = _arg;
-    return *this;
-  }
-  Type & set__policy(
-    const unitree_api::msg::RequestPolicy_<ContainerAllocator> & _arg)
-  {
-    this->policy = _arg;
-    return *this;
-  }
-
-  // constant declarations
-
-  // pointer types
-  using RawPtr =
-    unitree_api::msg::RequestHeader_<ContainerAllocator> *;
-  using ConstRawPtr =
-    const unitree_api::msg::RequestHeader_<ContainerAllocator> *;
-  using SharedPtr =
-    std::shared_ptr<unitree_api::msg::RequestHeader_<ContainerAllocator>>;
-  using ConstSharedPtr =
-    std::shared_ptr<unitree_api::msg::RequestHeader_<ContainerAllocator> const>;
-
-  template<typename Deleter = std::default_delete<
-      unitree_api::msg::RequestHeader_<ContainerAllocator>>>
-  using UniquePtrWithDeleter =
-    std::unique_ptr<unitree_api::msg::RequestHeader_<ContainerAllocator>, Deleter>;
-
-  using UniquePtr = UniquePtrWithDeleter<>;
-
-  template<typename Deleter = std::default_delete<
-      unitree_api::msg::RequestHeader_<ContainerAllocator>>>
-  using ConstUniquePtrWithDeleter =
-    std::unique_ptr<unitree_api::msg::RequestHeader_<ContainerAllocator> const, Deleter>;
-  using ConstUniquePtr = ConstUniquePtrWithDeleter<>;
-
-  using WeakPtr =
-    std::weak_ptr<unitree_api::msg::RequestHeader_<ContainerAllocator>>;
-  using ConstWeakPtr =
-    std::weak_ptr<unitree_api::msg::RequestHeader_<ContainerAllocator> const>;
-
-  // pointer types similar to ROS 1, use SharedPtr / ConstSharedPtr instead
-  // NOTE: Can't use 'using' here because GNU C++ can't parse attributes properly
-  typedef DEPRECATED__unitree_api__msg__RequestHeader
-    std::shared_ptr<unitree_api::msg::RequestHeader_<ContainerAllocator>>
-    Ptr;
-  typedef DEPRECATED__unitree_api__msg__RequestHeader
-    std::shared_ptr<unitree_api::msg::RequestHeader_<ContainerAllocator> const>
-    ConstPtr;
-
-  // comparison operators
-  bool operator==(const RequestHeader_ & other) const
-  {
-    if (this->identity != other.identity) {
-      return false;
-    }
-    if (this->lease != other.lease) {
-      return false;
-    }
-    if (this->policy != other.policy) {
-      return false;
-    }
-    return true;
-  }
-  bool operator!=(const RequestHeader_ & other) const
-  {
-    return !this->operator==(other);
-  }
-};  // struct RequestHeader_
-
-// alias to use template instance with default allocator
-using RequestHeader =
-  unitree_api::msg::RequestHeader_<std::allocator<void>>;
-
-// constant definitions
-
-}  // namespace msg
-
-}  // namespace unitree_api
-
-#endif  // UNITREE_API__MSG__DETAIL__REQUEST_HEADER__STRUCT_HPP_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_header__traits.hpp b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_header__traits.hpp
deleted file mode 100644
index 32a9b1f..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_header__traits.hpp
+++ /dev/null
@@ -1,50 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__traits.hpp.em
-// with input from unitree_api:msg/RequestHeader.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__DETAIL__REQUEST_HEADER__TRAITS_HPP_
-#define UNITREE_API__MSG__DETAIL__REQUEST_HEADER__TRAITS_HPP_
-
-#include "unitree_api/msg/detail/request_header__struct.hpp"
-#include <rosidl_runtime_cpp/traits.hpp>
-#include <stdint.h>
-#include <type_traits>
-
-// Include directives for member types
-// Member 'identity'
-#include "unitree_api/msg/detail/request_identity__traits.hpp"
-// Member 'lease'
-#include "unitree_api/msg/detail/request_lease__traits.hpp"
-// Member 'policy'
-#include "unitree_api/msg/detail/request_policy__traits.hpp"
-
-namespace rosidl_generator_traits
-{
-
-template<>
-inline const char * data_type<unitree_api::msg::RequestHeader>()
-{
-  return "unitree_api::msg::RequestHeader";
-}
-
-template<>
-inline const char * name<unitree_api::msg::RequestHeader>()
-{
-  return "unitree_api/msg/RequestHeader";
-}
-
-template<>
-struct has_fixed_size<unitree_api::msg::RequestHeader>
-  : std::integral_constant<bool, has_fixed_size<unitree_api::msg::RequestIdentity>::value && has_fixed_size<unitree_api::msg::RequestLease>::value && has_fixed_size<unitree_api::msg::RequestPolicy>::value> {};
-
-template<>
-struct has_bounded_size<unitree_api::msg::RequestHeader>
-  : std::integral_constant<bool, has_bounded_size<unitree_api::msg::RequestIdentity>::value && has_bounded_size<unitree_api::msg::RequestLease>::value && has_bounded_size<unitree_api::msg::RequestPolicy>::value> {};
-
-template<>
-struct is_message<unitree_api::msg::RequestHeader>
-  : std::true_type {};
-
-}  // namespace rosidl_generator_traits
-
-#endif  // UNITREE_API__MSG__DETAIL__REQUEST_HEADER__TRAITS_HPP_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_header__type_support.c b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_header__type_support.c
deleted file mode 100644
index 2181cd3..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_header__type_support.c
+++ /dev/null
@@ -1,131 +0,0 @@
-// generated from rosidl_typesupport_introspection_c/resource/idl__type_support.c.em
-// with input from unitree_api:msg/RequestHeader.idl
-// generated code does not contain a copyright notice
-
-#include <stddef.h>
-#include "unitree_api/msg/detail/request_header__rosidl_typesupport_introspection_c.h"
-#include "unitree_api/msg/rosidl_typesupport_introspection_c__visibility_control.h"
-#include "rosidl_typesupport_introspection_c/field_types.h"
-#include "rosidl_typesupport_introspection_c/identifier.h"
-#include "rosidl_typesupport_introspection_c/message_introspection.h"
-#include "unitree_api/msg/detail/request_header__functions.h"
-#include "unitree_api/msg/detail/request_header__struct.h"
-
-
-// Include directives for member types
-// Member `identity`
-#include "unitree_api/msg/request_identity.h"
-// Member `identity`
-#include "unitree_api/msg/detail/request_identity__rosidl_typesupport_introspection_c.h"
-// Member `lease`
-#include "unitree_api/msg/request_lease.h"
-// Member `lease`
-#include "unitree_api/msg/detail/request_lease__rosidl_typesupport_introspection_c.h"
-// Member `policy`
-#include "unitree_api/msg/request_policy.h"
-// Member `policy`
-#include "unitree_api/msg/detail/request_policy__rosidl_typesupport_introspection_c.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-void RequestHeader__rosidl_typesupport_introspection_c__RequestHeader_init_function(
-  void * message_memory, enum rosidl_runtime_c__message_initialization _init)
-{
-  // TODO(karsten1987): initializers are not yet implemented for typesupport c
-  // see https://github.com/ros2/ros2/issues/397
-  (void) _init;
-  unitree_api__msg__RequestHeader__init(message_memory);
-}
-
-void RequestHeader__rosidl_typesupport_introspection_c__RequestHeader_fini_function(void * message_memory)
-{
-  unitree_api__msg__RequestHeader__fini(message_memory);
-}
-
-static rosidl_typesupport_introspection_c__MessageMember RequestHeader__rosidl_typesupport_introspection_c__RequestHeader_message_member_array[3] = {
-  {
-    "identity",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_MESSAGE,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message (initialized later)
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_api__msg__RequestHeader, identity),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "lease",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_MESSAGE,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message (initialized later)
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_api__msg__RequestHeader, lease),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "policy",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_MESSAGE,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message (initialized later)
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_api__msg__RequestHeader, policy),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  }
-};
-
-static const rosidl_typesupport_introspection_c__MessageMembers RequestHeader__rosidl_typesupport_introspection_c__RequestHeader_message_members = {
-  "unitree_api__msg",  // message namespace
-  "RequestHeader",  // message name
-  3,  // number of fields
-  sizeof(unitree_api__msg__RequestHeader),
-  RequestHeader__rosidl_typesupport_introspection_c__RequestHeader_message_member_array,  // message members
-  RequestHeader__rosidl_typesupport_introspection_c__RequestHeader_init_function,  // function to initialize message memory (memory has to be allocated)
-  RequestHeader__rosidl_typesupport_introspection_c__RequestHeader_fini_function  // function to terminate message instance (will not free memory)
-};
-
-// this is not const since it must be initialized on first access
-// since C does not allow non-integral compile-time constants
-static rosidl_message_type_support_t RequestHeader__rosidl_typesupport_introspection_c__RequestHeader_message_type_support_handle = {
-  0,
-  &RequestHeader__rosidl_typesupport_introspection_c__RequestHeader_message_members,
-  get_message_typesupport_handle_function,
-};
-
-ROSIDL_TYPESUPPORT_INTROSPECTION_C_EXPORT_unitree_api
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, unitree_api, msg, RequestHeader)() {
-  RequestHeader__rosidl_typesupport_introspection_c__RequestHeader_message_member_array[0].members_ =
-    ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, unitree_api, msg, RequestIdentity)();
-  RequestHeader__rosidl_typesupport_introspection_c__RequestHeader_message_member_array[1].members_ =
-    ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, unitree_api, msg, RequestLease)();
-  RequestHeader__rosidl_typesupport_introspection_c__RequestHeader_message_member_array[2].members_ =
-    ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, unitree_api, msg, RequestPolicy)();
-  if (!RequestHeader__rosidl_typesupport_introspection_c__RequestHeader_message_type_support_handle.typesupport_identifier) {
-    RequestHeader__rosidl_typesupport_introspection_c__RequestHeader_message_type_support_handle.typesupport_identifier =
-      rosidl_typesupport_introspection_c__identifier;
-  }
-  return &RequestHeader__rosidl_typesupport_introspection_c__RequestHeader_message_type_support_handle;
-}
-#ifdef __cplusplus
-}
-#endif
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_header__type_support.cpp b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_header__type_support.cpp
deleted file mode 100644
index bca9335..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_header__type_support.cpp
+++ /dev/null
@@ -1,137 +0,0 @@
-// generated from rosidl_typesupport_introspection_cpp/resource/idl__type_support.cpp.em
-// with input from unitree_api:msg/RequestHeader.idl
-// generated code does not contain a copyright notice
-
-#include "array"
-#include "cstddef"
-#include "string"
-#include "vector"
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_cpp/message_type_support.hpp"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_api/msg/detail/request_header__struct.hpp"
-#include "rosidl_typesupport_introspection_cpp/field_types.hpp"
-#include "rosidl_typesupport_introspection_cpp/identifier.hpp"
-#include "rosidl_typesupport_introspection_cpp/message_introspection.hpp"
-#include "rosidl_typesupport_introspection_cpp/message_type_support_decl.hpp"
-#include "rosidl_typesupport_introspection_cpp/visibility_control.h"
-
-namespace unitree_api
-{
-
-namespace msg
-{
-
-namespace rosidl_typesupport_introspection_cpp
-{
-
-void RequestHeader_init_function(
-  void * message_memory, rosidl_runtime_cpp::MessageInitialization _init)
-{
-  new (message_memory) unitree_api::msg::RequestHeader(_init);
-}
-
-void RequestHeader_fini_function(void * message_memory)
-{
-  auto typed_message = static_cast<unitree_api::msg::RequestHeader *>(message_memory);
-  typed_message->~RequestHeader();
-}
-
-static const ::rosidl_typesupport_introspection_cpp::MessageMember RequestHeader_message_member_array[3] = {
-  {
-    "identity",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_MESSAGE,  // type
-    0,  // upper bound of string
-    ::rosidl_typesupport_introspection_cpp::get_message_type_support_handle<unitree_api::msg::RequestIdentity>(),  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_api::msg::RequestHeader, identity),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "lease",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_MESSAGE,  // type
-    0,  // upper bound of string
-    ::rosidl_typesupport_introspection_cpp::get_message_type_support_handle<unitree_api::msg::RequestLease>(),  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_api::msg::RequestHeader, lease),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "policy",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_MESSAGE,  // type
-    0,  // upper bound of string
-    ::rosidl_typesupport_introspection_cpp::get_message_type_support_handle<unitree_api::msg::RequestPolicy>(),  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_api::msg::RequestHeader, policy),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  }
-};
-
-static const ::rosidl_typesupport_introspection_cpp::MessageMembers RequestHeader_message_members = {
-  "unitree_api::msg",  // message namespace
-  "RequestHeader",  // message name
-  3,  // number of fields
-  sizeof(unitree_api::msg::RequestHeader),
-  RequestHeader_message_member_array,  // message members
-  RequestHeader_init_function,  // function to initialize message memory (memory has to be allocated)
-  RequestHeader_fini_function  // function to terminate message instance (will not free memory)
-};
-
-static const rosidl_message_type_support_t RequestHeader_message_type_support_handle = {
-  ::rosidl_typesupport_introspection_cpp::typesupport_identifier,
-  &RequestHeader_message_members,
-  get_message_typesupport_handle_function,
-};
-
-}  // namespace rosidl_typesupport_introspection_cpp
-
-}  // namespace msg
-
-}  // namespace unitree_api
-
-
-namespace rosidl_typesupport_introspection_cpp
-{
-
-template<>
-ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
-const rosidl_message_type_support_t *
-get_message_type_support_handle<unitree_api::msg::RequestHeader>()
-{
-  return &::unitree_api::msg::rosidl_typesupport_introspection_cpp::RequestHeader_message_type_support_handle;
-}
-
-}  // namespace rosidl_typesupport_introspection_cpp
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_cpp, unitree_api, msg, RequestHeader)() {
-  return &::unitree_api::msg::rosidl_typesupport_introspection_cpp::RequestHeader_message_type_support_handle;
-}
-
-#ifdef __cplusplus
-}
-#endif
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_header__type_support.h b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_header__type_support.h
deleted file mode 100644
index 413960d..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_header__type_support.h
+++ /dev/null
@@ -1,33 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__type_support.h.em
-// with input from unitree_api:msg/RequestHeader.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__DETAIL__REQUEST_HEADER__TYPE_SUPPORT_H_
-#define UNITREE_API__MSG__DETAIL__REQUEST_HEADER__TYPE_SUPPORT_H_
-
-#include "rosidl_typesupport_interface/macros.h"
-
-#include "unitree_api/msg/rosidl_generator_c__visibility_control.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-
-// Forward declare the get type support functions for this type.
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
-  rosidl_typesupport_c,
-  unitree_api,
-  msg,
-  RequestHeader
-)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_API__MSG__DETAIL__REQUEST_HEADER__TYPE_SUPPORT_H_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_header__type_support.hpp b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_header__type_support.hpp
deleted file mode 100644
index 1209f3a..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_header__type_support.hpp
+++ /dev/null
@@ -1,31 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__type_support.hpp.em
-// with input from unitree_api:msg/RequestHeader.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__DETAIL__REQUEST_HEADER__TYPE_SUPPORT_HPP_
-#define UNITREE_API__MSG__DETAIL__REQUEST_HEADER__TYPE_SUPPORT_HPP_
-
-#include "rosidl_typesupport_interface/macros.h"
-
-#include "unitree_api/msg/rosidl_generator_cpp__visibility_control.hpp"
-
-#include "rosidl_typesupport_cpp/message_type_support.hpp"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-// Forward declare the get type support functions for this type.
-ROSIDL_GENERATOR_CPP_PUBLIC_unitree_api
-const rosidl_message_type_support_t *
-  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
-  rosidl_typesupport_cpp,
-  unitree_api,
-  msg,
-  RequestHeader
-)();
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_API__MSG__DETAIL__REQUEST_HEADER__TYPE_SUPPORT_HPP_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_identity__builder.hpp b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_identity__builder.hpp
deleted file mode 100644
index 6b1652f..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_identity__builder.hpp
+++ /dev/null
@@ -1,71 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__builder.hpp.em
-// with input from unitree_api:msg/RequestIdentity.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__DETAIL__REQUEST_IDENTITY__BUILDER_HPP_
-#define UNITREE_API__MSG__DETAIL__REQUEST_IDENTITY__BUILDER_HPP_
-
-#include "unitree_api/msg/detail/request_identity__struct.hpp"
-#include <rosidl_runtime_cpp/message_initialization.hpp>
-#include <algorithm>
-#include <utility>
-
-
-namespace unitree_api
-{
-
-namespace msg
-{
-
-namespace builder
-{
-
-class Init_RequestIdentity_api_id
-{
-public:
-  explicit Init_RequestIdentity_api_id(::unitree_api::msg::RequestIdentity & msg)
-  : msg_(msg)
-  {}
-  ::unitree_api::msg::RequestIdentity api_id(::unitree_api::msg::RequestIdentity::_api_id_type arg)
-  {
-    msg_.api_id = std::move(arg);
-    return std::move(msg_);
-  }
-
-private:
-  ::unitree_api::msg::RequestIdentity msg_;
-};
-
-class Init_RequestIdentity_id
-{
-public:
-  Init_RequestIdentity_id()
-  : msg_(::rosidl_runtime_cpp::MessageInitialization::SKIP)
-  {}
-  Init_RequestIdentity_api_id id(::unitree_api::msg::RequestIdentity::_id_type arg)
-  {
-    msg_.id = std::move(arg);
-    return Init_RequestIdentity_api_id(msg_);
-  }
-
-private:
-  ::unitree_api::msg::RequestIdentity msg_;
-};
-
-}  // namespace builder
-
-}  // namespace msg
-
-template<typename MessageType>
-auto build();
-
-template<>
-inline
-auto build<::unitree_api::msg::RequestIdentity>()
-{
-  return unitree_api::msg::builder::Init_RequestIdentity_id();
-}
-
-}  // namespace unitree_api
-
-#endif  // UNITREE_API__MSG__DETAIL__REQUEST_IDENTITY__BUILDER_HPP_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_identity__functions.c b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_identity__functions.c
deleted file mode 100644
index 50b7ce6..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_identity__functions.c
+++ /dev/null
@@ -1,239 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__functions.c.em
-// with input from unitree_api:msg/RequestIdentity.idl
-// generated code does not contain a copyright notice
-#include "unitree_api/msg/detail/request_identity__functions.h"
-
-#include <assert.h>
-#include <stdbool.h>
-#include <stdlib.h>
-#include <string.h>
-
-#include "rcutils/allocator.h"
-
-
-bool
-unitree_api__msg__RequestIdentity__init(unitree_api__msg__RequestIdentity * msg)
-{
-  if (!msg) {
-    return false;
-  }
-  // id
-  // api_id
-  return true;
-}
-
-void
-unitree_api__msg__RequestIdentity__fini(unitree_api__msg__RequestIdentity * msg)
-{
-  if (!msg) {
-    return;
-  }
-  // id
-  // api_id
-}
-
-bool
-unitree_api__msg__RequestIdentity__are_equal(const unitree_api__msg__RequestIdentity * lhs, const unitree_api__msg__RequestIdentity * rhs)
-{
-  if (!lhs || !rhs) {
-    return false;
-  }
-  // id
-  if (lhs->id != rhs->id) {
-    return false;
-  }
-  // api_id
-  if (lhs->api_id != rhs->api_id) {
-    return false;
-  }
-  return true;
-}
-
-bool
-unitree_api__msg__RequestIdentity__copy(
-  const unitree_api__msg__RequestIdentity * input,
-  unitree_api__msg__RequestIdentity * output)
-{
-  if (!input || !output) {
-    return false;
-  }
-  // id
-  output->id = input->id;
-  // api_id
-  output->api_id = input->api_id;
-  return true;
-}
-
-unitree_api__msg__RequestIdentity *
-unitree_api__msg__RequestIdentity__create()
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  unitree_api__msg__RequestIdentity * msg = (unitree_api__msg__RequestIdentity *)allocator.allocate(sizeof(unitree_api__msg__RequestIdentity), allocator.state);
-  if (!msg) {
-    return NULL;
-  }
-  memset(msg, 0, sizeof(unitree_api__msg__RequestIdentity));
-  bool success = unitree_api__msg__RequestIdentity__init(msg);
-  if (!success) {
-    allocator.deallocate(msg, allocator.state);
-    return NULL;
-  }
-  return msg;
-}
-
-void
-unitree_api__msg__RequestIdentity__destroy(unitree_api__msg__RequestIdentity * msg)
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  if (msg) {
-    unitree_api__msg__RequestIdentity__fini(msg);
-  }
-  allocator.deallocate(msg, allocator.state);
-}
-
-
-bool
-unitree_api__msg__RequestIdentity__Sequence__init(unitree_api__msg__RequestIdentity__Sequence * array, size_t size)
-{
-  if (!array) {
-    return false;
-  }
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  unitree_api__msg__RequestIdentity * data = NULL;
-
-  if (size) {
-    data = (unitree_api__msg__RequestIdentity *)allocator.zero_allocate(size, sizeof(unitree_api__msg__RequestIdentity), allocator.state);
-    if (!data) {
-      return false;
-    }
-    // initialize all array elements
-    size_t i;
-    for (i = 0; i < size; ++i) {
-      bool success = unitree_api__msg__RequestIdentity__init(&data[i]);
-      if (!success) {
-        break;
-      }
-    }
-    if (i < size) {
-      // if initialization failed finalize the already initialized array elements
-      for (; i > 0; --i) {
-        unitree_api__msg__RequestIdentity__fini(&data[i - 1]);
-      }
-      allocator.deallocate(data, allocator.state);
-      return false;
-    }
-  }
-  array->data = data;
-  array->size = size;
-  array->capacity = size;
-  return true;
-}
-
-void
-unitree_api__msg__RequestIdentity__Sequence__fini(unitree_api__msg__RequestIdentity__Sequence * array)
-{
-  if (!array) {
-    return;
-  }
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-
-  if (array->data) {
-    // ensure that data and capacity values are consistent
-    assert(array->capacity > 0);
-    // finalize all array elements
-    for (size_t i = 0; i < array->capacity; ++i) {
-      unitree_api__msg__RequestIdentity__fini(&array->data[i]);
-    }
-    allocator.deallocate(array->data, allocator.state);
-    array->data = NULL;
-    array->size = 0;
-    array->capacity = 0;
-  } else {
-    // ensure that data, size, and capacity values are consistent
-    assert(0 == array->size);
-    assert(0 == array->capacity);
-  }
-}
-
-unitree_api__msg__RequestIdentity__Sequence *
-unitree_api__msg__RequestIdentity__Sequence__create(size_t size)
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  unitree_api__msg__RequestIdentity__Sequence * array = (unitree_api__msg__RequestIdentity__Sequence *)allocator.allocate(sizeof(unitree_api__msg__RequestIdentity__Sequence), allocator.state);
-  if (!array) {
-    return NULL;
-  }
-  bool success = unitree_api__msg__RequestIdentity__Sequence__init(array, size);
-  if (!success) {
-    allocator.deallocate(array, allocator.state);
-    return NULL;
-  }
-  return array;
-}
-
-void
-unitree_api__msg__RequestIdentity__Sequence__destroy(unitree_api__msg__RequestIdentity__Sequence * array)
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  if (array) {
-    unitree_api__msg__RequestIdentity__Sequence__fini(array);
-  }
-  allocator.deallocate(array, allocator.state);
-}
-
-bool
-unitree_api__msg__RequestIdentity__Sequence__are_equal(const unitree_api__msg__RequestIdentity__Sequence * lhs, const unitree_api__msg__RequestIdentity__Sequence * rhs)
-{
-  if (!lhs || !rhs) {
-    return false;
-  }
-  if (lhs->size != rhs->size) {
-    return false;
-  }
-  for (size_t i = 0; i < lhs->size; ++i) {
-    if (!unitree_api__msg__RequestIdentity__are_equal(&(lhs->data[i]), &(rhs->data[i]))) {
-      return false;
-    }
-  }
-  return true;
-}
-
-bool
-unitree_api__msg__RequestIdentity__Sequence__copy(
-  const unitree_api__msg__RequestIdentity__Sequence * input,
-  unitree_api__msg__RequestIdentity__Sequence * output)
-{
-  if (!input || !output) {
-    return false;
-  }
-  if (output->capacity < input->size) {
-    const size_t allocation_size =
-      input->size * sizeof(unitree_api__msg__RequestIdentity);
-    unitree_api__msg__RequestIdentity * data =
-      (unitree_api__msg__RequestIdentity *)realloc(output->data, allocation_size);
-    if (!data) {
-      return false;
-    }
-    for (size_t i = output->capacity; i < input->size; ++i) {
-      if (!unitree_api__msg__RequestIdentity__init(&data[i])) {
-        /* free currently allocated and return false */
-        for (; i-- > output->capacity; ) {
-          unitree_api__msg__RequestIdentity__fini(&data[i]);
-        }
-        free(data);
-        return false;
-      }
-    }
-    output->data = data;
-    output->capacity = input->size;
-  }
-  output->size = input->size;
-  for (size_t i = 0; i < input->size; ++i) {
-    if (!unitree_api__msg__RequestIdentity__copy(
-        &(input->data[i]), &(output->data[i])))
-    {
-      return false;
-    }
-  }
-  return true;
-}
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_identity__functions.h b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_identity__functions.h
deleted file mode 100644
index fc84c7d..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_identity__functions.h
+++ /dev/null
@@ -1,177 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__functions.h.em
-// with input from unitree_api:msg/RequestIdentity.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__DETAIL__REQUEST_IDENTITY__FUNCTIONS_H_
-#define UNITREE_API__MSG__DETAIL__REQUEST_IDENTITY__FUNCTIONS_H_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include <stdbool.h>
-#include <stdlib.h>
-
-#include "rosidl_runtime_c/visibility_control.h"
-#include "unitree_api/msg/rosidl_generator_c__visibility_control.h"
-
-#include "unitree_api/msg/detail/request_identity__struct.h"
-
-/// Initialize msg/RequestIdentity message.
-/**
- * If the init function is called twice for the same message without
- * calling fini inbetween previously allocated memory will be leaked.
- * \param[in,out] msg The previously allocated message pointer.
- * Fields without a default value will not be initialized by this function.
- * You might want to call memset(msg, 0, sizeof(
- * unitree_api__msg__RequestIdentity
- * )) before or use
- * unitree_api__msg__RequestIdentity__create()
- * to allocate and initialize the message.
- * \return true if initialization was successful, otherwise false
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-bool
-unitree_api__msg__RequestIdentity__init(unitree_api__msg__RequestIdentity * msg);
-
-/// Finalize msg/RequestIdentity message.
-/**
- * \param[in,out] msg The allocated message pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-void
-unitree_api__msg__RequestIdentity__fini(unitree_api__msg__RequestIdentity * msg);
-
-/// Create msg/RequestIdentity message.
-/**
- * It allocates the memory for the message, sets the memory to zero, and
- * calls
- * unitree_api__msg__RequestIdentity__init().
- * \return The pointer to the initialized message if successful,
- * otherwise NULL
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-unitree_api__msg__RequestIdentity *
-unitree_api__msg__RequestIdentity__create();
-
-/// Destroy msg/RequestIdentity message.
-/**
- * It calls
- * unitree_api__msg__RequestIdentity__fini()
- * and frees the memory of the message.
- * \param[in,out] msg The allocated message pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-void
-unitree_api__msg__RequestIdentity__destroy(unitree_api__msg__RequestIdentity * msg);
-
-/// Check for msg/RequestIdentity message equality.
-/**
- * \param[in] lhs The message on the left hand size of the equality operator.
- * \param[in] rhs The message on the right hand size of the equality operator.
- * \return true if messages are equal, otherwise false.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-bool
-unitree_api__msg__RequestIdentity__are_equal(const unitree_api__msg__RequestIdentity * lhs, const unitree_api__msg__RequestIdentity * rhs);
-
-/// Copy a msg/RequestIdentity message.
-/**
- * This functions performs a deep copy, as opposed to the shallow copy that
- * plain assignment yields.
- *
- * \param[in] input The source message pointer.
- * \param[out] output The target message pointer, which must
- *   have been initialized before calling this function.
- * \return true if successful, or false if either pointer is null
- *   or memory allocation fails.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-bool
-unitree_api__msg__RequestIdentity__copy(
-  const unitree_api__msg__RequestIdentity * input,
-  unitree_api__msg__RequestIdentity * output);
-
-/// Initialize array of msg/RequestIdentity messages.
-/**
- * It allocates the memory for the number of elements and calls
- * unitree_api__msg__RequestIdentity__init()
- * for each element of the array.
- * \param[in,out] array The allocated array pointer.
- * \param[in] size The size / capacity of the array.
- * \return true if initialization was successful, otherwise false
- * If the array pointer is valid and the size is zero it is guaranteed
- # to return true.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-bool
-unitree_api__msg__RequestIdentity__Sequence__init(unitree_api__msg__RequestIdentity__Sequence * array, size_t size);
-
-/// Finalize array of msg/RequestIdentity messages.
-/**
- * It calls
- * unitree_api__msg__RequestIdentity__fini()
- * for each element of the array and frees the memory for the number of
- * elements.
- * \param[in,out] array The initialized array pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-void
-unitree_api__msg__RequestIdentity__Sequence__fini(unitree_api__msg__RequestIdentity__Sequence * array);
-
-/// Create array of msg/RequestIdentity messages.
-/**
- * It allocates the memory for the array and calls
- * unitree_api__msg__RequestIdentity__Sequence__init().
- * \param[in] size The size / capacity of the array.
- * \return The pointer to the initialized array if successful, otherwise NULL
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-unitree_api__msg__RequestIdentity__Sequence *
-unitree_api__msg__RequestIdentity__Sequence__create(size_t size);
-
-/// Destroy array of msg/RequestIdentity messages.
-/**
- * It calls
- * unitree_api__msg__RequestIdentity__Sequence__fini()
- * on the array,
- * and frees the memory of the array.
- * \param[in,out] array The initialized array pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-void
-unitree_api__msg__RequestIdentity__Sequence__destroy(unitree_api__msg__RequestIdentity__Sequence * array);
-
-/// Check for msg/RequestIdentity message array equality.
-/**
- * \param[in] lhs The message array on the left hand size of the equality operator.
- * \param[in] rhs The message array on the right hand size of the equality operator.
- * \return true if message arrays are equal in size and content, otherwise false.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-bool
-unitree_api__msg__RequestIdentity__Sequence__are_equal(const unitree_api__msg__RequestIdentity__Sequence * lhs, const unitree_api__msg__RequestIdentity__Sequence * rhs);
-
-/// Copy an array of msg/RequestIdentity messages.
-/**
- * This functions performs a deep copy, as opposed to the shallow copy that
- * plain assignment yields.
- *
- * \param[in] input The source array pointer.
- * \param[out] output The target array pointer, which must
- *   have been initialized before calling this function.
- * \return true if successful, or false if either pointer
- *   is null or memory allocation fails.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-bool
-unitree_api__msg__RequestIdentity__Sequence__copy(
-  const unitree_api__msg__RequestIdentity__Sequence * input,
-  unitree_api__msg__RequestIdentity__Sequence * output);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_API__MSG__DETAIL__REQUEST_IDENTITY__FUNCTIONS_H_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_identity__rosidl_typesupport_fastrtps_c.h b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_identity__rosidl_typesupport_fastrtps_c.h
deleted file mode 100644
index dd273e9..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_identity__rosidl_typesupport_fastrtps_c.h
+++ /dev/null
@@ -1,36 +0,0 @@
-// generated from rosidl_typesupport_fastrtps_c/resource/idl__rosidl_typesupport_fastrtps_c.h.em
-// with input from unitree_api:msg/RequestIdentity.idl
-// generated code does not contain a copyright notice
-#ifndef UNITREE_API__MSG__DETAIL__REQUEST_IDENTITY__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_
-#define UNITREE_API__MSG__DETAIL__REQUEST_IDENTITY__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_
-
-
-#include <stddef.h>
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_api/msg/rosidl_typesupport_fastrtps_c__visibility_control.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_api
-size_t get_serialized_size_unitree_api__msg__RequestIdentity(
-  const void * untyped_ros_message,
-  size_t current_alignment);
-
-ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_api
-size_t max_serialized_size_unitree_api__msg__RequestIdentity(
-  bool & full_bounded,
-  size_t current_alignment);
-
-ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_api
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_fastrtps_c, unitree_api, msg, RequestIdentity)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_API__MSG__DETAIL__REQUEST_IDENTITY__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_identity__rosidl_typesupport_fastrtps_cpp.hpp b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_identity__rosidl_typesupport_fastrtps_cpp.hpp
deleted file mode 100644
index c33157f..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_identity__rosidl_typesupport_fastrtps_cpp.hpp
+++ /dev/null
@@ -1,79 +0,0 @@
-// generated from rosidl_typesupport_fastrtps_cpp/resource/idl__rosidl_typesupport_fastrtps_cpp.hpp.em
-// with input from unitree_api:msg/RequestIdentity.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__DETAIL__REQUEST_IDENTITY__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_
-#define UNITREE_API__MSG__DETAIL__REQUEST_IDENTITY__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_api/msg/rosidl_typesupport_fastrtps_cpp__visibility_control.h"
-#include "unitree_api/msg/detail/request_identity__struct.hpp"
-
-#ifndef _WIN32
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wunused-parameter"
-# ifdef __clang__
-#  pragma clang diagnostic ignored "-Wdeprecated-register"
-#  pragma clang diagnostic ignored "-Wreturn-type-c-linkage"
-# endif
-#endif
-#ifndef _WIN32
-# pragma GCC diagnostic pop
-#endif
-
-#include "fastcdr/Cdr.h"
-
-namespace unitree_api
-{
-
-namespace msg
-{
-
-namespace typesupport_fastrtps_cpp
-{
-
-bool
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_api
-cdr_serialize(
-  const unitree_api::msg::RequestIdentity & ros_message,
-  eprosima::fastcdr::Cdr & cdr);
-
-bool
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_api
-cdr_deserialize(
-  eprosima::fastcdr::Cdr & cdr,
-  unitree_api::msg::RequestIdentity & ros_message);
-
-size_t
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_api
-get_serialized_size(
-  const unitree_api::msg::RequestIdentity & ros_message,
-  size_t current_alignment);
-
-size_t
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_api
-max_serialized_size_RequestIdentity(
-  bool & full_bounded,
-  size_t current_alignment);
-
-}  // namespace typesupport_fastrtps_cpp
-
-}  // namespace msg
-
-}  // namespace unitree_api
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_api
-const rosidl_message_type_support_t *
-  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_fastrtps_cpp, unitree_api, msg, RequestIdentity)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_API__MSG__DETAIL__REQUEST_IDENTITY__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_identity__rosidl_typesupport_introspection_c.h b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_identity__rosidl_typesupport_introspection_c.h
deleted file mode 100644
index 40c528b..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_identity__rosidl_typesupport_introspection_c.h
+++ /dev/null
@@ -1,26 +0,0 @@
-// generated from rosidl_typesupport_introspection_c/resource/idl__rosidl_typesupport_introspection_c.h.em
-// with input from unitree_api:msg/RequestIdentity.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__DETAIL__REQUEST_IDENTITY__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
-#define UNITREE_API__MSG__DETAIL__REQUEST_IDENTITY__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_api/msg/rosidl_typesupport_introspection_c__visibility_control.h"
-
-ROSIDL_TYPESUPPORT_INTROSPECTION_C_PUBLIC_unitree_api
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, unitree_api, msg, RequestIdentity)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_API__MSG__DETAIL__REQUEST_IDENTITY__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_identity__rosidl_typesupport_introspection_cpp.hpp b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_identity__rosidl_typesupport_introspection_cpp.hpp
deleted file mode 100644
index c997198..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_identity__rosidl_typesupport_introspection_cpp.hpp
+++ /dev/null
@@ -1,27 +0,0 @@
-// generated from rosidl_typesupport_introspection_cpp/resource/idl__rosidl_typesupport_introspection_cpp.h.em
-// with input from unitree_api:msg/RequestIdentity.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__DETAIL__REQUEST_IDENTITY__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_
-#define UNITREE_API__MSG__DETAIL__REQUEST_IDENTITY__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_
-
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "rosidl_typesupport_introspection_cpp/visibility_control.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-// TODO(dirk-thomas) these visibility macros should be message package specific
-ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
-const rosidl_message_type_support_t *
-  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_cpp, unitree_api, msg, RequestIdentity)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_API__MSG__DETAIL__REQUEST_IDENTITY__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_identity__struct.h b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_identity__struct.h
deleted file mode 100644
index 61cb375..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_identity__struct.h
+++ /dev/null
@@ -1,41 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__struct.h.em
-// with input from unitree_api:msg/RequestIdentity.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__DETAIL__REQUEST_IDENTITY__STRUCT_H_
-#define UNITREE_API__MSG__DETAIL__REQUEST_IDENTITY__STRUCT_H_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include <stdbool.h>
-#include <stddef.h>
-#include <stdint.h>
-
-
-// Constants defined in the message
-
-// Struct defined in msg/RequestIdentity in the package unitree_api.
-typedef struct unitree_api__msg__RequestIdentity
-{
-  int64_t id;
-  int64_t api_id;
-} unitree_api__msg__RequestIdentity;
-
-// Struct for a sequence of unitree_api__msg__RequestIdentity.
-typedef struct unitree_api__msg__RequestIdentity__Sequence
-{
-  unitree_api__msg__RequestIdentity * data;
-  /// The number of valid items in data
-  size_t size;
-  /// The number of allocated items in data
-  size_t capacity;
-} unitree_api__msg__RequestIdentity__Sequence;
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_API__MSG__DETAIL__REQUEST_IDENTITY__STRUCT_H_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_identity__struct.hpp b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_identity__struct.hpp
deleted file mode 100644
index b5d44ed..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_identity__struct.hpp
+++ /dev/null
@@ -1,144 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__struct.hpp.em
-// with input from unitree_api:msg/RequestIdentity.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__DETAIL__REQUEST_IDENTITY__STRUCT_HPP_
-#define UNITREE_API__MSG__DETAIL__REQUEST_IDENTITY__STRUCT_HPP_
-
-#include <rosidl_runtime_cpp/bounded_vector.hpp>
-#include <rosidl_runtime_cpp/message_initialization.hpp>
-#include <algorithm>
-#include <array>
-#include <memory>
-#include <string>
-#include <vector>
-
-
-#ifndef _WIN32
-# define DEPRECATED__unitree_api__msg__RequestIdentity __attribute__((deprecated))
-#else
-# define DEPRECATED__unitree_api__msg__RequestIdentity __declspec(deprecated)
-#endif
-
-namespace unitree_api
-{
-
-namespace msg
-{
-
-// message struct
-template<class ContainerAllocator>
-struct RequestIdentity_
-{
-  using Type = RequestIdentity_<ContainerAllocator>;
-
-  explicit RequestIdentity_(rosidl_runtime_cpp::MessageInitialization _init = rosidl_runtime_cpp::MessageInitialization::ALL)
-  {
-    if (rosidl_runtime_cpp::MessageInitialization::ALL == _init ||
-      rosidl_runtime_cpp::MessageInitialization::ZERO == _init)
-    {
-      this->id = 0ll;
-      this->api_id = 0ll;
-    }
-  }
-
-  explicit RequestIdentity_(const ContainerAllocator & _alloc, rosidl_runtime_cpp::MessageInitialization _init = rosidl_runtime_cpp::MessageInitialization::ALL)
-  {
-    (void)_alloc;
-    if (rosidl_runtime_cpp::MessageInitialization::ALL == _init ||
-      rosidl_runtime_cpp::MessageInitialization::ZERO == _init)
-    {
-      this->id = 0ll;
-      this->api_id = 0ll;
-    }
-  }
-
-  // field types and members
-  using _id_type =
-    int64_t;
-  _id_type id;
-  using _api_id_type =
-    int64_t;
-  _api_id_type api_id;
-
-  // setters for named parameter idiom
-  Type & set__id(
-    const int64_t & _arg)
-  {
-    this->id = _arg;
-    return *this;
-  }
-  Type & set__api_id(
-    const int64_t & _arg)
-  {
-    this->api_id = _arg;
-    return *this;
-  }
-
-  // constant declarations
-
-  // pointer types
-  using RawPtr =
-    unitree_api::msg::RequestIdentity_<ContainerAllocator> *;
-  using ConstRawPtr =
-    const unitree_api::msg::RequestIdentity_<ContainerAllocator> *;
-  using SharedPtr =
-    std::shared_ptr<unitree_api::msg::RequestIdentity_<ContainerAllocator>>;
-  using ConstSharedPtr =
-    std::shared_ptr<unitree_api::msg::RequestIdentity_<ContainerAllocator> const>;
-
-  template<typename Deleter = std::default_delete<
-      unitree_api::msg::RequestIdentity_<ContainerAllocator>>>
-  using UniquePtrWithDeleter =
-    std::unique_ptr<unitree_api::msg::RequestIdentity_<ContainerAllocator>, Deleter>;
-
-  using UniquePtr = UniquePtrWithDeleter<>;
-
-  template<typename Deleter = std::default_delete<
-      unitree_api::msg::RequestIdentity_<ContainerAllocator>>>
-  using ConstUniquePtrWithDeleter =
-    std::unique_ptr<unitree_api::msg::RequestIdentity_<ContainerAllocator> const, Deleter>;
-  using ConstUniquePtr = ConstUniquePtrWithDeleter<>;
-
-  using WeakPtr =
-    std::weak_ptr<unitree_api::msg::RequestIdentity_<ContainerAllocator>>;
-  using ConstWeakPtr =
-    std::weak_ptr<unitree_api::msg::RequestIdentity_<ContainerAllocator> const>;
-
-  // pointer types similar to ROS 1, use SharedPtr / ConstSharedPtr instead
-  // NOTE: Can't use 'using' here because GNU C++ can't parse attributes properly
-  typedef DEPRECATED__unitree_api__msg__RequestIdentity
-    std::shared_ptr<unitree_api::msg::RequestIdentity_<ContainerAllocator>>
-    Ptr;
-  typedef DEPRECATED__unitree_api__msg__RequestIdentity
-    std::shared_ptr<unitree_api::msg::RequestIdentity_<ContainerAllocator> const>
-    ConstPtr;
-
-  // comparison operators
-  bool operator==(const RequestIdentity_ & other) const
-  {
-    if (this->id != other.id) {
-      return false;
-    }
-    if (this->api_id != other.api_id) {
-      return false;
-    }
-    return true;
-  }
-  bool operator!=(const RequestIdentity_ & other) const
-  {
-    return !this->operator==(other);
-  }
-};  // struct RequestIdentity_
-
-// alias to use template instance with default allocator
-using RequestIdentity =
-  unitree_api::msg::RequestIdentity_<std::allocator<void>>;
-
-// constant definitions
-
-}  // namespace msg
-
-}  // namespace unitree_api
-
-#endif  // UNITREE_API__MSG__DETAIL__REQUEST_IDENTITY__STRUCT_HPP_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_identity__traits.hpp b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_identity__traits.hpp
deleted file mode 100644
index 67968dc..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_identity__traits.hpp
+++ /dev/null
@@ -1,42 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__traits.hpp.em
-// with input from unitree_api:msg/RequestIdentity.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__DETAIL__REQUEST_IDENTITY__TRAITS_HPP_
-#define UNITREE_API__MSG__DETAIL__REQUEST_IDENTITY__TRAITS_HPP_
-
-#include "unitree_api/msg/detail/request_identity__struct.hpp"
-#include <rosidl_runtime_cpp/traits.hpp>
-#include <stdint.h>
-#include <type_traits>
-
-namespace rosidl_generator_traits
-{
-
-template<>
-inline const char * data_type<unitree_api::msg::RequestIdentity>()
-{
-  return "unitree_api::msg::RequestIdentity";
-}
-
-template<>
-inline const char * name<unitree_api::msg::RequestIdentity>()
-{
-  return "unitree_api/msg/RequestIdentity";
-}
-
-template<>
-struct has_fixed_size<unitree_api::msg::RequestIdentity>
-  : std::integral_constant<bool, true> {};
-
-template<>
-struct has_bounded_size<unitree_api::msg::RequestIdentity>
-  : std::integral_constant<bool, true> {};
-
-template<>
-struct is_message<unitree_api::msg::RequestIdentity>
-  : std::true_type {};
-
-}  // namespace rosidl_generator_traits
-
-#endif  // UNITREE_API__MSG__DETAIL__REQUEST_IDENTITY__TRAITS_HPP_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_identity__type_support.c b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_identity__type_support.c
deleted file mode 100644
index e0863ab..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_identity__type_support.c
+++ /dev/null
@@ -1,96 +0,0 @@
-// generated from rosidl_typesupport_introspection_c/resource/idl__type_support.c.em
-// with input from unitree_api:msg/RequestIdentity.idl
-// generated code does not contain a copyright notice
-
-#include <stddef.h>
-#include "unitree_api/msg/detail/request_identity__rosidl_typesupport_introspection_c.h"
-#include "unitree_api/msg/rosidl_typesupport_introspection_c__visibility_control.h"
-#include "rosidl_typesupport_introspection_c/field_types.h"
-#include "rosidl_typesupport_introspection_c/identifier.h"
-#include "rosidl_typesupport_introspection_c/message_introspection.h"
-#include "unitree_api/msg/detail/request_identity__functions.h"
-#include "unitree_api/msg/detail/request_identity__struct.h"
-
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-void RequestIdentity__rosidl_typesupport_introspection_c__RequestIdentity_init_function(
-  void * message_memory, enum rosidl_runtime_c__message_initialization _init)
-{
-  // TODO(karsten1987): initializers are not yet implemented for typesupport c
-  // see https://github.com/ros2/ros2/issues/397
-  (void) _init;
-  unitree_api__msg__RequestIdentity__init(message_memory);
-}
-
-void RequestIdentity__rosidl_typesupport_introspection_c__RequestIdentity_fini_function(void * message_memory)
-{
-  unitree_api__msg__RequestIdentity__fini(message_memory);
-}
-
-static rosidl_typesupport_introspection_c__MessageMember RequestIdentity__rosidl_typesupport_introspection_c__RequestIdentity_message_member_array[2] = {
-  {
-    "id",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_INT64,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_api__msg__RequestIdentity, id),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "api_id",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_INT64,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_api__msg__RequestIdentity, api_id),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  }
-};
-
-static const rosidl_typesupport_introspection_c__MessageMembers RequestIdentity__rosidl_typesupport_introspection_c__RequestIdentity_message_members = {
-  "unitree_api__msg",  // message namespace
-  "RequestIdentity",  // message name
-  2,  // number of fields
-  sizeof(unitree_api__msg__RequestIdentity),
-  RequestIdentity__rosidl_typesupport_introspection_c__RequestIdentity_message_member_array,  // message members
-  RequestIdentity__rosidl_typesupport_introspection_c__RequestIdentity_init_function,  // function to initialize message memory (memory has to be allocated)
-  RequestIdentity__rosidl_typesupport_introspection_c__RequestIdentity_fini_function  // function to terminate message instance (will not free memory)
-};
-
-// this is not const since it must be initialized on first access
-// since C does not allow non-integral compile-time constants
-static rosidl_message_type_support_t RequestIdentity__rosidl_typesupport_introspection_c__RequestIdentity_message_type_support_handle = {
-  0,
-  &RequestIdentity__rosidl_typesupport_introspection_c__RequestIdentity_message_members,
-  get_message_typesupport_handle_function,
-};
-
-ROSIDL_TYPESUPPORT_INTROSPECTION_C_EXPORT_unitree_api
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, unitree_api, msg, RequestIdentity)() {
-  if (!RequestIdentity__rosidl_typesupport_introspection_c__RequestIdentity_message_type_support_handle.typesupport_identifier) {
-    RequestIdentity__rosidl_typesupport_introspection_c__RequestIdentity_message_type_support_handle.typesupport_identifier =
-      rosidl_typesupport_introspection_c__identifier;
-  }
-  return &RequestIdentity__rosidl_typesupport_introspection_c__RequestIdentity_message_type_support_handle;
-}
-#ifdef __cplusplus
-}
-#endif
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_identity__type_support.cpp b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_identity__type_support.cpp
deleted file mode 100644
index 4040655..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_identity__type_support.cpp
+++ /dev/null
@@ -1,122 +0,0 @@
-// generated from rosidl_typesupport_introspection_cpp/resource/idl__type_support.cpp.em
-// with input from unitree_api:msg/RequestIdentity.idl
-// generated code does not contain a copyright notice
-
-#include "array"
-#include "cstddef"
-#include "string"
-#include "vector"
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_cpp/message_type_support.hpp"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_api/msg/detail/request_identity__struct.hpp"
-#include "rosidl_typesupport_introspection_cpp/field_types.hpp"
-#include "rosidl_typesupport_introspection_cpp/identifier.hpp"
-#include "rosidl_typesupport_introspection_cpp/message_introspection.hpp"
-#include "rosidl_typesupport_introspection_cpp/message_type_support_decl.hpp"
-#include "rosidl_typesupport_introspection_cpp/visibility_control.h"
-
-namespace unitree_api
-{
-
-namespace msg
-{
-
-namespace rosidl_typesupport_introspection_cpp
-{
-
-void RequestIdentity_init_function(
-  void * message_memory, rosidl_runtime_cpp::MessageInitialization _init)
-{
-  new (message_memory) unitree_api::msg::RequestIdentity(_init);
-}
-
-void RequestIdentity_fini_function(void * message_memory)
-{
-  auto typed_message = static_cast<unitree_api::msg::RequestIdentity *>(message_memory);
-  typed_message->~RequestIdentity();
-}
-
-static const ::rosidl_typesupport_introspection_cpp::MessageMember RequestIdentity_message_member_array[2] = {
-  {
-    "id",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_INT64,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_api::msg::RequestIdentity, id),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "api_id",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_INT64,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_api::msg::RequestIdentity, api_id),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  }
-};
-
-static const ::rosidl_typesupport_introspection_cpp::MessageMembers RequestIdentity_message_members = {
-  "unitree_api::msg",  // message namespace
-  "RequestIdentity",  // message name
-  2,  // number of fields
-  sizeof(unitree_api::msg::RequestIdentity),
-  RequestIdentity_message_member_array,  // message members
-  RequestIdentity_init_function,  // function to initialize message memory (memory has to be allocated)
-  RequestIdentity_fini_function  // function to terminate message instance (will not free memory)
-};
-
-static const rosidl_message_type_support_t RequestIdentity_message_type_support_handle = {
-  ::rosidl_typesupport_introspection_cpp::typesupport_identifier,
-  &RequestIdentity_message_members,
-  get_message_typesupport_handle_function,
-};
-
-}  // namespace rosidl_typesupport_introspection_cpp
-
-}  // namespace msg
-
-}  // namespace unitree_api
-
-
-namespace rosidl_typesupport_introspection_cpp
-{
-
-template<>
-ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
-const rosidl_message_type_support_t *
-get_message_type_support_handle<unitree_api::msg::RequestIdentity>()
-{
-  return &::unitree_api::msg::rosidl_typesupport_introspection_cpp::RequestIdentity_message_type_support_handle;
-}
-
-}  // namespace rosidl_typesupport_introspection_cpp
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_cpp, unitree_api, msg, RequestIdentity)() {
-  return &::unitree_api::msg::rosidl_typesupport_introspection_cpp::RequestIdentity_message_type_support_handle;
-}
-
-#ifdef __cplusplus
-}
-#endif
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_identity__type_support.h b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_identity__type_support.h
deleted file mode 100644
index 1e0dae5..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_identity__type_support.h
+++ /dev/null
@@ -1,33 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__type_support.h.em
-// with input from unitree_api:msg/RequestIdentity.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__DETAIL__REQUEST_IDENTITY__TYPE_SUPPORT_H_
-#define UNITREE_API__MSG__DETAIL__REQUEST_IDENTITY__TYPE_SUPPORT_H_
-
-#include "rosidl_typesupport_interface/macros.h"
-
-#include "unitree_api/msg/rosidl_generator_c__visibility_control.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-
-// Forward declare the get type support functions for this type.
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
-  rosidl_typesupport_c,
-  unitree_api,
-  msg,
-  RequestIdentity
-)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_API__MSG__DETAIL__REQUEST_IDENTITY__TYPE_SUPPORT_H_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_identity__type_support.hpp b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_identity__type_support.hpp
deleted file mode 100644
index 760a84e..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_identity__type_support.hpp
+++ /dev/null
@@ -1,31 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__type_support.hpp.em
-// with input from unitree_api:msg/RequestIdentity.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__DETAIL__REQUEST_IDENTITY__TYPE_SUPPORT_HPP_
-#define UNITREE_API__MSG__DETAIL__REQUEST_IDENTITY__TYPE_SUPPORT_HPP_
-
-#include "rosidl_typesupport_interface/macros.h"
-
-#include "unitree_api/msg/rosidl_generator_cpp__visibility_control.hpp"
-
-#include "rosidl_typesupport_cpp/message_type_support.hpp"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-// Forward declare the get type support functions for this type.
-ROSIDL_GENERATOR_CPP_PUBLIC_unitree_api
-const rosidl_message_type_support_t *
-  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
-  rosidl_typesupport_cpp,
-  unitree_api,
-  msg,
-  RequestIdentity
-)();
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_API__MSG__DETAIL__REQUEST_IDENTITY__TYPE_SUPPORT_HPP_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_lease__builder.hpp b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_lease__builder.hpp
deleted file mode 100644
index e1a77fc..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_lease__builder.hpp
+++ /dev/null
@@ -1,55 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__builder.hpp.em
-// with input from unitree_api:msg/RequestLease.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__DETAIL__REQUEST_LEASE__BUILDER_HPP_
-#define UNITREE_API__MSG__DETAIL__REQUEST_LEASE__BUILDER_HPP_
-
-#include "unitree_api/msg/detail/request_lease__struct.hpp"
-#include <rosidl_runtime_cpp/message_initialization.hpp>
-#include <algorithm>
-#include <utility>
-
-
-namespace unitree_api
-{
-
-namespace msg
-{
-
-namespace builder
-{
-
-class Init_RequestLease_id
-{
-public:
-  Init_RequestLease_id()
-  : msg_(::rosidl_runtime_cpp::MessageInitialization::SKIP)
-  {}
-  ::unitree_api::msg::RequestLease id(::unitree_api::msg::RequestLease::_id_type arg)
-  {
-    msg_.id = std::move(arg);
-    return std::move(msg_);
-  }
-
-private:
-  ::unitree_api::msg::RequestLease msg_;
-};
-
-}  // namespace builder
-
-}  // namespace msg
-
-template<typename MessageType>
-auto build();
-
-template<>
-inline
-auto build<::unitree_api::msg::RequestLease>()
-{
-  return unitree_api::msg::builder::Init_RequestLease_id();
-}
-
-}  // namespace unitree_api
-
-#endif  // UNITREE_API__MSG__DETAIL__REQUEST_LEASE__BUILDER_HPP_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_lease__functions.c b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_lease__functions.c
deleted file mode 100644
index 101bb8e..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_lease__functions.c
+++ /dev/null
@@ -1,231 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__functions.c.em
-// with input from unitree_api:msg/RequestLease.idl
-// generated code does not contain a copyright notice
-#include "unitree_api/msg/detail/request_lease__functions.h"
-
-#include <assert.h>
-#include <stdbool.h>
-#include <stdlib.h>
-#include <string.h>
-
-#include "rcutils/allocator.h"
-
-
-bool
-unitree_api__msg__RequestLease__init(unitree_api__msg__RequestLease * msg)
-{
-  if (!msg) {
-    return false;
-  }
-  // id
-  return true;
-}
-
-void
-unitree_api__msg__RequestLease__fini(unitree_api__msg__RequestLease * msg)
-{
-  if (!msg) {
-    return;
-  }
-  // id
-}
-
-bool
-unitree_api__msg__RequestLease__are_equal(const unitree_api__msg__RequestLease * lhs, const unitree_api__msg__RequestLease * rhs)
-{
-  if (!lhs || !rhs) {
-    return false;
-  }
-  // id
-  if (lhs->id != rhs->id) {
-    return false;
-  }
-  return true;
-}
-
-bool
-unitree_api__msg__RequestLease__copy(
-  const unitree_api__msg__RequestLease * input,
-  unitree_api__msg__RequestLease * output)
-{
-  if (!input || !output) {
-    return false;
-  }
-  // id
-  output->id = input->id;
-  return true;
-}
-
-unitree_api__msg__RequestLease *
-unitree_api__msg__RequestLease__create()
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  unitree_api__msg__RequestLease * msg = (unitree_api__msg__RequestLease *)allocator.allocate(sizeof(unitree_api__msg__RequestLease), allocator.state);
-  if (!msg) {
-    return NULL;
-  }
-  memset(msg, 0, sizeof(unitree_api__msg__RequestLease));
-  bool success = unitree_api__msg__RequestLease__init(msg);
-  if (!success) {
-    allocator.deallocate(msg, allocator.state);
-    return NULL;
-  }
-  return msg;
-}
-
-void
-unitree_api__msg__RequestLease__destroy(unitree_api__msg__RequestLease * msg)
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  if (msg) {
-    unitree_api__msg__RequestLease__fini(msg);
-  }
-  allocator.deallocate(msg, allocator.state);
-}
-
-
-bool
-unitree_api__msg__RequestLease__Sequence__init(unitree_api__msg__RequestLease__Sequence * array, size_t size)
-{
-  if (!array) {
-    return false;
-  }
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  unitree_api__msg__RequestLease * data = NULL;
-
-  if (size) {
-    data = (unitree_api__msg__RequestLease *)allocator.zero_allocate(size, sizeof(unitree_api__msg__RequestLease), allocator.state);
-    if (!data) {
-      return false;
-    }
-    // initialize all array elements
-    size_t i;
-    for (i = 0; i < size; ++i) {
-      bool success = unitree_api__msg__RequestLease__init(&data[i]);
-      if (!success) {
-        break;
-      }
-    }
-    if (i < size) {
-      // if initialization failed finalize the already initialized array elements
-      for (; i > 0; --i) {
-        unitree_api__msg__RequestLease__fini(&data[i - 1]);
-      }
-      allocator.deallocate(data, allocator.state);
-      return false;
-    }
-  }
-  array->data = data;
-  array->size = size;
-  array->capacity = size;
-  return true;
-}
-
-void
-unitree_api__msg__RequestLease__Sequence__fini(unitree_api__msg__RequestLease__Sequence * array)
-{
-  if (!array) {
-    return;
-  }
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-
-  if (array->data) {
-    // ensure that data and capacity values are consistent
-    assert(array->capacity > 0);
-    // finalize all array elements
-    for (size_t i = 0; i < array->capacity; ++i) {
-      unitree_api__msg__RequestLease__fini(&array->data[i]);
-    }
-    allocator.deallocate(array->data, allocator.state);
-    array->data = NULL;
-    array->size = 0;
-    array->capacity = 0;
-  } else {
-    // ensure that data, size, and capacity values are consistent
-    assert(0 == array->size);
-    assert(0 == array->capacity);
-  }
-}
-
-unitree_api__msg__RequestLease__Sequence *
-unitree_api__msg__RequestLease__Sequence__create(size_t size)
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  unitree_api__msg__RequestLease__Sequence * array = (unitree_api__msg__RequestLease__Sequence *)allocator.allocate(sizeof(unitree_api__msg__RequestLease__Sequence), allocator.state);
-  if (!array) {
-    return NULL;
-  }
-  bool success = unitree_api__msg__RequestLease__Sequence__init(array, size);
-  if (!success) {
-    allocator.deallocate(array, allocator.state);
-    return NULL;
-  }
-  return array;
-}
-
-void
-unitree_api__msg__RequestLease__Sequence__destroy(unitree_api__msg__RequestLease__Sequence * array)
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  if (array) {
-    unitree_api__msg__RequestLease__Sequence__fini(array);
-  }
-  allocator.deallocate(array, allocator.state);
-}
-
-bool
-unitree_api__msg__RequestLease__Sequence__are_equal(const unitree_api__msg__RequestLease__Sequence * lhs, const unitree_api__msg__RequestLease__Sequence * rhs)
-{
-  if (!lhs || !rhs) {
-    return false;
-  }
-  if (lhs->size != rhs->size) {
-    return false;
-  }
-  for (size_t i = 0; i < lhs->size; ++i) {
-    if (!unitree_api__msg__RequestLease__are_equal(&(lhs->data[i]), &(rhs->data[i]))) {
-      return false;
-    }
-  }
-  return true;
-}
-
-bool
-unitree_api__msg__RequestLease__Sequence__copy(
-  const unitree_api__msg__RequestLease__Sequence * input,
-  unitree_api__msg__RequestLease__Sequence * output)
-{
-  if (!input || !output) {
-    return false;
-  }
-  if (output->capacity < input->size) {
-    const size_t allocation_size =
-      input->size * sizeof(unitree_api__msg__RequestLease);
-    unitree_api__msg__RequestLease * data =
-      (unitree_api__msg__RequestLease *)realloc(output->data, allocation_size);
-    if (!data) {
-      return false;
-    }
-    for (size_t i = output->capacity; i < input->size; ++i) {
-      if (!unitree_api__msg__RequestLease__init(&data[i])) {
-        /* free currently allocated and return false */
-        for (; i-- > output->capacity; ) {
-          unitree_api__msg__RequestLease__fini(&data[i]);
-        }
-        free(data);
-        return false;
-      }
-    }
-    output->data = data;
-    output->capacity = input->size;
-  }
-  output->size = input->size;
-  for (size_t i = 0; i < input->size; ++i) {
-    if (!unitree_api__msg__RequestLease__copy(
-        &(input->data[i]), &(output->data[i])))
-    {
-      return false;
-    }
-  }
-  return true;
-}
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_lease__functions.h b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_lease__functions.h
deleted file mode 100644
index 50d8c29..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_lease__functions.h
+++ /dev/null
@@ -1,177 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__functions.h.em
-// with input from unitree_api:msg/RequestLease.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__DETAIL__REQUEST_LEASE__FUNCTIONS_H_
-#define UNITREE_API__MSG__DETAIL__REQUEST_LEASE__FUNCTIONS_H_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include <stdbool.h>
-#include <stdlib.h>
-
-#include "rosidl_runtime_c/visibility_control.h"
-#include "unitree_api/msg/rosidl_generator_c__visibility_control.h"
-
-#include "unitree_api/msg/detail/request_lease__struct.h"
-
-/// Initialize msg/RequestLease message.
-/**
- * If the init function is called twice for the same message without
- * calling fini inbetween previously allocated memory will be leaked.
- * \param[in,out] msg The previously allocated message pointer.
- * Fields without a default value will not be initialized by this function.
- * You might want to call memset(msg, 0, sizeof(
- * unitree_api__msg__RequestLease
- * )) before or use
- * unitree_api__msg__RequestLease__create()
- * to allocate and initialize the message.
- * \return true if initialization was successful, otherwise false
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-bool
-unitree_api__msg__RequestLease__init(unitree_api__msg__RequestLease * msg);
-
-/// Finalize msg/RequestLease message.
-/**
- * \param[in,out] msg The allocated message pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-void
-unitree_api__msg__RequestLease__fini(unitree_api__msg__RequestLease * msg);
-
-/// Create msg/RequestLease message.
-/**
- * It allocates the memory for the message, sets the memory to zero, and
- * calls
- * unitree_api__msg__RequestLease__init().
- * \return The pointer to the initialized message if successful,
- * otherwise NULL
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-unitree_api__msg__RequestLease *
-unitree_api__msg__RequestLease__create();
-
-/// Destroy msg/RequestLease message.
-/**
- * It calls
- * unitree_api__msg__RequestLease__fini()
- * and frees the memory of the message.
- * \param[in,out] msg The allocated message pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-void
-unitree_api__msg__RequestLease__destroy(unitree_api__msg__RequestLease * msg);
-
-/// Check for msg/RequestLease message equality.
-/**
- * \param[in] lhs The message on the left hand size of the equality operator.
- * \param[in] rhs The message on the right hand size of the equality operator.
- * \return true if messages are equal, otherwise false.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-bool
-unitree_api__msg__RequestLease__are_equal(const unitree_api__msg__RequestLease * lhs, const unitree_api__msg__RequestLease * rhs);
-
-/// Copy a msg/RequestLease message.
-/**
- * This functions performs a deep copy, as opposed to the shallow copy that
- * plain assignment yields.
- *
- * \param[in] input The source message pointer.
- * \param[out] output The target message pointer, which must
- *   have been initialized before calling this function.
- * \return true if successful, or false if either pointer is null
- *   or memory allocation fails.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-bool
-unitree_api__msg__RequestLease__copy(
-  const unitree_api__msg__RequestLease * input,
-  unitree_api__msg__RequestLease * output);
-
-/// Initialize array of msg/RequestLease messages.
-/**
- * It allocates the memory for the number of elements and calls
- * unitree_api__msg__RequestLease__init()
- * for each element of the array.
- * \param[in,out] array The allocated array pointer.
- * \param[in] size The size / capacity of the array.
- * \return true if initialization was successful, otherwise false
- * If the array pointer is valid and the size is zero it is guaranteed
- # to return true.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-bool
-unitree_api__msg__RequestLease__Sequence__init(unitree_api__msg__RequestLease__Sequence * array, size_t size);
-
-/// Finalize array of msg/RequestLease messages.
-/**
- * It calls
- * unitree_api__msg__RequestLease__fini()
- * for each element of the array and frees the memory for the number of
- * elements.
- * \param[in,out] array The initialized array pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-void
-unitree_api__msg__RequestLease__Sequence__fini(unitree_api__msg__RequestLease__Sequence * array);
-
-/// Create array of msg/RequestLease messages.
-/**
- * It allocates the memory for the array and calls
- * unitree_api__msg__RequestLease__Sequence__init().
- * \param[in] size The size / capacity of the array.
- * \return The pointer to the initialized array if successful, otherwise NULL
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-unitree_api__msg__RequestLease__Sequence *
-unitree_api__msg__RequestLease__Sequence__create(size_t size);
-
-/// Destroy array of msg/RequestLease messages.
-/**
- * It calls
- * unitree_api__msg__RequestLease__Sequence__fini()
- * on the array,
- * and frees the memory of the array.
- * \param[in,out] array The initialized array pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-void
-unitree_api__msg__RequestLease__Sequence__destroy(unitree_api__msg__RequestLease__Sequence * array);
-
-/// Check for msg/RequestLease message array equality.
-/**
- * \param[in] lhs The message array on the left hand size of the equality operator.
- * \param[in] rhs The message array on the right hand size of the equality operator.
- * \return true if message arrays are equal in size and content, otherwise false.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-bool
-unitree_api__msg__RequestLease__Sequence__are_equal(const unitree_api__msg__RequestLease__Sequence * lhs, const unitree_api__msg__RequestLease__Sequence * rhs);
-
-/// Copy an array of msg/RequestLease messages.
-/**
- * This functions performs a deep copy, as opposed to the shallow copy that
- * plain assignment yields.
- *
- * \param[in] input The source array pointer.
- * \param[out] output The target array pointer, which must
- *   have been initialized before calling this function.
- * \return true if successful, or false if either pointer
- *   is null or memory allocation fails.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-bool
-unitree_api__msg__RequestLease__Sequence__copy(
-  const unitree_api__msg__RequestLease__Sequence * input,
-  unitree_api__msg__RequestLease__Sequence * output);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_API__MSG__DETAIL__REQUEST_LEASE__FUNCTIONS_H_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_lease__rosidl_typesupport_fastrtps_c.h b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_lease__rosidl_typesupport_fastrtps_c.h
deleted file mode 100644
index 6f33d15..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_lease__rosidl_typesupport_fastrtps_c.h
+++ /dev/null
@@ -1,36 +0,0 @@
-// generated from rosidl_typesupport_fastrtps_c/resource/idl__rosidl_typesupport_fastrtps_c.h.em
-// with input from unitree_api:msg/RequestLease.idl
-// generated code does not contain a copyright notice
-#ifndef UNITREE_API__MSG__DETAIL__REQUEST_LEASE__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_
-#define UNITREE_API__MSG__DETAIL__REQUEST_LEASE__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_
-
-
-#include <stddef.h>
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_api/msg/rosidl_typesupport_fastrtps_c__visibility_control.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_api
-size_t get_serialized_size_unitree_api__msg__RequestLease(
-  const void * untyped_ros_message,
-  size_t current_alignment);
-
-ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_api
-size_t max_serialized_size_unitree_api__msg__RequestLease(
-  bool & full_bounded,
-  size_t current_alignment);
-
-ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_api
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_fastrtps_c, unitree_api, msg, RequestLease)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_API__MSG__DETAIL__REQUEST_LEASE__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_lease__rosidl_typesupport_fastrtps_cpp.hpp b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_lease__rosidl_typesupport_fastrtps_cpp.hpp
deleted file mode 100644
index c5cbd21..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_lease__rosidl_typesupport_fastrtps_cpp.hpp
+++ /dev/null
@@ -1,79 +0,0 @@
-// generated from rosidl_typesupport_fastrtps_cpp/resource/idl__rosidl_typesupport_fastrtps_cpp.hpp.em
-// with input from unitree_api:msg/RequestLease.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__DETAIL__REQUEST_LEASE__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_
-#define UNITREE_API__MSG__DETAIL__REQUEST_LEASE__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_api/msg/rosidl_typesupport_fastrtps_cpp__visibility_control.h"
-#include "unitree_api/msg/detail/request_lease__struct.hpp"
-
-#ifndef _WIN32
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wunused-parameter"
-# ifdef __clang__
-#  pragma clang diagnostic ignored "-Wdeprecated-register"
-#  pragma clang diagnostic ignored "-Wreturn-type-c-linkage"
-# endif
-#endif
-#ifndef _WIN32
-# pragma GCC diagnostic pop
-#endif
-
-#include "fastcdr/Cdr.h"
-
-namespace unitree_api
-{
-
-namespace msg
-{
-
-namespace typesupport_fastrtps_cpp
-{
-
-bool
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_api
-cdr_serialize(
-  const unitree_api::msg::RequestLease & ros_message,
-  eprosima::fastcdr::Cdr & cdr);
-
-bool
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_api
-cdr_deserialize(
-  eprosima::fastcdr::Cdr & cdr,
-  unitree_api::msg::RequestLease & ros_message);
-
-size_t
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_api
-get_serialized_size(
-  const unitree_api::msg::RequestLease & ros_message,
-  size_t current_alignment);
-
-size_t
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_api
-max_serialized_size_RequestLease(
-  bool & full_bounded,
-  size_t current_alignment);
-
-}  // namespace typesupport_fastrtps_cpp
-
-}  // namespace msg
-
-}  // namespace unitree_api
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_api
-const rosidl_message_type_support_t *
-  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_fastrtps_cpp, unitree_api, msg, RequestLease)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_API__MSG__DETAIL__REQUEST_LEASE__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_lease__rosidl_typesupport_introspection_c.h b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_lease__rosidl_typesupport_introspection_c.h
deleted file mode 100644
index 1fc3f11..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_lease__rosidl_typesupport_introspection_c.h
+++ /dev/null
@@ -1,26 +0,0 @@
-// generated from rosidl_typesupport_introspection_c/resource/idl__rosidl_typesupport_introspection_c.h.em
-// with input from unitree_api:msg/RequestLease.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__DETAIL__REQUEST_LEASE__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
-#define UNITREE_API__MSG__DETAIL__REQUEST_LEASE__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_api/msg/rosidl_typesupport_introspection_c__visibility_control.h"
-
-ROSIDL_TYPESUPPORT_INTROSPECTION_C_PUBLIC_unitree_api
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, unitree_api, msg, RequestLease)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_API__MSG__DETAIL__REQUEST_LEASE__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_lease__rosidl_typesupport_introspection_cpp.hpp b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_lease__rosidl_typesupport_introspection_cpp.hpp
deleted file mode 100644
index 1780367..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_lease__rosidl_typesupport_introspection_cpp.hpp
+++ /dev/null
@@ -1,27 +0,0 @@
-// generated from rosidl_typesupport_introspection_cpp/resource/idl__rosidl_typesupport_introspection_cpp.h.em
-// with input from unitree_api:msg/RequestLease.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__DETAIL__REQUEST_LEASE__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_
-#define UNITREE_API__MSG__DETAIL__REQUEST_LEASE__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_
-
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "rosidl_typesupport_introspection_cpp/visibility_control.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-// TODO(dirk-thomas) these visibility macros should be message package specific
-ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
-const rosidl_message_type_support_t *
-  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_cpp, unitree_api, msg, RequestLease)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_API__MSG__DETAIL__REQUEST_LEASE__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_lease__struct.h b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_lease__struct.h
deleted file mode 100644
index bdc3174..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_lease__struct.h
+++ /dev/null
@@ -1,40 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__struct.h.em
-// with input from unitree_api:msg/RequestLease.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__DETAIL__REQUEST_LEASE__STRUCT_H_
-#define UNITREE_API__MSG__DETAIL__REQUEST_LEASE__STRUCT_H_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include <stdbool.h>
-#include <stddef.h>
-#include <stdint.h>
-
-
-// Constants defined in the message
-
-// Struct defined in msg/RequestLease in the package unitree_api.
-typedef struct unitree_api__msg__RequestLease
-{
-  int64_t id;
-} unitree_api__msg__RequestLease;
-
-// Struct for a sequence of unitree_api__msg__RequestLease.
-typedef struct unitree_api__msg__RequestLease__Sequence
-{
-  unitree_api__msg__RequestLease * data;
-  /// The number of valid items in data
-  size_t size;
-  /// The number of allocated items in data
-  size_t capacity;
-} unitree_api__msg__RequestLease__Sequence;
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_API__MSG__DETAIL__REQUEST_LEASE__STRUCT_H_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_lease__struct.hpp b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_lease__struct.hpp
deleted file mode 100644
index f07dd09..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_lease__struct.hpp
+++ /dev/null
@@ -1,130 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__struct.hpp.em
-// with input from unitree_api:msg/RequestLease.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__DETAIL__REQUEST_LEASE__STRUCT_HPP_
-#define UNITREE_API__MSG__DETAIL__REQUEST_LEASE__STRUCT_HPP_
-
-#include <rosidl_runtime_cpp/bounded_vector.hpp>
-#include <rosidl_runtime_cpp/message_initialization.hpp>
-#include <algorithm>
-#include <array>
-#include <memory>
-#include <string>
-#include <vector>
-
-
-#ifndef _WIN32
-# define DEPRECATED__unitree_api__msg__RequestLease __attribute__((deprecated))
-#else
-# define DEPRECATED__unitree_api__msg__RequestLease __declspec(deprecated)
-#endif
-
-namespace unitree_api
-{
-
-namespace msg
-{
-
-// message struct
-template<class ContainerAllocator>
-struct RequestLease_
-{
-  using Type = RequestLease_<ContainerAllocator>;
-
-  explicit RequestLease_(rosidl_runtime_cpp::MessageInitialization _init = rosidl_runtime_cpp::MessageInitialization::ALL)
-  {
-    if (rosidl_runtime_cpp::MessageInitialization::ALL == _init ||
-      rosidl_runtime_cpp::MessageInitialization::ZERO == _init)
-    {
-      this->id = 0ll;
-    }
-  }
-
-  explicit RequestLease_(const ContainerAllocator & _alloc, rosidl_runtime_cpp::MessageInitialization _init = rosidl_runtime_cpp::MessageInitialization::ALL)
-  {
-    (void)_alloc;
-    if (rosidl_runtime_cpp::MessageInitialization::ALL == _init ||
-      rosidl_runtime_cpp::MessageInitialization::ZERO == _init)
-    {
-      this->id = 0ll;
-    }
-  }
-
-  // field types and members
-  using _id_type =
-    int64_t;
-  _id_type id;
-
-  // setters for named parameter idiom
-  Type & set__id(
-    const int64_t & _arg)
-  {
-    this->id = _arg;
-    return *this;
-  }
-
-  // constant declarations
-
-  // pointer types
-  using RawPtr =
-    unitree_api::msg::RequestLease_<ContainerAllocator> *;
-  using ConstRawPtr =
-    const unitree_api::msg::RequestLease_<ContainerAllocator> *;
-  using SharedPtr =
-    std::shared_ptr<unitree_api::msg::RequestLease_<ContainerAllocator>>;
-  using ConstSharedPtr =
-    std::shared_ptr<unitree_api::msg::RequestLease_<ContainerAllocator> const>;
-
-  template<typename Deleter = std::default_delete<
-      unitree_api::msg::RequestLease_<ContainerAllocator>>>
-  using UniquePtrWithDeleter =
-    std::unique_ptr<unitree_api::msg::RequestLease_<ContainerAllocator>, Deleter>;
-
-  using UniquePtr = UniquePtrWithDeleter<>;
-
-  template<typename Deleter = std::default_delete<
-      unitree_api::msg::RequestLease_<ContainerAllocator>>>
-  using ConstUniquePtrWithDeleter =
-    std::unique_ptr<unitree_api::msg::RequestLease_<ContainerAllocator> const, Deleter>;
-  using ConstUniquePtr = ConstUniquePtrWithDeleter<>;
-
-  using WeakPtr =
-    std::weak_ptr<unitree_api::msg::RequestLease_<ContainerAllocator>>;
-  using ConstWeakPtr =
-    std::weak_ptr<unitree_api::msg::RequestLease_<ContainerAllocator> const>;
-
-  // pointer types similar to ROS 1, use SharedPtr / ConstSharedPtr instead
-  // NOTE: Can't use 'using' here because GNU C++ can't parse attributes properly
-  typedef DEPRECATED__unitree_api__msg__RequestLease
-    std::shared_ptr<unitree_api::msg::RequestLease_<ContainerAllocator>>
-    Ptr;
-  typedef DEPRECATED__unitree_api__msg__RequestLease
-    std::shared_ptr<unitree_api::msg::RequestLease_<ContainerAllocator> const>
-    ConstPtr;
-
-  // comparison operators
-  bool operator==(const RequestLease_ & other) const
-  {
-    if (this->id != other.id) {
-      return false;
-    }
-    return true;
-  }
-  bool operator!=(const RequestLease_ & other) const
-  {
-    return !this->operator==(other);
-  }
-};  // struct RequestLease_
-
-// alias to use template instance with default allocator
-using RequestLease =
-  unitree_api::msg::RequestLease_<std::allocator<void>>;
-
-// constant definitions
-
-}  // namespace msg
-
-}  // namespace unitree_api
-
-#endif  // UNITREE_API__MSG__DETAIL__REQUEST_LEASE__STRUCT_HPP_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_lease__traits.hpp b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_lease__traits.hpp
deleted file mode 100644
index 2bc3ad2..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_lease__traits.hpp
+++ /dev/null
@@ -1,42 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__traits.hpp.em
-// with input from unitree_api:msg/RequestLease.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__DETAIL__REQUEST_LEASE__TRAITS_HPP_
-#define UNITREE_API__MSG__DETAIL__REQUEST_LEASE__TRAITS_HPP_
-
-#include "unitree_api/msg/detail/request_lease__struct.hpp"
-#include <rosidl_runtime_cpp/traits.hpp>
-#include <stdint.h>
-#include <type_traits>
-
-namespace rosidl_generator_traits
-{
-
-template<>
-inline const char * data_type<unitree_api::msg::RequestLease>()
-{
-  return "unitree_api::msg::RequestLease";
-}
-
-template<>
-inline const char * name<unitree_api::msg::RequestLease>()
-{
-  return "unitree_api/msg/RequestLease";
-}
-
-template<>
-struct has_fixed_size<unitree_api::msg::RequestLease>
-  : std::integral_constant<bool, true> {};
-
-template<>
-struct has_bounded_size<unitree_api::msg::RequestLease>
-  : std::integral_constant<bool, true> {};
-
-template<>
-struct is_message<unitree_api::msg::RequestLease>
-  : std::true_type {};
-
-}  // namespace rosidl_generator_traits
-
-#endif  // UNITREE_API__MSG__DETAIL__REQUEST_LEASE__TRAITS_HPP_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_lease__type_support.c b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_lease__type_support.c
deleted file mode 100644
index 3e2e1c3..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_lease__type_support.c
+++ /dev/null
@@ -1,81 +0,0 @@
-// generated from rosidl_typesupport_introspection_c/resource/idl__type_support.c.em
-// with input from unitree_api:msg/RequestLease.idl
-// generated code does not contain a copyright notice
-
-#include <stddef.h>
-#include "unitree_api/msg/detail/request_lease__rosidl_typesupport_introspection_c.h"
-#include "unitree_api/msg/rosidl_typesupport_introspection_c__visibility_control.h"
-#include "rosidl_typesupport_introspection_c/field_types.h"
-#include "rosidl_typesupport_introspection_c/identifier.h"
-#include "rosidl_typesupport_introspection_c/message_introspection.h"
-#include "unitree_api/msg/detail/request_lease__functions.h"
-#include "unitree_api/msg/detail/request_lease__struct.h"
-
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-void RequestLease__rosidl_typesupport_introspection_c__RequestLease_init_function(
-  void * message_memory, enum rosidl_runtime_c__message_initialization _init)
-{
-  // TODO(karsten1987): initializers are not yet implemented for typesupport c
-  // see https://github.com/ros2/ros2/issues/397
-  (void) _init;
-  unitree_api__msg__RequestLease__init(message_memory);
-}
-
-void RequestLease__rosidl_typesupport_introspection_c__RequestLease_fini_function(void * message_memory)
-{
-  unitree_api__msg__RequestLease__fini(message_memory);
-}
-
-static rosidl_typesupport_introspection_c__MessageMember RequestLease__rosidl_typesupport_introspection_c__RequestLease_message_member_array[1] = {
-  {
-    "id",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_INT64,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_api__msg__RequestLease, id),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  }
-};
-
-static const rosidl_typesupport_introspection_c__MessageMembers RequestLease__rosidl_typesupport_introspection_c__RequestLease_message_members = {
-  "unitree_api__msg",  // message namespace
-  "RequestLease",  // message name
-  1,  // number of fields
-  sizeof(unitree_api__msg__RequestLease),
-  RequestLease__rosidl_typesupport_introspection_c__RequestLease_message_member_array,  // message members
-  RequestLease__rosidl_typesupport_introspection_c__RequestLease_init_function,  // function to initialize message memory (memory has to be allocated)
-  RequestLease__rosidl_typesupport_introspection_c__RequestLease_fini_function  // function to terminate message instance (will not free memory)
-};
-
-// this is not const since it must be initialized on first access
-// since C does not allow non-integral compile-time constants
-static rosidl_message_type_support_t RequestLease__rosidl_typesupport_introspection_c__RequestLease_message_type_support_handle = {
-  0,
-  &RequestLease__rosidl_typesupport_introspection_c__RequestLease_message_members,
-  get_message_typesupport_handle_function,
-};
-
-ROSIDL_TYPESUPPORT_INTROSPECTION_C_EXPORT_unitree_api
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, unitree_api, msg, RequestLease)() {
-  if (!RequestLease__rosidl_typesupport_introspection_c__RequestLease_message_type_support_handle.typesupport_identifier) {
-    RequestLease__rosidl_typesupport_introspection_c__RequestLease_message_type_support_handle.typesupport_identifier =
-      rosidl_typesupport_introspection_c__identifier;
-  }
-  return &RequestLease__rosidl_typesupport_introspection_c__RequestLease_message_type_support_handle;
-}
-#ifdef __cplusplus
-}
-#endif
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_lease__type_support.cpp b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_lease__type_support.cpp
deleted file mode 100644
index 0fb2579..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_lease__type_support.cpp
+++ /dev/null
@@ -1,107 +0,0 @@
-// generated from rosidl_typesupport_introspection_cpp/resource/idl__type_support.cpp.em
-// with input from unitree_api:msg/RequestLease.idl
-// generated code does not contain a copyright notice
-
-#include "array"
-#include "cstddef"
-#include "string"
-#include "vector"
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_cpp/message_type_support.hpp"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_api/msg/detail/request_lease__struct.hpp"
-#include "rosidl_typesupport_introspection_cpp/field_types.hpp"
-#include "rosidl_typesupport_introspection_cpp/identifier.hpp"
-#include "rosidl_typesupport_introspection_cpp/message_introspection.hpp"
-#include "rosidl_typesupport_introspection_cpp/message_type_support_decl.hpp"
-#include "rosidl_typesupport_introspection_cpp/visibility_control.h"
-
-namespace unitree_api
-{
-
-namespace msg
-{
-
-namespace rosidl_typesupport_introspection_cpp
-{
-
-void RequestLease_init_function(
-  void * message_memory, rosidl_runtime_cpp::MessageInitialization _init)
-{
-  new (message_memory) unitree_api::msg::RequestLease(_init);
-}
-
-void RequestLease_fini_function(void * message_memory)
-{
-  auto typed_message = static_cast<unitree_api::msg::RequestLease *>(message_memory);
-  typed_message->~RequestLease();
-}
-
-static const ::rosidl_typesupport_introspection_cpp::MessageMember RequestLease_message_member_array[1] = {
-  {
-    "id",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_INT64,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_api::msg::RequestLease, id),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  }
-};
-
-static const ::rosidl_typesupport_introspection_cpp::MessageMembers RequestLease_message_members = {
-  "unitree_api::msg",  // message namespace
-  "RequestLease",  // message name
-  1,  // number of fields
-  sizeof(unitree_api::msg::RequestLease),
-  RequestLease_message_member_array,  // message members
-  RequestLease_init_function,  // function to initialize message memory (memory has to be allocated)
-  RequestLease_fini_function  // function to terminate message instance (will not free memory)
-};
-
-static const rosidl_message_type_support_t RequestLease_message_type_support_handle = {
-  ::rosidl_typesupport_introspection_cpp::typesupport_identifier,
-  &RequestLease_message_members,
-  get_message_typesupport_handle_function,
-};
-
-}  // namespace rosidl_typesupport_introspection_cpp
-
-}  // namespace msg
-
-}  // namespace unitree_api
-
-
-namespace rosidl_typesupport_introspection_cpp
-{
-
-template<>
-ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
-const rosidl_message_type_support_t *
-get_message_type_support_handle<unitree_api::msg::RequestLease>()
-{
-  return &::unitree_api::msg::rosidl_typesupport_introspection_cpp::RequestLease_message_type_support_handle;
-}
-
-}  // namespace rosidl_typesupport_introspection_cpp
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_cpp, unitree_api, msg, RequestLease)() {
-  return &::unitree_api::msg::rosidl_typesupport_introspection_cpp::RequestLease_message_type_support_handle;
-}
-
-#ifdef __cplusplus
-}
-#endif
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_lease__type_support.h b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_lease__type_support.h
deleted file mode 100644
index 226b055..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_lease__type_support.h
+++ /dev/null
@@ -1,33 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__type_support.h.em
-// with input from unitree_api:msg/RequestLease.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__DETAIL__REQUEST_LEASE__TYPE_SUPPORT_H_
-#define UNITREE_API__MSG__DETAIL__REQUEST_LEASE__TYPE_SUPPORT_H_
-
-#include "rosidl_typesupport_interface/macros.h"
-
-#include "unitree_api/msg/rosidl_generator_c__visibility_control.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-
-// Forward declare the get type support functions for this type.
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
-  rosidl_typesupport_c,
-  unitree_api,
-  msg,
-  RequestLease
-)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_API__MSG__DETAIL__REQUEST_LEASE__TYPE_SUPPORT_H_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_lease__type_support.hpp b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_lease__type_support.hpp
deleted file mode 100644
index a5a577a..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_lease__type_support.hpp
+++ /dev/null
@@ -1,31 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__type_support.hpp.em
-// with input from unitree_api:msg/RequestLease.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__DETAIL__REQUEST_LEASE__TYPE_SUPPORT_HPP_
-#define UNITREE_API__MSG__DETAIL__REQUEST_LEASE__TYPE_SUPPORT_HPP_
-
-#include "rosidl_typesupport_interface/macros.h"
-
-#include "unitree_api/msg/rosidl_generator_cpp__visibility_control.hpp"
-
-#include "rosidl_typesupport_cpp/message_type_support.hpp"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-// Forward declare the get type support functions for this type.
-ROSIDL_GENERATOR_CPP_PUBLIC_unitree_api
-const rosidl_message_type_support_t *
-  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
-  rosidl_typesupport_cpp,
-  unitree_api,
-  msg,
-  RequestLease
-)();
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_API__MSG__DETAIL__REQUEST_LEASE__TYPE_SUPPORT_HPP_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_policy__builder.hpp b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_policy__builder.hpp
deleted file mode 100644
index a84b681..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_policy__builder.hpp
+++ /dev/null
@@ -1,71 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__builder.hpp.em
-// with input from unitree_api:msg/RequestPolicy.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__DETAIL__REQUEST_POLICY__BUILDER_HPP_
-#define UNITREE_API__MSG__DETAIL__REQUEST_POLICY__BUILDER_HPP_
-
-#include "unitree_api/msg/detail/request_policy__struct.hpp"
-#include <rosidl_runtime_cpp/message_initialization.hpp>
-#include <algorithm>
-#include <utility>
-
-
-namespace unitree_api
-{
-
-namespace msg
-{
-
-namespace builder
-{
-
-class Init_RequestPolicy_noreply
-{
-public:
-  explicit Init_RequestPolicy_noreply(::unitree_api::msg::RequestPolicy & msg)
-  : msg_(msg)
-  {}
-  ::unitree_api::msg::RequestPolicy noreply(::unitree_api::msg::RequestPolicy::_noreply_type arg)
-  {
-    msg_.noreply = std::move(arg);
-    return std::move(msg_);
-  }
-
-private:
-  ::unitree_api::msg::RequestPolicy msg_;
-};
-
-class Init_RequestPolicy_priority
-{
-public:
-  Init_RequestPolicy_priority()
-  : msg_(::rosidl_runtime_cpp::MessageInitialization::SKIP)
-  {}
-  Init_RequestPolicy_noreply priority(::unitree_api::msg::RequestPolicy::_priority_type arg)
-  {
-    msg_.priority = std::move(arg);
-    return Init_RequestPolicy_noreply(msg_);
-  }
-
-private:
-  ::unitree_api::msg::RequestPolicy msg_;
-};
-
-}  // namespace builder
-
-}  // namespace msg
-
-template<typename MessageType>
-auto build();
-
-template<>
-inline
-auto build<::unitree_api::msg::RequestPolicy>()
-{
-  return unitree_api::msg::builder::Init_RequestPolicy_priority();
-}
-
-}  // namespace unitree_api
-
-#endif  // UNITREE_API__MSG__DETAIL__REQUEST_POLICY__BUILDER_HPP_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_policy__functions.c b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_policy__functions.c
deleted file mode 100644
index 8cf1965..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_policy__functions.c
+++ /dev/null
@@ -1,239 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__functions.c.em
-// with input from unitree_api:msg/RequestPolicy.idl
-// generated code does not contain a copyright notice
-#include "unitree_api/msg/detail/request_policy__functions.h"
-
-#include <assert.h>
-#include <stdbool.h>
-#include <stdlib.h>
-#include <string.h>
-
-#include "rcutils/allocator.h"
-
-
-bool
-unitree_api__msg__RequestPolicy__init(unitree_api__msg__RequestPolicy * msg)
-{
-  if (!msg) {
-    return false;
-  }
-  // priority
-  // noreply
-  return true;
-}
-
-void
-unitree_api__msg__RequestPolicy__fini(unitree_api__msg__RequestPolicy * msg)
-{
-  if (!msg) {
-    return;
-  }
-  // priority
-  // noreply
-}
-
-bool
-unitree_api__msg__RequestPolicy__are_equal(const unitree_api__msg__RequestPolicy * lhs, const unitree_api__msg__RequestPolicy * rhs)
-{
-  if (!lhs || !rhs) {
-    return false;
-  }
-  // priority
-  if (lhs->priority != rhs->priority) {
-    return false;
-  }
-  // noreply
-  if (lhs->noreply != rhs->noreply) {
-    return false;
-  }
-  return true;
-}
-
-bool
-unitree_api__msg__RequestPolicy__copy(
-  const unitree_api__msg__RequestPolicy * input,
-  unitree_api__msg__RequestPolicy * output)
-{
-  if (!input || !output) {
-    return false;
-  }
-  // priority
-  output->priority = input->priority;
-  // noreply
-  output->noreply = input->noreply;
-  return true;
-}
-
-unitree_api__msg__RequestPolicy *
-unitree_api__msg__RequestPolicy__create()
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  unitree_api__msg__RequestPolicy * msg = (unitree_api__msg__RequestPolicy *)allocator.allocate(sizeof(unitree_api__msg__RequestPolicy), allocator.state);
-  if (!msg) {
-    return NULL;
-  }
-  memset(msg, 0, sizeof(unitree_api__msg__RequestPolicy));
-  bool success = unitree_api__msg__RequestPolicy__init(msg);
-  if (!success) {
-    allocator.deallocate(msg, allocator.state);
-    return NULL;
-  }
-  return msg;
-}
-
-void
-unitree_api__msg__RequestPolicy__destroy(unitree_api__msg__RequestPolicy * msg)
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  if (msg) {
-    unitree_api__msg__RequestPolicy__fini(msg);
-  }
-  allocator.deallocate(msg, allocator.state);
-}
-
-
-bool
-unitree_api__msg__RequestPolicy__Sequence__init(unitree_api__msg__RequestPolicy__Sequence * array, size_t size)
-{
-  if (!array) {
-    return false;
-  }
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  unitree_api__msg__RequestPolicy * data = NULL;
-
-  if (size) {
-    data = (unitree_api__msg__RequestPolicy *)allocator.zero_allocate(size, sizeof(unitree_api__msg__RequestPolicy), allocator.state);
-    if (!data) {
-      return false;
-    }
-    // initialize all array elements
-    size_t i;
-    for (i = 0; i < size; ++i) {
-      bool success = unitree_api__msg__RequestPolicy__init(&data[i]);
-      if (!success) {
-        break;
-      }
-    }
-    if (i < size) {
-      // if initialization failed finalize the already initialized array elements
-      for (; i > 0; --i) {
-        unitree_api__msg__RequestPolicy__fini(&data[i - 1]);
-      }
-      allocator.deallocate(data, allocator.state);
-      return false;
-    }
-  }
-  array->data = data;
-  array->size = size;
-  array->capacity = size;
-  return true;
-}
-
-void
-unitree_api__msg__RequestPolicy__Sequence__fini(unitree_api__msg__RequestPolicy__Sequence * array)
-{
-  if (!array) {
-    return;
-  }
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-
-  if (array->data) {
-    // ensure that data and capacity values are consistent
-    assert(array->capacity > 0);
-    // finalize all array elements
-    for (size_t i = 0; i < array->capacity; ++i) {
-      unitree_api__msg__RequestPolicy__fini(&array->data[i]);
-    }
-    allocator.deallocate(array->data, allocator.state);
-    array->data = NULL;
-    array->size = 0;
-    array->capacity = 0;
-  } else {
-    // ensure that data, size, and capacity values are consistent
-    assert(0 == array->size);
-    assert(0 == array->capacity);
-  }
-}
-
-unitree_api__msg__RequestPolicy__Sequence *
-unitree_api__msg__RequestPolicy__Sequence__create(size_t size)
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  unitree_api__msg__RequestPolicy__Sequence * array = (unitree_api__msg__RequestPolicy__Sequence *)allocator.allocate(sizeof(unitree_api__msg__RequestPolicy__Sequence), allocator.state);
-  if (!array) {
-    return NULL;
-  }
-  bool success = unitree_api__msg__RequestPolicy__Sequence__init(array, size);
-  if (!success) {
-    allocator.deallocate(array, allocator.state);
-    return NULL;
-  }
-  return array;
-}
-
-void
-unitree_api__msg__RequestPolicy__Sequence__destroy(unitree_api__msg__RequestPolicy__Sequence * array)
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  if (array) {
-    unitree_api__msg__RequestPolicy__Sequence__fini(array);
-  }
-  allocator.deallocate(array, allocator.state);
-}
-
-bool
-unitree_api__msg__RequestPolicy__Sequence__are_equal(const unitree_api__msg__RequestPolicy__Sequence * lhs, const unitree_api__msg__RequestPolicy__Sequence * rhs)
-{
-  if (!lhs || !rhs) {
-    return false;
-  }
-  if (lhs->size != rhs->size) {
-    return false;
-  }
-  for (size_t i = 0; i < lhs->size; ++i) {
-    if (!unitree_api__msg__RequestPolicy__are_equal(&(lhs->data[i]), &(rhs->data[i]))) {
-      return false;
-    }
-  }
-  return true;
-}
-
-bool
-unitree_api__msg__RequestPolicy__Sequence__copy(
-  const unitree_api__msg__RequestPolicy__Sequence * input,
-  unitree_api__msg__RequestPolicy__Sequence * output)
-{
-  if (!input || !output) {
-    return false;
-  }
-  if (output->capacity < input->size) {
-    const size_t allocation_size =
-      input->size * sizeof(unitree_api__msg__RequestPolicy);
-    unitree_api__msg__RequestPolicy * data =
-      (unitree_api__msg__RequestPolicy *)realloc(output->data, allocation_size);
-    if (!data) {
-      return false;
-    }
-    for (size_t i = output->capacity; i < input->size; ++i) {
-      if (!unitree_api__msg__RequestPolicy__init(&data[i])) {
-        /* free currently allocated and return false */
-        for (; i-- > output->capacity; ) {
-          unitree_api__msg__RequestPolicy__fini(&data[i]);
-        }
-        free(data);
-        return false;
-      }
-    }
-    output->data = data;
-    output->capacity = input->size;
-  }
-  output->size = input->size;
-  for (size_t i = 0; i < input->size; ++i) {
-    if (!unitree_api__msg__RequestPolicy__copy(
-        &(input->data[i]), &(output->data[i])))
-    {
-      return false;
-    }
-  }
-  return true;
-}
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_policy__functions.h b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_policy__functions.h
deleted file mode 100644
index af9c364..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_policy__functions.h
+++ /dev/null
@@ -1,177 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__functions.h.em
-// with input from unitree_api:msg/RequestPolicy.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__DETAIL__REQUEST_POLICY__FUNCTIONS_H_
-#define UNITREE_API__MSG__DETAIL__REQUEST_POLICY__FUNCTIONS_H_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include <stdbool.h>
-#include <stdlib.h>
-
-#include "rosidl_runtime_c/visibility_control.h"
-#include "unitree_api/msg/rosidl_generator_c__visibility_control.h"
-
-#include "unitree_api/msg/detail/request_policy__struct.h"
-
-/// Initialize msg/RequestPolicy message.
-/**
- * If the init function is called twice for the same message without
- * calling fini inbetween previously allocated memory will be leaked.
- * \param[in,out] msg The previously allocated message pointer.
- * Fields without a default value will not be initialized by this function.
- * You might want to call memset(msg, 0, sizeof(
- * unitree_api__msg__RequestPolicy
- * )) before or use
- * unitree_api__msg__RequestPolicy__create()
- * to allocate and initialize the message.
- * \return true if initialization was successful, otherwise false
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-bool
-unitree_api__msg__RequestPolicy__init(unitree_api__msg__RequestPolicy * msg);
-
-/// Finalize msg/RequestPolicy message.
-/**
- * \param[in,out] msg The allocated message pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-void
-unitree_api__msg__RequestPolicy__fini(unitree_api__msg__RequestPolicy * msg);
-
-/// Create msg/RequestPolicy message.
-/**
- * It allocates the memory for the message, sets the memory to zero, and
- * calls
- * unitree_api__msg__RequestPolicy__init().
- * \return The pointer to the initialized message if successful,
- * otherwise NULL
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-unitree_api__msg__RequestPolicy *
-unitree_api__msg__RequestPolicy__create();
-
-/// Destroy msg/RequestPolicy message.
-/**
- * It calls
- * unitree_api__msg__RequestPolicy__fini()
- * and frees the memory of the message.
- * \param[in,out] msg The allocated message pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-void
-unitree_api__msg__RequestPolicy__destroy(unitree_api__msg__RequestPolicy * msg);
-
-/// Check for msg/RequestPolicy message equality.
-/**
- * \param[in] lhs The message on the left hand size of the equality operator.
- * \param[in] rhs The message on the right hand size of the equality operator.
- * \return true if messages are equal, otherwise false.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-bool
-unitree_api__msg__RequestPolicy__are_equal(const unitree_api__msg__RequestPolicy * lhs, const unitree_api__msg__RequestPolicy * rhs);
-
-/// Copy a msg/RequestPolicy message.
-/**
- * This functions performs a deep copy, as opposed to the shallow copy that
- * plain assignment yields.
- *
- * \param[in] input The source message pointer.
- * \param[out] output The target message pointer, which must
- *   have been initialized before calling this function.
- * \return true if successful, or false if either pointer is null
- *   or memory allocation fails.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-bool
-unitree_api__msg__RequestPolicy__copy(
-  const unitree_api__msg__RequestPolicy * input,
-  unitree_api__msg__RequestPolicy * output);
-
-/// Initialize array of msg/RequestPolicy messages.
-/**
- * It allocates the memory for the number of elements and calls
- * unitree_api__msg__RequestPolicy__init()
- * for each element of the array.
- * \param[in,out] array The allocated array pointer.
- * \param[in] size The size / capacity of the array.
- * \return true if initialization was successful, otherwise false
- * If the array pointer is valid and the size is zero it is guaranteed
- # to return true.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-bool
-unitree_api__msg__RequestPolicy__Sequence__init(unitree_api__msg__RequestPolicy__Sequence * array, size_t size);
-
-/// Finalize array of msg/RequestPolicy messages.
-/**
- * It calls
- * unitree_api__msg__RequestPolicy__fini()
- * for each element of the array and frees the memory for the number of
- * elements.
- * \param[in,out] array The initialized array pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-void
-unitree_api__msg__RequestPolicy__Sequence__fini(unitree_api__msg__RequestPolicy__Sequence * array);
-
-/// Create array of msg/RequestPolicy messages.
-/**
- * It allocates the memory for the array and calls
- * unitree_api__msg__RequestPolicy__Sequence__init().
- * \param[in] size The size / capacity of the array.
- * \return The pointer to the initialized array if successful, otherwise NULL
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-unitree_api__msg__RequestPolicy__Sequence *
-unitree_api__msg__RequestPolicy__Sequence__create(size_t size);
-
-/// Destroy array of msg/RequestPolicy messages.
-/**
- * It calls
- * unitree_api__msg__RequestPolicy__Sequence__fini()
- * on the array,
- * and frees the memory of the array.
- * \param[in,out] array The initialized array pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-void
-unitree_api__msg__RequestPolicy__Sequence__destroy(unitree_api__msg__RequestPolicy__Sequence * array);
-
-/// Check for msg/RequestPolicy message array equality.
-/**
- * \param[in] lhs The message array on the left hand size of the equality operator.
- * \param[in] rhs The message array on the right hand size of the equality operator.
- * \return true if message arrays are equal in size and content, otherwise false.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-bool
-unitree_api__msg__RequestPolicy__Sequence__are_equal(const unitree_api__msg__RequestPolicy__Sequence * lhs, const unitree_api__msg__RequestPolicy__Sequence * rhs);
-
-/// Copy an array of msg/RequestPolicy messages.
-/**
- * This functions performs a deep copy, as opposed to the shallow copy that
- * plain assignment yields.
- *
- * \param[in] input The source array pointer.
- * \param[out] output The target array pointer, which must
- *   have been initialized before calling this function.
- * \return true if successful, or false if either pointer
- *   is null or memory allocation fails.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-bool
-unitree_api__msg__RequestPolicy__Sequence__copy(
-  const unitree_api__msg__RequestPolicy__Sequence * input,
-  unitree_api__msg__RequestPolicy__Sequence * output);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_API__MSG__DETAIL__REQUEST_POLICY__FUNCTIONS_H_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_policy__rosidl_typesupport_fastrtps_c.h b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_policy__rosidl_typesupport_fastrtps_c.h
deleted file mode 100644
index ea36c92..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_policy__rosidl_typesupport_fastrtps_c.h
+++ /dev/null
@@ -1,36 +0,0 @@
-// generated from rosidl_typesupport_fastrtps_c/resource/idl__rosidl_typesupport_fastrtps_c.h.em
-// with input from unitree_api:msg/RequestPolicy.idl
-// generated code does not contain a copyright notice
-#ifndef UNITREE_API__MSG__DETAIL__REQUEST_POLICY__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_
-#define UNITREE_API__MSG__DETAIL__REQUEST_POLICY__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_
-
-
-#include <stddef.h>
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_api/msg/rosidl_typesupport_fastrtps_c__visibility_control.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_api
-size_t get_serialized_size_unitree_api__msg__RequestPolicy(
-  const void * untyped_ros_message,
-  size_t current_alignment);
-
-ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_api
-size_t max_serialized_size_unitree_api__msg__RequestPolicy(
-  bool & full_bounded,
-  size_t current_alignment);
-
-ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_api
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_fastrtps_c, unitree_api, msg, RequestPolicy)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_API__MSG__DETAIL__REQUEST_POLICY__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_policy__rosidl_typesupport_fastrtps_cpp.hpp b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_policy__rosidl_typesupport_fastrtps_cpp.hpp
deleted file mode 100644
index 4e31ff1..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_policy__rosidl_typesupport_fastrtps_cpp.hpp
+++ /dev/null
@@ -1,79 +0,0 @@
-// generated from rosidl_typesupport_fastrtps_cpp/resource/idl__rosidl_typesupport_fastrtps_cpp.hpp.em
-// with input from unitree_api:msg/RequestPolicy.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__DETAIL__REQUEST_POLICY__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_
-#define UNITREE_API__MSG__DETAIL__REQUEST_POLICY__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_api/msg/rosidl_typesupport_fastrtps_cpp__visibility_control.h"
-#include "unitree_api/msg/detail/request_policy__struct.hpp"
-
-#ifndef _WIN32
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wunused-parameter"
-# ifdef __clang__
-#  pragma clang diagnostic ignored "-Wdeprecated-register"
-#  pragma clang diagnostic ignored "-Wreturn-type-c-linkage"
-# endif
-#endif
-#ifndef _WIN32
-# pragma GCC diagnostic pop
-#endif
-
-#include "fastcdr/Cdr.h"
-
-namespace unitree_api
-{
-
-namespace msg
-{
-
-namespace typesupport_fastrtps_cpp
-{
-
-bool
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_api
-cdr_serialize(
-  const unitree_api::msg::RequestPolicy & ros_message,
-  eprosima::fastcdr::Cdr & cdr);
-
-bool
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_api
-cdr_deserialize(
-  eprosima::fastcdr::Cdr & cdr,
-  unitree_api::msg::RequestPolicy & ros_message);
-
-size_t
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_api
-get_serialized_size(
-  const unitree_api::msg::RequestPolicy & ros_message,
-  size_t current_alignment);
-
-size_t
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_api
-max_serialized_size_RequestPolicy(
-  bool & full_bounded,
-  size_t current_alignment);
-
-}  // namespace typesupport_fastrtps_cpp
-
-}  // namespace msg
-
-}  // namespace unitree_api
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_api
-const rosidl_message_type_support_t *
-  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_fastrtps_cpp, unitree_api, msg, RequestPolicy)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_API__MSG__DETAIL__REQUEST_POLICY__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_policy__rosidl_typesupport_introspection_c.h b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_policy__rosidl_typesupport_introspection_c.h
deleted file mode 100644
index ef048e6..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_policy__rosidl_typesupport_introspection_c.h
+++ /dev/null
@@ -1,26 +0,0 @@
-// generated from rosidl_typesupport_introspection_c/resource/idl__rosidl_typesupport_introspection_c.h.em
-// with input from unitree_api:msg/RequestPolicy.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__DETAIL__REQUEST_POLICY__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
-#define UNITREE_API__MSG__DETAIL__REQUEST_POLICY__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_api/msg/rosidl_typesupport_introspection_c__visibility_control.h"
-
-ROSIDL_TYPESUPPORT_INTROSPECTION_C_PUBLIC_unitree_api
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, unitree_api, msg, RequestPolicy)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_API__MSG__DETAIL__REQUEST_POLICY__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_policy__rosidl_typesupport_introspection_cpp.hpp b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_policy__rosidl_typesupport_introspection_cpp.hpp
deleted file mode 100644
index 1058feb..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_policy__rosidl_typesupport_introspection_cpp.hpp
+++ /dev/null
@@ -1,27 +0,0 @@
-// generated from rosidl_typesupport_introspection_cpp/resource/idl__rosidl_typesupport_introspection_cpp.h.em
-// with input from unitree_api:msg/RequestPolicy.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__DETAIL__REQUEST_POLICY__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_
-#define UNITREE_API__MSG__DETAIL__REQUEST_POLICY__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_
-
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "rosidl_typesupport_introspection_cpp/visibility_control.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-// TODO(dirk-thomas) these visibility macros should be message package specific
-ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
-const rosidl_message_type_support_t *
-  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_cpp, unitree_api, msg, RequestPolicy)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_API__MSG__DETAIL__REQUEST_POLICY__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_policy__struct.h b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_policy__struct.h
deleted file mode 100644
index 6e7c438..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_policy__struct.h
+++ /dev/null
@@ -1,41 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__struct.h.em
-// with input from unitree_api:msg/RequestPolicy.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__DETAIL__REQUEST_POLICY__STRUCT_H_
-#define UNITREE_API__MSG__DETAIL__REQUEST_POLICY__STRUCT_H_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include <stdbool.h>
-#include <stddef.h>
-#include <stdint.h>
-
-
-// Constants defined in the message
-
-// Struct defined in msg/RequestPolicy in the package unitree_api.
-typedef struct unitree_api__msg__RequestPolicy
-{
-  int32_t priority;
-  bool noreply;
-} unitree_api__msg__RequestPolicy;
-
-// Struct for a sequence of unitree_api__msg__RequestPolicy.
-typedef struct unitree_api__msg__RequestPolicy__Sequence
-{
-  unitree_api__msg__RequestPolicy * data;
-  /// The number of valid items in data
-  size_t size;
-  /// The number of allocated items in data
-  size_t capacity;
-} unitree_api__msg__RequestPolicy__Sequence;
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_API__MSG__DETAIL__REQUEST_POLICY__STRUCT_H_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_policy__struct.hpp b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_policy__struct.hpp
deleted file mode 100644
index 3203121..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_policy__struct.hpp
+++ /dev/null
@@ -1,144 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__struct.hpp.em
-// with input from unitree_api:msg/RequestPolicy.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__DETAIL__REQUEST_POLICY__STRUCT_HPP_
-#define UNITREE_API__MSG__DETAIL__REQUEST_POLICY__STRUCT_HPP_
-
-#include <rosidl_runtime_cpp/bounded_vector.hpp>
-#include <rosidl_runtime_cpp/message_initialization.hpp>
-#include <algorithm>
-#include <array>
-#include <memory>
-#include <string>
-#include <vector>
-
-
-#ifndef _WIN32
-# define DEPRECATED__unitree_api__msg__RequestPolicy __attribute__((deprecated))
-#else
-# define DEPRECATED__unitree_api__msg__RequestPolicy __declspec(deprecated)
-#endif
-
-namespace unitree_api
-{
-
-namespace msg
-{
-
-// message struct
-template<class ContainerAllocator>
-struct RequestPolicy_
-{
-  using Type = RequestPolicy_<ContainerAllocator>;
-
-  explicit RequestPolicy_(rosidl_runtime_cpp::MessageInitialization _init = rosidl_runtime_cpp::MessageInitialization::ALL)
-  {
-    if (rosidl_runtime_cpp::MessageInitialization::ALL == _init ||
-      rosidl_runtime_cpp::MessageInitialization::ZERO == _init)
-    {
-      this->priority = 0l;
-      this->noreply = false;
-    }
-  }
-
-  explicit RequestPolicy_(const ContainerAllocator & _alloc, rosidl_runtime_cpp::MessageInitialization _init = rosidl_runtime_cpp::MessageInitialization::ALL)
-  {
-    (void)_alloc;
-    if (rosidl_runtime_cpp::MessageInitialization::ALL == _init ||
-      rosidl_runtime_cpp::MessageInitialization::ZERO == _init)
-    {
-      this->priority = 0l;
-      this->noreply = false;
-    }
-  }
-
-  // field types and members
-  using _priority_type =
-    int32_t;
-  _priority_type priority;
-  using _noreply_type =
-    bool;
-  _noreply_type noreply;
-
-  // setters for named parameter idiom
-  Type & set__priority(
-    const int32_t & _arg)
-  {
-    this->priority = _arg;
-    return *this;
-  }
-  Type & set__noreply(
-    const bool & _arg)
-  {
-    this->noreply = _arg;
-    return *this;
-  }
-
-  // constant declarations
-
-  // pointer types
-  using RawPtr =
-    unitree_api::msg::RequestPolicy_<ContainerAllocator> *;
-  using ConstRawPtr =
-    const unitree_api::msg::RequestPolicy_<ContainerAllocator> *;
-  using SharedPtr =
-    std::shared_ptr<unitree_api::msg::RequestPolicy_<ContainerAllocator>>;
-  using ConstSharedPtr =
-    std::shared_ptr<unitree_api::msg::RequestPolicy_<ContainerAllocator> const>;
-
-  template<typename Deleter = std::default_delete<
-      unitree_api::msg::RequestPolicy_<ContainerAllocator>>>
-  using UniquePtrWithDeleter =
-    std::unique_ptr<unitree_api::msg::RequestPolicy_<ContainerAllocator>, Deleter>;
-
-  using UniquePtr = UniquePtrWithDeleter<>;
-
-  template<typename Deleter = std::default_delete<
-      unitree_api::msg::RequestPolicy_<ContainerAllocator>>>
-  using ConstUniquePtrWithDeleter =
-    std::unique_ptr<unitree_api::msg::RequestPolicy_<ContainerAllocator> const, Deleter>;
-  using ConstUniquePtr = ConstUniquePtrWithDeleter<>;
-
-  using WeakPtr =
-    std::weak_ptr<unitree_api::msg::RequestPolicy_<ContainerAllocator>>;
-  using ConstWeakPtr =
-    std::weak_ptr<unitree_api::msg::RequestPolicy_<ContainerAllocator> const>;
-
-  // pointer types similar to ROS 1, use SharedPtr / ConstSharedPtr instead
-  // NOTE: Can't use 'using' here because GNU C++ can't parse attributes properly
-  typedef DEPRECATED__unitree_api__msg__RequestPolicy
-    std::shared_ptr<unitree_api::msg::RequestPolicy_<ContainerAllocator>>
-    Ptr;
-  typedef DEPRECATED__unitree_api__msg__RequestPolicy
-    std::shared_ptr<unitree_api::msg::RequestPolicy_<ContainerAllocator> const>
-    ConstPtr;
-
-  // comparison operators
-  bool operator==(const RequestPolicy_ & other) const
-  {
-    if (this->priority != other.priority) {
-      return false;
-    }
-    if (this->noreply != other.noreply) {
-      return false;
-    }
-    return true;
-  }
-  bool operator!=(const RequestPolicy_ & other) const
-  {
-    return !this->operator==(other);
-  }
-};  // struct RequestPolicy_
-
-// alias to use template instance with default allocator
-using RequestPolicy =
-  unitree_api::msg::RequestPolicy_<std::allocator<void>>;
-
-// constant definitions
-
-}  // namespace msg
-
-}  // namespace unitree_api
-
-#endif  // UNITREE_API__MSG__DETAIL__REQUEST_POLICY__STRUCT_HPP_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_policy__traits.hpp b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_policy__traits.hpp
deleted file mode 100644
index 29bdc50..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_policy__traits.hpp
+++ /dev/null
@@ -1,42 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__traits.hpp.em
-// with input from unitree_api:msg/RequestPolicy.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__DETAIL__REQUEST_POLICY__TRAITS_HPP_
-#define UNITREE_API__MSG__DETAIL__REQUEST_POLICY__TRAITS_HPP_
-
-#include "unitree_api/msg/detail/request_policy__struct.hpp"
-#include <rosidl_runtime_cpp/traits.hpp>
-#include <stdint.h>
-#include <type_traits>
-
-namespace rosidl_generator_traits
-{
-
-template<>
-inline const char * data_type<unitree_api::msg::RequestPolicy>()
-{
-  return "unitree_api::msg::RequestPolicy";
-}
-
-template<>
-inline const char * name<unitree_api::msg::RequestPolicy>()
-{
-  return "unitree_api/msg/RequestPolicy";
-}
-
-template<>
-struct has_fixed_size<unitree_api::msg::RequestPolicy>
-  : std::integral_constant<bool, true> {};
-
-template<>
-struct has_bounded_size<unitree_api::msg::RequestPolicy>
-  : std::integral_constant<bool, true> {};
-
-template<>
-struct is_message<unitree_api::msg::RequestPolicy>
-  : std::true_type {};
-
-}  // namespace rosidl_generator_traits
-
-#endif  // UNITREE_API__MSG__DETAIL__REQUEST_POLICY__TRAITS_HPP_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_policy__type_support.c b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_policy__type_support.c
deleted file mode 100644
index c8df052..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_policy__type_support.c
+++ /dev/null
@@ -1,96 +0,0 @@
-// generated from rosidl_typesupport_introspection_c/resource/idl__type_support.c.em
-// with input from unitree_api:msg/RequestPolicy.idl
-// generated code does not contain a copyright notice
-
-#include <stddef.h>
-#include "unitree_api/msg/detail/request_policy__rosidl_typesupport_introspection_c.h"
-#include "unitree_api/msg/rosidl_typesupport_introspection_c__visibility_control.h"
-#include "rosidl_typesupport_introspection_c/field_types.h"
-#include "rosidl_typesupport_introspection_c/identifier.h"
-#include "rosidl_typesupport_introspection_c/message_introspection.h"
-#include "unitree_api/msg/detail/request_policy__functions.h"
-#include "unitree_api/msg/detail/request_policy__struct.h"
-
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-void RequestPolicy__rosidl_typesupport_introspection_c__RequestPolicy_init_function(
-  void * message_memory, enum rosidl_runtime_c__message_initialization _init)
-{
-  // TODO(karsten1987): initializers are not yet implemented for typesupport c
-  // see https://github.com/ros2/ros2/issues/397
-  (void) _init;
-  unitree_api__msg__RequestPolicy__init(message_memory);
-}
-
-void RequestPolicy__rosidl_typesupport_introspection_c__RequestPolicy_fini_function(void * message_memory)
-{
-  unitree_api__msg__RequestPolicy__fini(message_memory);
-}
-
-static rosidl_typesupport_introspection_c__MessageMember RequestPolicy__rosidl_typesupport_introspection_c__RequestPolicy_message_member_array[2] = {
-  {
-    "priority",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_INT32,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_api__msg__RequestPolicy, priority),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "noreply",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_BOOLEAN,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_api__msg__RequestPolicy, noreply),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  }
-};
-
-static const rosidl_typesupport_introspection_c__MessageMembers RequestPolicy__rosidl_typesupport_introspection_c__RequestPolicy_message_members = {
-  "unitree_api__msg",  // message namespace
-  "RequestPolicy",  // message name
-  2,  // number of fields
-  sizeof(unitree_api__msg__RequestPolicy),
-  RequestPolicy__rosidl_typesupport_introspection_c__RequestPolicy_message_member_array,  // message members
-  RequestPolicy__rosidl_typesupport_introspection_c__RequestPolicy_init_function,  // function to initialize message memory (memory has to be allocated)
-  RequestPolicy__rosidl_typesupport_introspection_c__RequestPolicy_fini_function  // function to terminate message instance (will not free memory)
-};
-
-// this is not const since it must be initialized on first access
-// since C does not allow non-integral compile-time constants
-static rosidl_message_type_support_t RequestPolicy__rosidl_typesupport_introspection_c__RequestPolicy_message_type_support_handle = {
-  0,
-  &RequestPolicy__rosidl_typesupport_introspection_c__RequestPolicy_message_members,
-  get_message_typesupport_handle_function,
-};
-
-ROSIDL_TYPESUPPORT_INTROSPECTION_C_EXPORT_unitree_api
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, unitree_api, msg, RequestPolicy)() {
-  if (!RequestPolicy__rosidl_typesupport_introspection_c__RequestPolicy_message_type_support_handle.typesupport_identifier) {
-    RequestPolicy__rosidl_typesupport_introspection_c__RequestPolicy_message_type_support_handle.typesupport_identifier =
-      rosidl_typesupport_introspection_c__identifier;
-  }
-  return &RequestPolicy__rosidl_typesupport_introspection_c__RequestPolicy_message_type_support_handle;
-}
-#ifdef __cplusplus
-}
-#endif
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_policy__type_support.cpp b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_policy__type_support.cpp
deleted file mode 100644
index c12f08f..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_policy__type_support.cpp
+++ /dev/null
@@ -1,122 +0,0 @@
-// generated from rosidl_typesupport_introspection_cpp/resource/idl__type_support.cpp.em
-// with input from unitree_api:msg/RequestPolicy.idl
-// generated code does not contain a copyright notice
-
-#include "array"
-#include "cstddef"
-#include "string"
-#include "vector"
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_cpp/message_type_support.hpp"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_api/msg/detail/request_policy__struct.hpp"
-#include "rosidl_typesupport_introspection_cpp/field_types.hpp"
-#include "rosidl_typesupport_introspection_cpp/identifier.hpp"
-#include "rosidl_typesupport_introspection_cpp/message_introspection.hpp"
-#include "rosidl_typesupport_introspection_cpp/message_type_support_decl.hpp"
-#include "rosidl_typesupport_introspection_cpp/visibility_control.h"
-
-namespace unitree_api
-{
-
-namespace msg
-{
-
-namespace rosidl_typesupport_introspection_cpp
-{
-
-void RequestPolicy_init_function(
-  void * message_memory, rosidl_runtime_cpp::MessageInitialization _init)
-{
-  new (message_memory) unitree_api::msg::RequestPolicy(_init);
-}
-
-void RequestPolicy_fini_function(void * message_memory)
-{
-  auto typed_message = static_cast<unitree_api::msg::RequestPolicy *>(message_memory);
-  typed_message->~RequestPolicy();
-}
-
-static const ::rosidl_typesupport_introspection_cpp::MessageMember RequestPolicy_message_member_array[2] = {
-  {
-    "priority",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_INT32,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_api::msg::RequestPolicy, priority),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "noreply",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_BOOLEAN,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_api::msg::RequestPolicy, noreply),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  }
-};
-
-static const ::rosidl_typesupport_introspection_cpp::MessageMembers RequestPolicy_message_members = {
-  "unitree_api::msg",  // message namespace
-  "RequestPolicy",  // message name
-  2,  // number of fields
-  sizeof(unitree_api::msg::RequestPolicy),
-  RequestPolicy_message_member_array,  // message members
-  RequestPolicy_init_function,  // function to initialize message memory (memory has to be allocated)
-  RequestPolicy_fini_function  // function to terminate message instance (will not free memory)
-};
-
-static const rosidl_message_type_support_t RequestPolicy_message_type_support_handle = {
-  ::rosidl_typesupport_introspection_cpp::typesupport_identifier,
-  &RequestPolicy_message_members,
-  get_message_typesupport_handle_function,
-};
-
-}  // namespace rosidl_typesupport_introspection_cpp
-
-}  // namespace msg
-
-}  // namespace unitree_api
-
-
-namespace rosidl_typesupport_introspection_cpp
-{
-
-template<>
-ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
-const rosidl_message_type_support_t *
-get_message_type_support_handle<unitree_api::msg::RequestPolicy>()
-{
-  return &::unitree_api::msg::rosidl_typesupport_introspection_cpp::RequestPolicy_message_type_support_handle;
-}
-
-}  // namespace rosidl_typesupport_introspection_cpp
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_cpp, unitree_api, msg, RequestPolicy)() {
-  return &::unitree_api::msg::rosidl_typesupport_introspection_cpp::RequestPolicy_message_type_support_handle;
-}
-
-#ifdef __cplusplus
-}
-#endif
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_policy__type_support.h b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_policy__type_support.h
deleted file mode 100644
index 7fe2cf2..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_policy__type_support.h
+++ /dev/null
@@ -1,33 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__type_support.h.em
-// with input from unitree_api:msg/RequestPolicy.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__DETAIL__REQUEST_POLICY__TYPE_SUPPORT_H_
-#define UNITREE_API__MSG__DETAIL__REQUEST_POLICY__TYPE_SUPPORT_H_
-
-#include "rosidl_typesupport_interface/macros.h"
-
-#include "unitree_api/msg/rosidl_generator_c__visibility_control.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-
-// Forward declare the get type support functions for this type.
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
-  rosidl_typesupport_c,
-  unitree_api,
-  msg,
-  RequestPolicy
-)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_API__MSG__DETAIL__REQUEST_POLICY__TYPE_SUPPORT_H_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_policy__type_support.hpp b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_policy__type_support.hpp
deleted file mode 100644
index 68dbcba..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_policy__type_support.hpp
+++ /dev/null
@@ -1,31 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__type_support.hpp.em
-// with input from unitree_api:msg/RequestPolicy.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__DETAIL__REQUEST_POLICY__TYPE_SUPPORT_HPP_
-#define UNITREE_API__MSG__DETAIL__REQUEST_POLICY__TYPE_SUPPORT_HPP_
-
-#include "rosidl_typesupport_interface/macros.h"
-
-#include "unitree_api/msg/rosidl_generator_cpp__visibility_control.hpp"
-
-#include "rosidl_typesupport_cpp/message_type_support.hpp"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-// Forward declare the get type support functions for this type.
-ROSIDL_GENERATOR_CPP_PUBLIC_unitree_api
-const rosidl_message_type_support_t *
-  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
-  rosidl_typesupport_cpp,
-  unitree_api,
-  msg,
-  RequestPolicy
-)();
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_API__MSG__DETAIL__REQUEST_POLICY__TYPE_SUPPORT_HPP_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response__builder.hpp b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response__builder.hpp
deleted file mode 100644
index 8f0cf0b..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response__builder.hpp
+++ /dev/null
@@ -1,87 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__builder.hpp.em
-// with input from unitree_api:msg/Response.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__DETAIL__RESPONSE__BUILDER_HPP_
-#define UNITREE_API__MSG__DETAIL__RESPONSE__BUILDER_HPP_
-
-#include "unitree_api/msg/detail/response__struct.hpp"
-#include <rosidl_runtime_cpp/message_initialization.hpp>
-#include <algorithm>
-#include <utility>
-
-
-namespace unitree_api
-{
-
-namespace msg
-{
-
-namespace builder
-{
-
-class Init_Response_binary
-{
-public:
-  explicit Init_Response_binary(::unitree_api::msg::Response & msg)
-  : msg_(msg)
-  {}
-  ::unitree_api::msg::Response binary(::unitree_api::msg::Response::_binary_type arg)
-  {
-    msg_.binary = std::move(arg);
-    return std::move(msg_);
-  }
-
-private:
-  ::unitree_api::msg::Response msg_;
-};
-
-class Init_Response_data
-{
-public:
-  explicit Init_Response_data(::unitree_api::msg::Response & msg)
-  : msg_(msg)
-  {}
-  Init_Response_binary data(::unitree_api::msg::Response::_data_type arg)
-  {
-    msg_.data = std::move(arg);
-    return Init_Response_binary(msg_);
-  }
-
-private:
-  ::unitree_api::msg::Response msg_;
-};
-
-class Init_Response_header
-{
-public:
-  Init_Response_header()
-  : msg_(::rosidl_runtime_cpp::MessageInitialization::SKIP)
-  {}
-  Init_Response_data header(::unitree_api::msg::Response::_header_type arg)
-  {
-    msg_.header = std::move(arg);
-    return Init_Response_data(msg_);
-  }
-
-private:
-  ::unitree_api::msg::Response msg_;
-};
-
-}  // namespace builder
-
-}  // namespace msg
-
-template<typename MessageType>
-auto build();
-
-template<>
-inline
-auto build<::unitree_api::msg::Response>()
-{
-  return unitree_api::msg::builder::Init_Response_header();
-}
-
-}  // namespace unitree_api
-
-#endif  // UNITREE_API__MSG__DETAIL__RESPONSE__BUILDER_HPP_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response__functions.c b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response__functions.c
deleted file mode 100644
index e30ee9b..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response__functions.c
+++ /dev/null
@@ -1,288 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__functions.c.em
-// with input from unitree_api:msg/Response.idl
-// generated code does not contain a copyright notice
-#include "unitree_api/msg/detail/response__functions.h"
-
-#include <assert.h>
-#include <stdbool.h>
-#include <stdlib.h>
-#include <string.h>
-
-#include "rcutils/allocator.h"
-
-
-// Include directives for member types
-// Member `header`
-#include "unitree_api/msg/detail/response_header__functions.h"
-// Member `data`
-#include "rosidl_runtime_c/string_functions.h"
-// Member `binary`
-#include "rosidl_runtime_c/primitives_sequence_functions.h"
-
-bool
-unitree_api__msg__Response__init(unitree_api__msg__Response * msg)
-{
-  if (!msg) {
-    return false;
-  }
-  // header
-  if (!unitree_api__msg__ResponseHeader__init(&msg->header)) {
-    unitree_api__msg__Response__fini(msg);
-    return false;
-  }
-  // data
-  if (!rosidl_runtime_c__String__init(&msg->data)) {
-    unitree_api__msg__Response__fini(msg);
-    return false;
-  }
-  // binary
-  if (!rosidl_runtime_c__int8__Sequence__init(&msg->binary, 0)) {
-    unitree_api__msg__Response__fini(msg);
-    return false;
-  }
-  return true;
-}
-
-void
-unitree_api__msg__Response__fini(unitree_api__msg__Response * msg)
-{
-  if (!msg) {
-    return;
-  }
-  // header
-  unitree_api__msg__ResponseHeader__fini(&msg->header);
-  // data
-  rosidl_runtime_c__String__fini(&msg->data);
-  // binary
-  rosidl_runtime_c__int8__Sequence__fini(&msg->binary);
-}
-
-bool
-unitree_api__msg__Response__are_equal(const unitree_api__msg__Response * lhs, const unitree_api__msg__Response * rhs)
-{
-  if (!lhs || !rhs) {
-    return false;
-  }
-  // header
-  if (!unitree_api__msg__ResponseHeader__are_equal(
-      &(lhs->header), &(rhs->header)))
-  {
-    return false;
-  }
-  // data
-  if (!rosidl_runtime_c__String__are_equal(
-      &(lhs->data), &(rhs->data)))
-  {
-    return false;
-  }
-  // binary
-  if (!rosidl_runtime_c__int8__Sequence__are_equal(
-      &(lhs->binary), &(rhs->binary)))
-  {
-    return false;
-  }
-  return true;
-}
-
-bool
-unitree_api__msg__Response__copy(
-  const unitree_api__msg__Response * input,
-  unitree_api__msg__Response * output)
-{
-  if (!input || !output) {
-    return false;
-  }
-  // header
-  if (!unitree_api__msg__ResponseHeader__copy(
-      &(input->header), &(output->header)))
-  {
-    return false;
-  }
-  // data
-  if (!rosidl_runtime_c__String__copy(
-      &(input->data), &(output->data)))
-  {
-    return false;
-  }
-  // binary
-  if (!rosidl_runtime_c__int8__Sequence__copy(
-      &(input->binary), &(output->binary)))
-  {
-    return false;
-  }
-  return true;
-}
-
-unitree_api__msg__Response *
-unitree_api__msg__Response__create()
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  unitree_api__msg__Response * msg = (unitree_api__msg__Response *)allocator.allocate(sizeof(unitree_api__msg__Response), allocator.state);
-  if (!msg) {
-    return NULL;
-  }
-  memset(msg, 0, sizeof(unitree_api__msg__Response));
-  bool success = unitree_api__msg__Response__init(msg);
-  if (!success) {
-    allocator.deallocate(msg, allocator.state);
-    return NULL;
-  }
-  return msg;
-}
-
-void
-unitree_api__msg__Response__destroy(unitree_api__msg__Response * msg)
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  if (msg) {
-    unitree_api__msg__Response__fini(msg);
-  }
-  allocator.deallocate(msg, allocator.state);
-}
-
-
-bool
-unitree_api__msg__Response__Sequence__init(unitree_api__msg__Response__Sequence * array, size_t size)
-{
-  if (!array) {
-    return false;
-  }
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  unitree_api__msg__Response * data = NULL;
-
-  if (size) {
-    data = (unitree_api__msg__Response *)allocator.zero_allocate(size, sizeof(unitree_api__msg__Response), allocator.state);
-    if (!data) {
-      return false;
-    }
-    // initialize all array elements
-    size_t i;
-    for (i = 0; i < size; ++i) {
-      bool success = unitree_api__msg__Response__init(&data[i]);
-      if (!success) {
-        break;
-      }
-    }
-    if (i < size) {
-      // if initialization failed finalize the already initialized array elements
-      for (; i > 0; --i) {
-        unitree_api__msg__Response__fini(&data[i - 1]);
-      }
-      allocator.deallocate(data, allocator.state);
-      return false;
-    }
-  }
-  array->data = data;
-  array->size = size;
-  array->capacity = size;
-  return true;
-}
-
-void
-unitree_api__msg__Response__Sequence__fini(unitree_api__msg__Response__Sequence * array)
-{
-  if (!array) {
-    return;
-  }
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-
-  if (array->data) {
-    // ensure that data and capacity values are consistent
-    assert(array->capacity > 0);
-    // finalize all array elements
-    for (size_t i = 0; i < array->capacity; ++i) {
-      unitree_api__msg__Response__fini(&array->data[i]);
-    }
-    allocator.deallocate(array->data, allocator.state);
-    array->data = NULL;
-    array->size = 0;
-    array->capacity = 0;
-  } else {
-    // ensure that data, size, and capacity values are consistent
-    assert(0 == array->size);
-    assert(0 == array->capacity);
-  }
-}
-
-unitree_api__msg__Response__Sequence *
-unitree_api__msg__Response__Sequence__create(size_t size)
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  unitree_api__msg__Response__Sequence * array = (unitree_api__msg__Response__Sequence *)allocator.allocate(sizeof(unitree_api__msg__Response__Sequence), allocator.state);
-  if (!array) {
-    return NULL;
-  }
-  bool success = unitree_api__msg__Response__Sequence__init(array, size);
-  if (!success) {
-    allocator.deallocate(array, allocator.state);
-    return NULL;
-  }
-  return array;
-}
-
-void
-unitree_api__msg__Response__Sequence__destroy(unitree_api__msg__Response__Sequence * array)
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  if (array) {
-    unitree_api__msg__Response__Sequence__fini(array);
-  }
-  allocator.deallocate(array, allocator.state);
-}
-
-bool
-unitree_api__msg__Response__Sequence__are_equal(const unitree_api__msg__Response__Sequence * lhs, const unitree_api__msg__Response__Sequence * rhs)
-{
-  if (!lhs || !rhs) {
-    return false;
-  }
-  if (lhs->size != rhs->size) {
-    return false;
-  }
-  for (size_t i = 0; i < lhs->size; ++i) {
-    if (!unitree_api__msg__Response__are_equal(&(lhs->data[i]), &(rhs->data[i]))) {
-      return false;
-    }
-  }
-  return true;
-}
-
-bool
-unitree_api__msg__Response__Sequence__copy(
-  const unitree_api__msg__Response__Sequence * input,
-  unitree_api__msg__Response__Sequence * output)
-{
-  if (!input || !output) {
-    return false;
-  }
-  if (output->capacity < input->size) {
-    const size_t allocation_size =
-      input->size * sizeof(unitree_api__msg__Response);
-    unitree_api__msg__Response * data =
-      (unitree_api__msg__Response *)realloc(output->data, allocation_size);
-    if (!data) {
-      return false;
-    }
-    for (size_t i = output->capacity; i < input->size; ++i) {
-      if (!unitree_api__msg__Response__init(&data[i])) {
-        /* free currently allocated and return false */
-        for (; i-- > output->capacity; ) {
-          unitree_api__msg__Response__fini(&data[i]);
-        }
-        free(data);
-        return false;
-      }
-    }
-    output->data = data;
-    output->capacity = input->size;
-  }
-  output->size = input->size;
-  for (size_t i = 0; i < input->size; ++i) {
-    if (!unitree_api__msg__Response__copy(
-        &(input->data[i]), &(output->data[i])))
-    {
-      return false;
-    }
-  }
-  return true;
-}
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response__functions.h b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response__functions.h
deleted file mode 100644
index a2a89c0..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response__functions.h
+++ /dev/null
@@ -1,177 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__functions.h.em
-// with input from unitree_api:msg/Response.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__DETAIL__RESPONSE__FUNCTIONS_H_
-#define UNITREE_API__MSG__DETAIL__RESPONSE__FUNCTIONS_H_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include <stdbool.h>
-#include <stdlib.h>
-
-#include "rosidl_runtime_c/visibility_control.h"
-#include "unitree_api/msg/rosidl_generator_c__visibility_control.h"
-
-#include "unitree_api/msg/detail/response__struct.h"
-
-/// Initialize msg/Response message.
-/**
- * If the init function is called twice for the same message without
- * calling fini inbetween previously allocated memory will be leaked.
- * \param[in,out] msg The previously allocated message pointer.
- * Fields without a default value will not be initialized by this function.
- * You might want to call memset(msg, 0, sizeof(
- * unitree_api__msg__Response
- * )) before or use
- * unitree_api__msg__Response__create()
- * to allocate and initialize the message.
- * \return true if initialization was successful, otherwise false
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-bool
-unitree_api__msg__Response__init(unitree_api__msg__Response * msg);
-
-/// Finalize msg/Response message.
-/**
- * \param[in,out] msg The allocated message pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-void
-unitree_api__msg__Response__fini(unitree_api__msg__Response * msg);
-
-/// Create msg/Response message.
-/**
- * It allocates the memory for the message, sets the memory to zero, and
- * calls
- * unitree_api__msg__Response__init().
- * \return The pointer to the initialized message if successful,
- * otherwise NULL
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-unitree_api__msg__Response *
-unitree_api__msg__Response__create();
-
-/// Destroy msg/Response message.
-/**
- * It calls
- * unitree_api__msg__Response__fini()
- * and frees the memory of the message.
- * \param[in,out] msg The allocated message pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-void
-unitree_api__msg__Response__destroy(unitree_api__msg__Response * msg);
-
-/// Check for msg/Response message equality.
-/**
- * \param[in] lhs The message on the left hand size of the equality operator.
- * \param[in] rhs The message on the right hand size of the equality operator.
- * \return true if messages are equal, otherwise false.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-bool
-unitree_api__msg__Response__are_equal(const unitree_api__msg__Response * lhs, const unitree_api__msg__Response * rhs);
-
-/// Copy a msg/Response message.
-/**
- * This functions performs a deep copy, as opposed to the shallow copy that
- * plain assignment yields.
- *
- * \param[in] input The source message pointer.
- * \param[out] output The target message pointer, which must
- *   have been initialized before calling this function.
- * \return true if successful, or false if either pointer is null
- *   or memory allocation fails.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-bool
-unitree_api__msg__Response__copy(
-  const unitree_api__msg__Response * input,
-  unitree_api__msg__Response * output);
-
-/// Initialize array of msg/Response messages.
-/**
- * It allocates the memory for the number of elements and calls
- * unitree_api__msg__Response__init()
- * for each element of the array.
- * \param[in,out] array The allocated array pointer.
- * \param[in] size The size / capacity of the array.
- * \return true if initialization was successful, otherwise false
- * If the array pointer is valid and the size is zero it is guaranteed
- # to return true.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-bool
-unitree_api__msg__Response__Sequence__init(unitree_api__msg__Response__Sequence * array, size_t size);
-
-/// Finalize array of msg/Response messages.
-/**
- * It calls
- * unitree_api__msg__Response__fini()
- * for each element of the array and frees the memory for the number of
- * elements.
- * \param[in,out] array The initialized array pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-void
-unitree_api__msg__Response__Sequence__fini(unitree_api__msg__Response__Sequence * array);
-
-/// Create array of msg/Response messages.
-/**
- * It allocates the memory for the array and calls
- * unitree_api__msg__Response__Sequence__init().
- * \param[in] size The size / capacity of the array.
- * \return The pointer to the initialized array if successful, otherwise NULL
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-unitree_api__msg__Response__Sequence *
-unitree_api__msg__Response__Sequence__create(size_t size);
-
-/// Destroy array of msg/Response messages.
-/**
- * It calls
- * unitree_api__msg__Response__Sequence__fini()
- * on the array,
- * and frees the memory of the array.
- * \param[in,out] array The initialized array pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-void
-unitree_api__msg__Response__Sequence__destroy(unitree_api__msg__Response__Sequence * array);
-
-/// Check for msg/Response message array equality.
-/**
- * \param[in] lhs The message array on the left hand size of the equality operator.
- * \param[in] rhs The message array on the right hand size of the equality operator.
- * \return true if message arrays are equal in size and content, otherwise false.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-bool
-unitree_api__msg__Response__Sequence__are_equal(const unitree_api__msg__Response__Sequence * lhs, const unitree_api__msg__Response__Sequence * rhs);
-
-/// Copy an array of msg/Response messages.
-/**
- * This functions performs a deep copy, as opposed to the shallow copy that
- * plain assignment yields.
- *
- * \param[in] input The source array pointer.
- * \param[out] output The target array pointer, which must
- *   have been initialized before calling this function.
- * \return true if successful, or false if either pointer
- *   is null or memory allocation fails.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-bool
-unitree_api__msg__Response__Sequence__copy(
-  const unitree_api__msg__Response__Sequence * input,
-  unitree_api__msg__Response__Sequence * output);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_API__MSG__DETAIL__RESPONSE__FUNCTIONS_H_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response__rosidl_typesupport_fastrtps_c.h b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response__rosidl_typesupport_fastrtps_c.h
deleted file mode 100644
index cba0d6d..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response__rosidl_typesupport_fastrtps_c.h
+++ /dev/null
@@ -1,36 +0,0 @@
-// generated from rosidl_typesupport_fastrtps_c/resource/idl__rosidl_typesupport_fastrtps_c.h.em
-// with input from unitree_api:msg/Response.idl
-// generated code does not contain a copyright notice
-#ifndef UNITREE_API__MSG__DETAIL__RESPONSE__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_
-#define UNITREE_API__MSG__DETAIL__RESPONSE__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_
-
-
-#include <stddef.h>
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_api/msg/rosidl_typesupport_fastrtps_c__visibility_control.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_api
-size_t get_serialized_size_unitree_api__msg__Response(
-  const void * untyped_ros_message,
-  size_t current_alignment);
-
-ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_api
-size_t max_serialized_size_unitree_api__msg__Response(
-  bool & full_bounded,
-  size_t current_alignment);
-
-ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_api
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_fastrtps_c, unitree_api, msg, Response)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_API__MSG__DETAIL__RESPONSE__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response__rosidl_typesupport_fastrtps_cpp.hpp b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response__rosidl_typesupport_fastrtps_cpp.hpp
deleted file mode 100644
index bc0ef8a..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response__rosidl_typesupport_fastrtps_cpp.hpp
+++ /dev/null
@@ -1,79 +0,0 @@
-// generated from rosidl_typesupport_fastrtps_cpp/resource/idl__rosidl_typesupport_fastrtps_cpp.hpp.em
-// with input from unitree_api:msg/Response.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__DETAIL__RESPONSE__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_
-#define UNITREE_API__MSG__DETAIL__RESPONSE__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_api/msg/rosidl_typesupport_fastrtps_cpp__visibility_control.h"
-#include "unitree_api/msg/detail/response__struct.hpp"
-
-#ifndef _WIN32
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wunused-parameter"
-# ifdef __clang__
-#  pragma clang diagnostic ignored "-Wdeprecated-register"
-#  pragma clang diagnostic ignored "-Wreturn-type-c-linkage"
-# endif
-#endif
-#ifndef _WIN32
-# pragma GCC diagnostic pop
-#endif
-
-#include "fastcdr/Cdr.h"
-
-namespace unitree_api
-{
-
-namespace msg
-{
-
-namespace typesupport_fastrtps_cpp
-{
-
-bool
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_api
-cdr_serialize(
-  const unitree_api::msg::Response & ros_message,
-  eprosima::fastcdr::Cdr & cdr);
-
-bool
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_api
-cdr_deserialize(
-  eprosima::fastcdr::Cdr & cdr,
-  unitree_api::msg::Response & ros_message);
-
-size_t
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_api
-get_serialized_size(
-  const unitree_api::msg::Response & ros_message,
-  size_t current_alignment);
-
-size_t
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_api
-max_serialized_size_Response(
-  bool & full_bounded,
-  size_t current_alignment);
-
-}  // namespace typesupport_fastrtps_cpp
-
-}  // namespace msg
-
-}  // namespace unitree_api
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_api
-const rosidl_message_type_support_t *
-  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_fastrtps_cpp, unitree_api, msg, Response)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_API__MSG__DETAIL__RESPONSE__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response__rosidl_typesupport_introspection_c.h b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response__rosidl_typesupport_introspection_c.h
deleted file mode 100644
index 7ffd774..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response__rosidl_typesupport_introspection_c.h
+++ /dev/null
@@ -1,26 +0,0 @@
-// generated from rosidl_typesupport_introspection_c/resource/idl__rosidl_typesupport_introspection_c.h.em
-// with input from unitree_api:msg/Response.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__DETAIL__RESPONSE__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
-#define UNITREE_API__MSG__DETAIL__RESPONSE__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_api/msg/rosidl_typesupport_introspection_c__visibility_control.h"
-
-ROSIDL_TYPESUPPORT_INTROSPECTION_C_PUBLIC_unitree_api
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, unitree_api, msg, Response)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_API__MSG__DETAIL__RESPONSE__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response__rosidl_typesupport_introspection_cpp.hpp b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response__rosidl_typesupport_introspection_cpp.hpp
deleted file mode 100644
index 9cfa813..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response__rosidl_typesupport_introspection_cpp.hpp
+++ /dev/null
@@ -1,27 +0,0 @@
-// generated from rosidl_typesupport_introspection_cpp/resource/idl__rosidl_typesupport_introspection_cpp.h.em
-// with input from unitree_api:msg/Response.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__DETAIL__RESPONSE__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_
-#define UNITREE_API__MSG__DETAIL__RESPONSE__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_
-
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "rosidl_typesupport_introspection_cpp/visibility_control.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-// TODO(dirk-thomas) these visibility macros should be message package specific
-ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
-const rosidl_message_type_support_t *
-  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_cpp, unitree_api, msg, Response)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_API__MSG__DETAIL__RESPONSE__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response__struct.h b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response__struct.h
deleted file mode 100644
index de3d930..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response__struct.h
+++ /dev/null
@@ -1,50 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__struct.h.em
-// with input from unitree_api:msg/Response.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__DETAIL__RESPONSE__STRUCT_H_
-#define UNITREE_API__MSG__DETAIL__RESPONSE__STRUCT_H_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include <stdbool.h>
-#include <stddef.h>
-#include <stdint.h>
-
-
-// Constants defined in the message
-
-// Include directives for member types
-// Member 'header'
-#include "unitree_api/msg/detail/response_header__struct.h"
-// Member 'data'
-#include "rosidl_runtime_c/string.h"
-// Member 'binary'
-#include "rosidl_runtime_c/primitives_sequence.h"
-
-// Struct defined in msg/Response in the package unitree_api.
-typedef struct unitree_api__msg__Response
-{
-  unitree_api__msg__ResponseHeader header;
-  rosidl_runtime_c__String data;
-  rosidl_runtime_c__int8__Sequence binary;
-} unitree_api__msg__Response;
-
-// Struct for a sequence of unitree_api__msg__Response.
-typedef struct unitree_api__msg__Response__Sequence
-{
-  unitree_api__msg__Response * data;
-  /// The number of valid items in data
-  size_t size;
-  /// The number of allocated items in data
-  size_t capacity;
-} unitree_api__msg__Response__Sequence;
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_API__MSG__DETAIL__RESPONSE__STRUCT_H_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response__struct.hpp b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response__struct.hpp
deleted file mode 100644
index b8e170c..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response__struct.hpp
+++ /dev/null
@@ -1,160 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__struct.hpp.em
-// with input from unitree_api:msg/Response.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__DETAIL__RESPONSE__STRUCT_HPP_
-#define UNITREE_API__MSG__DETAIL__RESPONSE__STRUCT_HPP_
-
-#include <rosidl_runtime_cpp/bounded_vector.hpp>
-#include <rosidl_runtime_cpp/message_initialization.hpp>
-#include <algorithm>
-#include <array>
-#include <memory>
-#include <string>
-#include <vector>
-
-
-// Include directives for member types
-// Member 'header'
-#include "unitree_api/msg/detail/response_header__struct.hpp"
-
-#ifndef _WIN32
-# define DEPRECATED__unitree_api__msg__Response __attribute__((deprecated))
-#else
-# define DEPRECATED__unitree_api__msg__Response __declspec(deprecated)
-#endif
-
-namespace unitree_api
-{
-
-namespace msg
-{
-
-// message struct
-template<class ContainerAllocator>
-struct Response_
-{
-  using Type = Response_<ContainerAllocator>;
-
-  explicit Response_(rosidl_runtime_cpp::MessageInitialization _init = rosidl_runtime_cpp::MessageInitialization::ALL)
-  : header(_init)
-  {
-    if (rosidl_runtime_cpp::MessageInitialization::ALL == _init ||
-      rosidl_runtime_cpp::MessageInitialization::ZERO == _init)
-    {
-      this->data = "";
-    }
-  }
-
-  explicit Response_(const ContainerAllocator & _alloc, rosidl_runtime_cpp::MessageInitialization _init = rosidl_runtime_cpp::MessageInitialization::ALL)
-  : header(_alloc, _init),
-    data(_alloc)
-  {
-    if (rosidl_runtime_cpp::MessageInitialization::ALL == _init ||
-      rosidl_runtime_cpp::MessageInitialization::ZERO == _init)
-    {
-      this->data = "";
-    }
-  }
-
-  // field types and members
-  using _header_type =
-    unitree_api::msg::ResponseHeader_<ContainerAllocator>;
-  _header_type header;
-  using _data_type =
-    std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other>;
-  _data_type data;
-  using _binary_type =
-    std::vector<int8_t, typename ContainerAllocator::template rebind<int8_t>::other>;
-  _binary_type binary;
-
-  // setters for named parameter idiom
-  Type & set__header(
-    const unitree_api::msg::ResponseHeader_<ContainerAllocator> & _arg)
-  {
-    this->header = _arg;
-    return *this;
-  }
-  Type & set__data(
-    const std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other> & _arg)
-  {
-    this->data = _arg;
-    return *this;
-  }
-  Type & set__binary(
-    const std::vector<int8_t, typename ContainerAllocator::template rebind<int8_t>::other> & _arg)
-  {
-    this->binary = _arg;
-    return *this;
-  }
-
-  // constant declarations
-
-  // pointer types
-  using RawPtr =
-    unitree_api::msg::Response_<ContainerAllocator> *;
-  using ConstRawPtr =
-    const unitree_api::msg::Response_<ContainerAllocator> *;
-  using SharedPtr =
-    std::shared_ptr<unitree_api::msg::Response_<ContainerAllocator>>;
-  using ConstSharedPtr =
-    std::shared_ptr<unitree_api::msg::Response_<ContainerAllocator> const>;
-
-  template<typename Deleter = std::default_delete<
-      unitree_api::msg::Response_<ContainerAllocator>>>
-  using UniquePtrWithDeleter =
-    std::unique_ptr<unitree_api::msg::Response_<ContainerAllocator>, Deleter>;
-
-  using UniquePtr = UniquePtrWithDeleter<>;
-
-  template<typename Deleter = std::default_delete<
-      unitree_api::msg::Response_<ContainerAllocator>>>
-  using ConstUniquePtrWithDeleter =
-    std::unique_ptr<unitree_api::msg::Response_<ContainerAllocator> const, Deleter>;
-  using ConstUniquePtr = ConstUniquePtrWithDeleter<>;
-
-  using WeakPtr =
-    std::weak_ptr<unitree_api::msg::Response_<ContainerAllocator>>;
-  using ConstWeakPtr =
-    std::weak_ptr<unitree_api::msg::Response_<ContainerAllocator> const>;
-
-  // pointer types similar to ROS 1, use SharedPtr / ConstSharedPtr instead
-  // NOTE: Can't use 'using' here because GNU C++ can't parse attributes properly
-  typedef DEPRECATED__unitree_api__msg__Response
-    std::shared_ptr<unitree_api::msg::Response_<ContainerAllocator>>
-    Ptr;
-  typedef DEPRECATED__unitree_api__msg__Response
-    std::shared_ptr<unitree_api::msg::Response_<ContainerAllocator> const>
-    ConstPtr;
-
-  // comparison operators
-  bool operator==(const Response_ & other) const
-  {
-    if (this->header != other.header) {
-      return false;
-    }
-    if (this->data != other.data) {
-      return false;
-    }
-    if (this->binary != other.binary) {
-      return false;
-    }
-    return true;
-  }
-  bool operator!=(const Response_ & other) const
-  {
-    return !this->operator==(other);
-  }
-};  // struct Response_
-
-// alias to use template instance with default allocator
-using Response =
-  unitree_api::msg::Response_<std::allocator<void>>;
-
-// constant definitions
-
-}  // namespace msg
-
-}  // namespace unitree_api
-
-#endif  // UNITREE_API__MSG__DETAIL__RESPONSE__STRUCT_HPP_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response__traits.hpp b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response__traits.hpp
deleted file mode 100644
index 7716161..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response__traits.hpp
+++ /dev/null
@@ -1,46 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__traits.hpp.em
-// with input from unitree_api:msg/Response.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__DETAIL__RESPONSE__TRAITS_HPP_
-#define UNITREE_API__MSG__DETAIL__RESPONSE__TRAITS_HPP_
-
-#include "unitree_api/msg/detail/response__struct.hpp"
-#include <rosidl_runtime_cpp/traits.hpp>
-#include <stdint.h>
-#include <type_traits>
-
-// Include directives for member types
-// Member 'header'
-#include "unitree_api/msg/detail/response_header__traits.hpp"
-
-namespace rosidl_generator_traits
-{
-
-template<>
-inline const char * data_type<unitree_api::msg::Response>()
-{
-  return "unitree_api::msg::Response";
-}
-
-template<>
-inline const char * name<unitree_api::msg::Response>()
-{
-  return "unitree_api/msg/Response";
-}
-
-template<>
-struct has_fixed_size<unitree_api::msg::Response>
-  : std::integral_constant<bool, false> {};
-
-template<>
-struct has_bounded_size<unitree_api::msg::Response>
-  : std::integral_constant<bool, false> {};
-
-template<>
-struct is_message<unitree_api::msg::Response>
-  : std::true_type {};
-
-}  // namespace rosidl_generator_traits
-
-#endif  // UNITREE_API__MSG__DETAIL__RESPONSE__TRAITS_HPP_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response__type_support.c b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response__type_support.c
deleted file mode 100644
index 1eb4b01..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response__type_support.c
+++ /dev/null
@@ -1,123 +0,0 @@
-// generated from rosidl_typesupport_introspection_c/resource/idl__type_support.c.em
-// with input from unitree_api:msg/Response.idl
-// generated code does not contain a copyright notice
-
-#include <stddef.h>
-#include "unitree_api/msg/detail/response__rosidl_typesupport_introspection_c.h"
-#include "unitree_api/msg/rosidl_typesupport_introspection_c__visibility_control.h"
-#include "rosidl_typesupport_introspection_c/field_types.h"
-#include "rosidl_typesupport_introspection_c/identifier.h"
-#include "rosidl_typesupport_introspection_c/message_introspection.h"
-#include "unitree_api/msg/detail/response__functions.h"
-#include "unitree_api/msg/detail/response__struct.h"
-
-
-// Include directives for member types
-// Member `header`
-#include "unitree_api/msg/response_header.h"
-// Member `header`
-#include "unitree_api/msg/detail/response_header__rosidl_typesupport_introspection_c.h"
-// Member `data`
-#include "rosidl_runtime_c/string_functions.h"
-// Member `binary`
-#include "rosidl_runtime_c/primitives_sequence_functions.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-void Response__rosidl_typesupport_introspection_c__Response_init_function(
-  void * message_memory, enum rosidl_runtime_c__message_initialization _init)
-{
-  // TODO(karsten1987): initializers are not yet implemented for typesupport c
-  // see https://github.com/ros2/ros2/issues/397
-  (void) _init;
-  unitree_api__msg__Response__init(message_memory);
-}
-
-void Response__rosidl_typesupport_introspection_c__Response_fini_function(void * message_memory)
-{
-  unitree_api__msg__Response__fini(message_memory);
-}
-
-static rosidl_typesupport_introspection_c__MessageMember Response__rosidl_typesupport_introspection_c__Response_message_member_array[3] = {
-  {
-    "header",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_MESSAGE,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message (initialized later)
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_api__msg__Response, header),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "data",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_STRING,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_api__msg__Response, data),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "binary",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_INT8,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    true,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_api__msg__Response, binary),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  }
-};
-
-static const rosidl_typesupport_introspection_c__MessageMembers Response__rosidl_typesupport_introspection_c__Response_message_members = {
-  "unitree_api__msg",  // message namespace
-  "Response",  // message name
-  3,  // number of fields
-  sizeof(unitree_api__msg__Response),
-  Response__rosidl_typesupport_introspection_c__Response_message_member_array,  // message members
-  Response__rosidl_typesupport_introspection_c__Response_init_function,  // function to initialize message memory (memory has to be allocated)
-  Response__rosidl_typesupport_introspection_c__Response_fini_function  // function to terminate message instance (will not free memory)
-};
-
-// this is not const since it must be initialized on first access
-// since C does not allow non-integral compile-time constants
-static rosidl_message_type_support_t Response__rosidl_typesupport_introspection_c__Response_message_type_support_handle = {
-  0,
-  &Response__rosidl_typesupport_introspection_c__Response_message_members,
-  get_message_typesupport_handle_function,
-};
-
-ROSIDL_TYPESUPPORT_INTROSPECTION_C_EXPORT_unitree_api
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, unitree_api, msg, Response)() {
-  Response__rosidl_typesupport_introspection_c__Response_message_member_array[0].members_ =
-    ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, unitree_api, msg, ResponseHeader)();
-  if (!Response__rosidl_typesupport_introspection_c__Response_message_type_support_handle.typesupport_identifier) {
-    Response__rosidl_typesupport_introspection_c__Response_message_type_support_handle.typesupport_identifier =
-      rosidl_typesupport_introspection_c__identifier;
-  }
-  return &Response__rosidl_typesupport_introspection_c__Response_message_type_support_handle;
-}
-#ifdef __cplusplus
-}
-#endif
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response__type_support.cpp b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response__type_support.cpp
deleted file mode 100644
index a27d035..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response__type_support.cpp
+++ /dev/null
@@ -1,164 +0,0 @@
-// generated from rosidl_typesupport_introspection_cpp/resource/idl__type_support.cpp.em
-// with input from unitree_api:msg/Response.idl
-// generated code does not contain a copyright notice
-
-#include "array"
-#include "cstddef"
-#include "string"
-#include "vector"
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_cpp/message_type_support.hpp"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_api/msg/detail/response__struct.hpp"
-#include "rosidl_typesupport_introspection_cpp/field_types.hpp"
-#include "rosidl_typesupport_introspection_cpp/identifier.hpp"
-#include "rosidl_typesupport_introspection_cpp/message_introspection.hpp"
-#include "rosidl_typesupport_introspection_cpp/message_type_support_decl.hpp"
-#include "rosidl_typesupport_introspection_cpp/visibility_control.h"
-
-namespace unitree_api
-{
-
-namespace msg
-{
-
-namespace rosidl_typesupport_introspection_cpp
-{
-
-void Response_init_function(
-  void * message_memory, rosidl_runtime_cpp::MessageInitialization _init)
-{
-  new (message_memory) unitree_api::msg::Response(_init);
-}
-
-void Response_fini_function(void * message_memory)
-{
-  auto typed_message = static_cast<unitree_api::msg::Response *>(message_memory);
-  typed_message->~Response();
-}
-
-size_t size_function__Response__binary(const void * untyped_member)
-{
-  const auto * member = reinterpret_cast<const std::vector<int8_t> *>(untyped_member);
-  return member->size();
-}
-
-const void * get_const_function__Response__binary(const void * untyped_member, size_t index)
-{
-  const auto & member =
-    *reinterpret_cast<const std::vector<int8_t> *>(untyped_member);
-  return &member[index];
-}
-
-void * get_function__Response__binary(void * untyped_member, size_t index)
-{
-  auto & member =
-    *reinterpret_cast<std::vector<int8_t> *>(untyped_member);
-  return &member[index];
-}
-
-void resize_function__Response__binary(void * untyped_member, size_t size)
-{
-  auto * member =
-    reinterpret_cast<std::vector<int8_t> *>(untyped_member);
-  member->resize(size);
-}
-
-static const ::rosidl_typesupport_introspection_cpp::MessageMember Response_message_member_array[3] = {
-  {
-    "header",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_MESSAGE,  // type
-    0,  // upper bound of string
-    ::rosidl_typesupport_introspection_cpp::get_message_type_support_handle<unitree_api::msg::ResponseHeader>(),  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_api::msg::Response, header),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "data",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_STRING,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_api::msg::Response, data),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "binary",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_INT8,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    true,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_api::msg::Response, binary),  // bytes offset in struct
-    nullptr,  // default value
-    size_function__Response__binary,  // size() function pointer
-    get_const_function__Response__binary,  // get_const(index) function pointer
-    get_function__Response__binary,  // get(index) function pointer
-    resize_function__Response__binary  // resize(index) function pointer
-  }
-};
-
-static const ::rosidl_typesupport_introspection_cpp::MessageMembers Response_message_members = {
-  "unitree_api::msg",  // message namespace
-  "Response",  // message name
-  3,  // number of fields
-  sizeof(unitree_api::msg::Response),
-  Response_message_member_array,  // message members
-  Response_init_function,  // function to initialize message memory (memory has to be allocated)
-  Response_fini_function  // function to terminate message instance (will not free memory)
-};
-
-static const rosidl_message_type_support_t Response_message_type_support_handle = {
-  ::rosidl_typesupport_introspection_cpp::typesupport_identifier,
-  &Response_message_members,
-  get_message_typesupport_handle_function,
-};
-
-}  // namespace rosidl_typesupport_introspection_cpp
-
-}  // namespace msg
-
-}  // namespace unitree_api
-
-
-namespace rosidl_typesupport_introspection_cpp
-{
-
-template<>
-ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
-const rosidl_message_type_support_t *
-get_message_type_support_handle<unitree_api::msg::Response>()
-{
-  return &::unitree_api::msg::rosidl_typesupport_introspection_cpp::Response_message_type_support_handle;
-}
-
-}  // namespace rosidl_typesupport_introspection_cpp
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_cpp, unitree_api, msg, Response)() {
-  return &::unitree_api::msg::rosidl_typesupport_introspection_cpp::Response_message_type_support_handle;
-}
-
-#ifdef __cplusplus
-}
-#endif
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response__type_support.h b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response__type_support.h
deleted file mode 100644
index 8b23ed0..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response__type_support.h
+++ /dev/null
@@ -1,33 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__type_support.h.em
-// with input from unitree_api:msg/Response.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__DETAIL__RESPONSE__TYPE_SUPPORT_H_
-#define UNITREE_API__MSG__DETAIL__RESPONSE__TYPE_SUPPORT_H_
-
-#include "rosidl_typesupport_interface/macros.h"
-
-#include "unitree_api/msg/rosidl_generator_c__visibility_control.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-
-// Forward declare the get type support functions for this type.
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
-  rosidl_typesupport_c,
-  unitree_api,
-  msg,
-  Response
-)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_API__MSG__DETAIL__RESPONSE__TYPE_SUPPORT_H_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response__type_support.hpp b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response__type_support.hpp
deleted file mode 100644
index 27859e9..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response__type_support.hpp
+++ /dev/null
@@ -1,31 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__type_support.hpp.em
-// with input from unitree_api:msg/Response.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__DETAIL__RESPONSE__TYPE_SUPPORT_HPP_
-#define UNITREE_API__MSG__DETAIL__RESPONSE__TYPE_SUPPORT_HPP_
-
-#include "rosidl_typesupport_interface/macros.h"
-
-#include "unitree_api/msg/rosidl_generator_cpp__visibility_control.hpp"
-
-#include "rosidl_typesupport_cpp/message_type_support.hpp"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-// Forward declare the get type support functions for this type.
-ROSIDL_GENERATOR_CPP_PUBLIC_unitree_api
-const rosidl_message_type_support_t *
-  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
-  rosidl_typesupport_cpp,
-  unitree_api,
-  msg,
-  Response
-)();
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_API__MSG__DETAIL__RESPONSE__TYPE_SUPPORT_HPP_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_header__builder.hpp b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_header__builder.hpp
deleted file mode 100644
index 8f76d7d..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_header__builder.hpp
+++ /dev/null
@@ -1,71 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__builder.hpp.em
-// with input from unitree_api:msg/ResponseHeader.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__DETAIL__RESPONSE_HEADER__BUILDER_HPP_
-#define UNITREE_API__MSG__DETAIL__RESPONSE_HEADER__BUILDER_HPP_
-
-#include "unitree_api/msg/detail/response_header__struct.hpp"
-#include <rosidl_runtime_cpp/message_initialization.hpp>
-#include <algorithm>
-#include <utility>
-
-
-namespace unitree_api
-{
-
-namespace msg
-{
-
-namespace builder
-{
-
-class Init_ResponseHeader_status
-{
-public:
-  explicit Init_ResponseHeader_status(::unitree_api::msg::ResponseHeader & msg)
-  : msg_(msg)
-  {}
-  ::unitree_api::msg::ResponseHeader status(::unitree_api::msg::ResponseHeader::_status_type arg)
-  {
-    msg_.status = std::move(arg);
-    return std::move(msg_);
-  }
-
-private:
-  ::unitree_api::msg::ResponseHeader msg_;
-};
-
-class Init_ResponseHeader_identity
-{
-public:
-  Init_ResponseHeader_identity()
-  : msg_(::rosidl_runtime_cpp::MessageInitialization::SKIP)
-  {}
-  Init_ResponseHeader_status identity(::unitree_api::msg::ResponseHeader::_identity_type arg)
-  {
-    msg_.identity = std::move(arg);
-    return Init_ResponseHeader_status(msg_);
-  }
-
-private:
-  ::unitree_api::msg::ResponseHeader msg_;
-};
-
-}  // namespace builder
-
-}  // namespace msg
-
-template<typename MessageType>
-auto build();
-
-template<>
-inline
-auto build<::unitree_api::msg::ResponseHeader>()
-{
-  return unitree_api::msg::builder::Init_ResponseHeader_identity();
-}
-
-}  // namespace unitree_api
-
-#endif  // UNITREE_API__MSG__DETAIL__RESPONSE_HEADER__BUILDER_HPP_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_header__functions.c b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_header__functions.c
deleted file mode 100644
index 5d705c7..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_header__functions.c
+++ /dev/null
@@ -1,267 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__functions.c.em
-// with input from unitree_api:msg/ResponseHeader.idl
-// generated code does not contain a copyright notice
-#include "unitree_api/msg/detail/response_header__functions.h"
-
-#include <assert.h>
-#include <stdbool.h>
-#include <stdlib.h>
-#include <string.h>
-
-#include "rcutils/allocator.h"
-
-
-// Include directives for member types
-// Member `identity`
-#include "unitree_api/msg/detail/request_identity__functions.h"
-// Member `status`
-#include "unitree_api/msg/detail/response_status__functions.h"
-
-bool
-unitree_api__msg__ResponseHeader__init(unitree_api__msg__ResponseHeader * msg)
-{
-  if (!msg) {
-    return false;
-  }
-  // identity
-  if (!unitree_api__msg__RequestIdentity__init(&msg->identity)) {
-    unitree_api__msg__ResponseHeader__fini(msg);
-    return false;
-  }
-  // status
-  if (!unitree_api__msg__ResponseStatus__init(&msg->status)) {
-    unitree_api__msg__ResponseHeader__fini(msg);
-    return false;
-  }
-  return true;
-}
-
-void
-unitree_api__msg__ResponseHeader__fini(unitree_api__msg__ResponseHeader * msg)
-{
-  if (!msg) {
-    return;
-  }
-  // identity
-  unitree_api__msg__RequestIdentity__fini(&msg->identity);
-  // status
-  unitree_api__msg__ResponseStatus__fini(&msg->status);
-}
-
-bool
-unitree_api__msg__ResponseHeader__are_equal(const unitree_api__msg__ResponseHeader * lhs, const unitree_api__msg__ResponseHeader * rhs)
-{
-  if (!lhs || !rhs) {
-    return false;
-  }
-  // identity
-  if (!unitree_api__msg__RequestIdentity__are_equal(
-      &(lhs->identity), &(rhs->identity)))
-  {
-    return false;
-  }
-  // status
-  if (!unitree_api__msg__ResponseStatus__are_equal(
-      &(lhs->status), &(rhs->status)))
-  {
-    return false;
-  }
-  return true;
-}
-
-bool
-unitree_api__msg__ResponseHeader__copy(
-  const unitree_api__msg__ResponseHeader * input,
-  unitree_api__msg__ResponseHeader * output)
-{
-  if (!input || !output) {
-    return false;
-  }
-  // identity
-  if (!unitree_api__msg__RequestIdentity__copy(
-      &(input->identity), &(output->identity)))
-  {
-    return false;
-  }
-  // status
-  if (!unitree_api__msg__ResponseStatus__copy(
-      &(input->status), &(output->status)))
-  {
-    return false;
-  }
-  return true;
-}
-
-unitree_api__msg__ResponseHeader *
-unitree_api__msg__ResponseHeader__create()
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  unitree_api__msg__ResponseHeader * msg = (unitree_api__msg__ResponseHeader *)allocator.allocate(sizeof(unitree_api__msg__ResponseHeader), allocator.state);
-  if (!msg) {
-    return NULL;
-  }
-  memset(msg, 0, sizeof(unitree_api__msg__ResponseHeader));
-  bool success = unitree_api__msg__ResponseHeader__init(msg);
-  if (!success) {
-    allocator.deallocate(msg, allocator.state);
-    return NULL;
-  }
-  return msg;
-}
-
-void
-unitree_api__msg__ResponseHeader__destroy(unitree_api__msg__ResponseHeader * msg)
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  if (msg) {
-    unitree_api__msg__ResponseHeader__fini(msg);
-  }
-  allocator.deallocate(msg, allocator.state);
-}
-
-
-bool
-unitree_api__msg__ResponseHeader__Sequence__init(unitree_api__msg__ResponseHeader__Sequence * array, size_t size)
-{
-  if (!array) {
-    return false;
-  }
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  unitree_api__msg__ResponseHeader * data = NULL;
-
-  if (size) {
-    data = (unitree_api__msg__ResponseHeader *)allocator.zero_allocate(size, sizeof(unitree_api__msg__ResponseHeader), allocator.state);
-    if (!data) {
-      return false;
-    }
-    // initialize all array elements
-    size_t i;
-    for (i = 0; i < size; ++i) {
-      bool success = unitree_api__msg__ResponseHeader__init(&data[i]);
-      if (!success) {
-        break;
-      }
-    }
-    if (i < size) {
-      // if initialization failed finalize the already initialized array elements
-      for (; i > 0; --i) {
-        unitree_api__msg__ResponseHeader__fini(&data[i - 1]);
-      }
-      allocator.deallocate(data, allocator.state);
-      return false;
-    }
-  }
-  array->data = data;
-  array->size = size;
-  array->capacity = size;
-  return true;
-}
-
-void
-unitree_api__msg__ResponseHeader__Sequence__fini(unitree_api__msg__ResponseHeader__Sequence * array)
-{
-  if (!array) {
-    return;
-  }
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-
-  if (array->data) {
-    // ensure that data and capacity values are consistent
-    assert(array->capacity > 0);
-    // finalize all array elements
-    for (size_t i = 0; i < array->capacity; ++i) {
-      unitree_api__msg__ResponseHeader__fini(&array->data[i]);
-    }
-    allocator.deallocate(array->data, allocator.state);
-    array->data = NULL;
-    array->size = 0;
-    array->capacity = 0;
-  } else {
-    // ensure that data, size, and capacity values are consistent
-    assert(0 == array->size);
-    assert(0 == array->capacity);
-  }
-}
-
-unitree_api__msg__ResponseHeader__Sequence *
-unitree_api__msg__ResponseHeader__Sequence__create(size_t size)
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  unitree_api__msg__ResponseHeader__Sequence * array = (unitree_api__msg__ResponseHeader__Sequence *)allocator.allocate(sizeof(unitree_api__msg__ResponseHeader__Sequence), allocator.state);
-  if (!array) {
-    return NULL;
-  }
-  bool success = unitree_api__msg__ResponseHeader__Sequence__init(array, size);
-  if (!success) {
-    allocator.deallocate(array, allocator.state);
-    return NULL;
-  }
-  return array;
-}
-
-void
-unitree_api__msg__ResponseHeader__Sequence__destroy(unitree_api__msg__ResponseHeader__Sequence * array)
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  if (array) {
-    unitree_api__msg__ResponseHeader__Sequence__fini(array);
-  }
-  allocator.deallocate(array, allocator.state);
-}
-
-bool
-unitree_api__msg__ResponseHeader__Sequence__are_equal(const unitree_api__msg__ResponseHeader__Sequence * lhs, const unitree_api__msg__ResponseHeader__Sequence * rhs)
-{
-  if (!lhs || !rhs) {
-    return false;
-  }
-  if (lhs->size != rhs->size) {
-    return false;
-  }
-  for (size_t i = 0; i < lhs->size; ++i) {
-    if (!unitree_api__msg__ResponseHeader__are_equal(&(lhs->data[i]), &(rhs->data[i]))) {
-      return false;
-    }
-  }
-  return true;
-}
-
-bool
-unitree_api__msg__ResponseHeader__Sequence__copy(
-  const unitree_api__msg__ResponseHeader__Sequence * input,
-  unitree_api__msg__ResponseHeader__Sequence * output)
-{
-  if (!input || !output) {
-    return false;
-  }
-  if (output->capacity < input->size) {
-    const size_t allocation_size =
-      input->size * sizeof(unitree_api__msg__ResponseHeader);
-    unitree_api__msg__ResponseHeader * data =
-      (unitree_api__msg__ResponseHeader *)realloc(output->data, allocation_size);
-    if (!data) {
-      return false;
-    }
-    for (size_t i = output->capacity; i < input->size; ++i) {
-      if (!unitree_api__msg__ResponseHeader__init(&data[i])) {
-        /* free currently allocated and return false */
-        for (; i-- > output->capacity; ) {
-          unitree_api__msg__ResponseHeader__fini(&data[i]);
-        }
-        free(data);
-        return false;
-      }
-    }
-    output->data = data;
-    output->capacity = input->size;
-  }
-  output->size = input->size;
-  for (size_t i = 0; i < input->size; ++i) {
-    if (!unitree_api__msg__ResponseHeader__copy(
-        &(input->data[i]), &(output->data[i])))
-    {
-      return false;
-    }
-  }
-  return true;
-}
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_header__functions.h b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_header__functions.h
deleted file mode 100644
index 8837dc1..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_header__functions.h
+++ /dev/null
@@ -1,177 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__functions.h.em
-// with input from unitree_api:msg/ResponseHeader.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__DETAIL__RESPONSE_HEADER__FUNCTIONS_H_
-#define UNITREE_API__MSG__DETAIL__RESPONSE_HEADER__FUNCTIONS_H_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include <stdbool.h>
-#include <stdlib.h>
-
-#include "rosidl_runtime_c/visibility_control.h"
-#include "unitree_api/msg/rosidl_generator_c__visibility_control.h"
-
-#include "unitree_api/msg/detail/response_header__struct.h"
-
-/// Initialize msg/ResponseHeader message.
-/**
- * If the init function is called twice for the same message without
- * calling fini inbetween previously allocated memory will be leaked.
- * \param[in,out] msg The previously allocated message pointer.
- * Fields without a default value will not be initialized by this function.
- * You might want to call memset(msg, 0, sizeof(
- * unitree_api__msg__ResponseHeader
- * )) before or use
- * unitree_api__msg__ResponseHeader__create()
- * to allocate and initialize the message.
- * \return true if initialization was successful, otherwise false
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-bool
-unitree_api__msg__ResponseHeader__init(unitree_api__msg__ResponseHeader * msg);
-
-/// Finalize msg/ResponseHeader message.
-/**
- * \param[in,out] msg The allocated message pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-void
-unitree_api__msg__ResponseHeader__fini(unitree_api__msg__ResponseHeader * msg);
-
-/// Create msg/ResponseHeader message.
-/**
- * It allocates the memory for the message, sets the memory to zero, and
- * calls
- * unitree_api__msg__ResponseHeader__init().
- * \return The pointer to the initialized message if successful,
- * otherwise NULL
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-unitree_api__msg__ResponseHeader *
-unitree_api__msg__ResponseHeader__create();
-
-/// Destroy msg/ResponseHeader message.
-/**
- * It calls
- * unitree_api__msg__ResponseHeader__fini()
- * and frees the memory of the message.
- * \param[in,out] msg The allocated message pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-void
-unitree_api__msg__ResponseHeader__destroy(unitree_api__msg__ResponseHeader * msg);
-
-/// Check for msg/ResponseHeader message equality.
-/**
- * \param[in] lhs The message on the left hand size of the equality operator.
- * \param[in] rhs The message on the right hand size of the equality operator.
- * \return true if messages are equal, otherwise false.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-bool
-unitree_api__msg__ResponseHeader__are_equal(const unitree_api__msg__ResponseHeader * lhs, const unitree_api__msg__ResponseHeader * rhs);
-
-/// Copy a msg/ResponseHeader message.
-/**
- * This functions performs a deep copy, as opposed to the shallow copy that
- * plain assignment yields.
- *
- * \param[in] input The source message pointer.
- * \param[out] output The target message pointer, which must
- *   have been initialized before calling this function.
- * \return true if successful, or false if either pointer is null
- *   or memory allocation fails.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-bool
-unitree_api__msg__ResponseHeader__copy(
-  const unitree_api__msg__ResponseHeader * input,
-  unitree_api__msg__ResponseHeader * output);
-
-/// Initialize array of msg/ResponseHeader messages.
-/**
- * It allocates the memory for the number of elements and calls
- * unitree_api__msg__ResponseHeader__init()
- * for each element of the array.
- * \param[in,out] array The allocated array pointer.
- * \param[in] size The size / capacity of the array.
- * \return true if initialization was successful, otherwise false
- * If the array pointer is valid and the size is zero it is guaranteed
- # to return true.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-bool
-unitree_api__msg__ResponseHeader__Sequence__init(unitree_api__msg__ResponseHeader__Sequence * array, size_t size);
-
-/// Finalize array of msg/ResponseHeader messages.
-/**
- * It calls
- * unitree_api__msg__ResponseHeader__fini()
- * for each element of the array and frees the memory for the number of
- * elements.
- * \param[in,out] array The initialized array pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-void
-unitree_api__msg__ResponseHeader__Sequence__fini(unitree_api__msg__ResponseHeader__Sequence * array);
-
-/// Create array of msg/ResponseHeader messages.
-/**
- * It allocates the memory for the array and calls
- * unitree_api__msg__ResponseHeader__Sequence__init().
- * \param[in] size The size / capacity of the array.
- * \return The pointer to the initialized array if successful, otherwise NULL
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-unitree_api__msg__ResponseHeader__Sequence *
-unitree_api__msg__ResponseHeader__Sequence__create(size_t size);
-
-/// Destroy array of msg/ResponseHeader messages.
-/**
- * It calls
- * unitree_api__msg__ResponseHeader__Sequence__fini()
- * on the array,
- * and frees the memory of the array.
- * \param[in,out] array The initialized array pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-void
-unitree_api__msg__ResponseHeader__Sequence__destroy(unitree_api__msg__ResponseHeader__Sequence * array);
-
-/// Check for msg/ResponseHeader message array equality.
-/**
- * \param[in] lhs The message array on the left hand size of the equality operator.
- * \param[in] rhs The message array on the right hand size of the equality operator.
- * \return true if message arrays are equal in size and content, otherwise false.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-bool
-unitree_api__msg__ResponseHeader__Sequence__are_equal(const unitree_api__msg__ResponseHeader__Sequence * lhs, const unitree_api__msg__ResponseHeader__Sequence * rhs);
-
-/// Copy an array of msg/ResponseHeader messages.
-/**
- * This functions performs a deep copy, as opposed to the shallow copy that
- * plain assignment yields.
- *
- * \param[in] input The source array pointer.
- * \param[out] output The target array pointer, which must
- *   have been initialized before calling this function.
- * \return true if successful, or false if either pointer
- *   is null or memory allocation fails.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-bool
-unitree_api__msg__ResponseHeader__Sequence__copy(
-  const unitree_api__msg__ResponseHeader__Sequence * input,
-  unitree_api__msg__ResponseHeader__Sequence * output);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_API__MSG__DETAIL__RESPONSE_HEADER__FUNCTIONS_H_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_header__rosidl_typesupport_fastrtps_c.h b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_header__rosidl_typesupport_fastrtps_c.h
deleted file mode 100644
index c1c364d..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_header__rosidl_typesupport_fastrtps_c.h
+++ /dev/null
@@ -1,36 +0,0 @@
-// generated from rosidl_typesupport_fastrtps_c/resource/idl__rosidl_typesupport_fastrtps_c.h.em
-// with input from unitree_api:msg/ResponseHeader.idl
-// generated code does not contain a copyright notice
-#ifndef UNITREE_API__MSG__DETAIL__RESPONSE_HEADER__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_
-#define UNITREE_API__MSG__DETAIL__RESPONSE_HEADER__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_
-
-
-#include <stddef.h>
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_api/msg/rosidl_typesupport_fastrtps_c__visibility_control.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_api
-size_t get_serialized_size_unitree_api__msg__ResponseHeader(
-  const void * untyped_ros_message,
-  size_t current_alignment);
-
-ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_api
-size_t max_serialized_size_unitree_api__msg__ResponseHeader(
-  bool & full_bounded,
-  size_t current_alignment);
-
-ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_api
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_fastrtps_c, unitree_api, msg, ResponseHeader)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_API__MSG__DETAIL__RESPONSE_HEADER__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_header__rosidl_typesupport_fastrtps_cpp.hpp b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_header__rosidl_typesupport_fastrtps_cpp.hpp
deleted file mode 100644
index d76073f..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_header__rosidl_typesupport_fastrtps_cpp.hpp
+++ /dev/null
@@ -1,79 +0,0 @@
-// generated from rosidl_typesupport_fastrtps_cpp/resource/idl__rosidl_typesupport_fastrtps_cpp.hpp.em
-// with input from unitree_api:msg/ResponseHeader.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__DETAIL__RESPONSE_HEADER__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_
-#define UNITREE_API__MSG__DETAIL__RESPONSE_HEADER__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_api/msg/rosidl_typesupport_fastrtps_cpp__visibility_control.h"
-#include "unitree_api/msg/detail/response_header__struct.hpp"
-
-#ifndef _WIN32
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wunused-parameter"
-# ifdef __clang__
-#  pragma clang diagnostic ignored "-Wdeprecated-register"
-#  pragma clang diagnostic ignored "-Wreturn-type-c-linkage"
-# endif
-#endif
-#ifndef _WIN32
-# pragma GCC diagnostic pop
-#endif
-
-#include "fastcdr/Cdr.h"
-
-namespace unitree_api
-{
-
-namespace msg
-{
-
-namespace typesupport_fastrtps_cpp
-{
-
-bool
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_api
-cdr_serialize(
-  const unitree_api::msg::ResponseHeader & ros_message,
-  eprosima::fastcdr::Cdr & cdr);
-
-bool
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_api
-cdr_deserialize(
-  eprosima::fastcdr::Cdr & cdr,
-  unitree_api::msg::ResponseHeader & ros_message);
-
-size_t
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_api
-get_serialized_size(
-  const unitree_api::msg::ResponseHeader & ros_message,
-  size_t current_alignment);
-
-size_t
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_api
-max_serialized_size_ResponseHeader(
-  bool & full_bounded,
-  size_t current_alignment);
-
-}  // namespace typesupport_fastrtps_cpp
-
-}  // namespace msg
-
-}  // namespace unitree_api
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_api
-const rosidl_message_type_support_t *
-  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_fastrtps_cpp, unitree_api, msg, ResponseHeader)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_API__MSG__DETAIL__RESPONSE_HEADER__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_header__rosidl_typesupport_introspection_c.h b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_header__rosidl_typesupport_introspection_c.h
deleted file mode 100644
index c314b11..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_header__rosidl_typesupport_introspection_c.h
+++ /dev/null
@@ -1,26 +0,0 @@
-// generated from rosidl_typesupport_introspection_c/resource/idl__rosidl_typesupport_introspection_c.h.em
-// with input from unitree_api:msg/ResponseHeader.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__DETAIL__RESPONSE_HEADER__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
-#define UNITREE_API__MSG__DETAIL__RESPONSE_HEADER__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_api/msg/rosidl_typesupport_introspection_c__visibility_control.h"
-
-ROSIDL_TYPESUPPORT_INTROSPECTION_C_PUBLIC_unitree_api
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, unitree_api, msg, ResponseHeader)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_API__MSG__DETAIL__RESPONSE_HEADER__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_header__rosidl_typesupport_introspection_cpp.hpp b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_header__rosidl_typesupport_introspection_cpp.hpp
deleted file mode 100644
index c578e54..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_header__rosidl_typesupport_introspection_cpp.hpp
+++ /dev/null
@@ -1,27 +0,0 @@
-// generated from rosidl_typesupport_introspection_cpp/resource/idl__rosidl_typesupport_introspection_cpp.h.em
-// with input from unitree_api:msg/ResponseHeader.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__DETAIL__RESPONSE_HEADER__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_
-#define UNITREE_API__MSG__DETAIL__RESPONSE_HEADER__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_
-
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "rosidl_typesupport_introspection_cpp/visibility_control.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-// TODO(dirk-thomas) these visibility macros should be message package specific
-ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
-const rosidl_message_type_support_t *
-  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_cpp, unitree_api, msg, ResponseHeader)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_API__MSG__DETAIL__RESPONSE_HEADER__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_header__struct.h b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_header__struct.h
deleted file mode 100644
index f7dd860..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_header__struct.h
+++ /dev/null
@@ -1,47 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__struct.h.em
-// with input from unitree_api:msg/ResponseHeader.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__DETAIL__RESPONSE_HEADER__STRUCT_H_
-#define UNITREE_API__MSG__DETAIL__RESPONSE_HEADER__STRUCT_H_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include <stdbool.h>
-#include <stddef.h>
-#include <stdint.h>
-
-
-// Constants defined in the message
-
-// Include directives for member types
-// Member 'identity'
-#include "unitree_api/msg/detail/request_identity__struct.h"
-// Member 'status'
-#include "unitree_api/msg/detail/response_status__struct.h"
-
-// Struct defined in msg/ResponseHeader in the package unitree_api.
-typedef struct unitree_api__msg__ResponseHeader
-{
-  unitree_api__msg__RequestIdentity identity;
-  unitree_api__msg__ResponseStatus status;
-} unitree_api__msg__ResponseHeader;
-
-// Struct for a sequence of unitree_api__msg__ResponseHeader.
-typedef struct unitree_api__msg__ResponseHeader__Sequence
-{
-  unitree_api__msg__ResponseHeader * data;
-  /// The number of valid items in data
-  size_t size;
-  /// The number of allocated items in data
-  size_t capacity;
-} unitree_api__msg__ResponseHeader__Sequence;
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_API__MSG__DETAIL__RESPONSE_HEADER__STRUCT_H_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_header__struct.hpp b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_header__struct.hpp
deleted file mode 100644
index cb00d3b..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_header__struct.hpp
+++ /dev/null
@@ -1,143 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__struct.hpp.em
-// with input from unitree_api:msg/ResponseHeader.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__DETAIL__RESPONSE_HEADER__STRUCT_HPP_
-#define UNITREE_API__MSG__DETAIL__RESPONSE_HEADER__STRUCT_HPP_
-
-#include <rosidl_runtime_cpp/bounded_vector.hpp>
-#include <rosidl_runtime_cpp/message_initialization.hpp>
-#include <algorithm>
-#include <array>
-#include <memory>
-#include <string>
-#include <vector>
-
-
-// Include directives for member types
-// Member 'identity'
-#include "unitree_api/msg/detail/request_identity__struct.hpp"
-// Member 'status'
-#include "unitree_api/msg/detail/response_status__struct.hpp"
-
-#ifndef _WIN32
-# define DEPRECATED__unitree_api__msg__ResponseHeader __attribute__((deprecated))
-#else
-# define DEPRECATED__unitree_api__msg__ResponseHeader __declspec(deprecated)
-#endif
-
-namespace unitree_api
-{
-
-namespace msg
-{
-
-// message struct
-template<class ContainerAllocator>
-struct ResponseHeader_
-{
-  using Type = ResponseHeader_<ContainerAllocator>;
-
-  explicit ResponseHeader_(rosidl_runtime_cpp::MessageInitialization _init = rosidl_runtime_cpp::MessageInitialization::ALL)
-  : identity(_init),
-    status(_init)
-  {
-    (void)_init;
-  }
-
-  explicit ResponseHeader_(const ContainerAllocator & _alloc, rosidl_runtime_cpp::MessageInitialization _init = rosidl_runtime_cpp::MessageInitialization::ALL)
-  : identity(_alloc, _init),
-    status(_alloc, _init)
-  {
-    (void)_init;
-  }
-
-  // field types and members
-  using _identity_type =
-    unitree_api::msg::RequestIdentity_<ContainerAllocator>;
-  _identity_type identity;
-  using _status_type =
-    unitree_api::msg::ResponseStatus_<ContainerAllocator>;
-  _status_type status;
-
-  // setters for named parameter idiom
-  Type & set__identity(
-    const unitree_api::msg::RequestIdentity_<ContainerAllocator> & _arg)
-  {
-    this->identity = _arg;
-    return *this;
-  }
-  Type & set__status(
-    const unitree_api::msg::ResponseStatus_<ContainerAllocator> & _arg)
-  {
-    this->status = _arg;
-    return *this;
-  }
-
-  // constant declarations
-
-  // pointer types
-  using RawPtr =
-    unitree_api::msg::ResponseHeader_<ContainerAllocator> *;
-  using ConstRawPtr =
-    const unitree_api::msg::ResponseHeader_<ContainerAllocator> *;
-  using SharedPtr =
-    std::shared_ptr<unitree_api::msg::ResponseHeader_<ContainerAllocator>>;
-  using ConstSharedPtr =
-    std::shared_ptr<unitree_api::msg::ResponseHeader_<ContainerAllocator> const>;
-
-  template<typename Deleter = std::default_delete<
-      unitree_api::msg::ResponseHeader_<ContainerAllocator>>>
-  using UniquePtrWithDeleter =
-    std::unique_ptr<unitree_api::msg::ResponseHeader_<ContainerAllocator>, Deleter>;
-
-  using UniquePtr = UniquePtrWithDeleter<>;
-
-  template<typename Deleter = std::default_delete<
-      unitree_api::msg::ResponseHeader_<ContainerAllocator>>>
-  using ConstUniquePtrWithDeleter =
-    std::unique_ptr<unitree_api::msg::ResponseHeader_<ContainerAllocator> const, Deleter>;
-  using ConstUniquePtr = ConstUniquePtrWithDeleter<>;
-
-  using WeakPtr =
-    std::weak_ptr<unitree_api::msg::ResponseHeader_<ContainerAllocator>>;
-  using ConstWeakPtr =
-    std::weak_ptr<unitree_api::msg::ResponseHeader_<ContainerAllocator> const>;
-
-  // pointer types similar to ROS 1, use SharedPtr / ConstSharedPtr instead
-  // NOTE: Can't use 'using' here because GNU C++ can't parse attributes properly
-  typedef DEPRECATED__unitree_api__msg__ResponseHeader
-    std::shared_ptr<unitree_api::msg::ResponseHeader_<ContainerAllocator>>
-    Ptr;
-  typedef DEPRECATED__unitree_api__msg__ResponseHeader
-    std::shared_ptr<unitree_api::msg::ResponseHeader_<ContainerAllocator> const>
-    ConstPtr;
-
-  // comparison operators
-  bool operator==(const ResponseHeader_ & other) const
-  {
-    if (this->identity != other.identity) {
-      return false;
-    }
-    if (this->status != other.status) {
-      return false;
-    }
-    return true;
-  }
-  bool operator!=(const ResponseHeader_ & other) const
-  {
-    return !this->operator==(other);
-  }
-};  // struct ResponseHeader_
-
-// alias to use template instance with default allocator
-using ResponseHeader =
-  unitree_api::msg::ResponseHeader_<std::allocator<void>>;
-
-// constant definitions
-
-}  // namespace msg
-
-}  // namespace unitree_api
-
-#endif  // UNITREE_API__MSG__DETAIL__RESPONSE_HEADER__STRUCT_HPP_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_header__traits.hpp b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_header__traits.hpp
deleted file mode 100644
index a3cb0c2..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_header__traits.hpp
+++ /dev/null
@@ -1,48 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__traits.hpp.em
-// with input from unitree_api:msg/ResponseHeader.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__DETAIL__RESPONSE_HEADER__TRAITS_HPP_
-#define UNITREE_API__MSG__DETAIL__RESPONSE_HEADER__TRAITS_HPP_
-
-#include "unitree_api/msg/detail/response_header__struct.hpp"
-#include <rosidl_runtime_cpp/traits.hpp>
-#include <stdint.h>
-#include <type_traits>
-
-// Include directives for member types
-// Member 'identity'
-#include "unitree_api/msg/detail/request_identity__traits.hpp"
-// Member 'status'
-#include "unitree_api/msg/detail/response_status__traits.hpp"
-
-namespace rosidl_generator_traits
-{
-
-template<>
-inline const char * data_type<unitree_api::msg::ResponseHeader>()
-{
-  return "unitree_api::msg::ResponseHeader";
-}
-
-template<>
-inline const char * name<unitree_api::msg::ResponseHeader>()
-{
-  return "unitree_api/msg/ResponseHeader";
-}
-
-template<>
-struct has_fixed_size<unitree_api::msg::ResponseHeader>
-  : std::integral_constant<bool, has_fixed_size<unitree_api::msg::RequestIdentity>::value && has_fixed_size<unitree_api::msg::ResponseStatus>::value> {};
-
-template<>
-struct has_bounded_size<unitree_api::msg::ResponseHeader>
-  : std::integral_constant<bool, has_bounded_size<unitree_api::msg::RequestIdentity>::value && has_bounded_size<unitree_api::msg::ResponseStatus>::value> {};
-
-template<>
-struct is_message<unitree_api::msg::ResponseHeader>
-  : std::true_type {};
-
-}  // namespace rosidl_generator_traits
-
-#endif  // UNITREE_API__MSG__DETAIL__RESPONSE_HEADER__TRAITS_HPP_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_header__type_support.c b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_header__type_support.c
deleted file mode 100644
index e728e73..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_header__type_support.c
+++ /dev/null
@@ -1,110 +0,0 @@
-// generated from rosidl_typesupport_introspection_c/resource/idl__type_support.c.em
-// with input from unitree_api:msg/ResponseHeader.idl
-// generated code does not contain a copyright notice
-
-#include <stddef.h>
-#include "unitree_api/msg/detail/response_header__rosidl_typesupport_introspection_c.h"
-#include "unitree_api/msg/rosidl_typesupport_introspection_c__visibility_control.h"
-#include "rosidl_typesupport_introspection_c/field_types.h"
-#include "rosidl_typesupport_introspection_c/identifier.h"
-#include "rosidl_typesupport_introspection_c/message_introspection.h"
-#include "unitree_api/msg/detail/response_header__functions.h"
-#include "unitree_api/msg/detail/response_header__struct.h"
-
-
-// Include directives for member types
-// Member `identity`
-#include "unitree_api/msg/request_identity.h"
-// Member `identity`
-#include "unitree_api/msg/detail/request_identity__rosidl_typesupport_introspection_c.h"
-// Member `status`
-#include "unitree_api/msg/response_status.h"
-// Member `status`
-#include "unitree_api/msg/detail/response_status__rosidl_typesupport_introspection_c.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-void ResponseHeader__rosidl_typesupport_introspection_c__ResponseHeader_init_function(
-  void * message_memory, enum rosidl_runtime_c__message_initialization _init)
-{
-  // TODO(karsten1987): initializers are not yet implemented for typesupport c
-  // see https://github.com/ros2/ros2/issues/397
-  (void) _init;
-  unitree_api__msg__ResponseHeader__init(message_memory);
-}
-
-void ResponseHeader__rosidl_typesupport_introspection_c__ResponseHeader_fini_function(void * message_memory)
-{
-  unitree_api__msg__ResponseHeader__fini(message_memory);
-}
-
-static rosidl_typesupport_introspection_c__MessageMember ResponseHeader__rosidl_typesupport_introspection_c__ResponseHeader_message_member_array[2] = {
-  {
-    "identity",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_MESSAGE,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message (initialized later)
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_api__msg__ResponseHeader, identity),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "status",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_MESSAGE,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message (initialized later)
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_api__msg__ResponseHeader, status),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  }
-};
-
-static const rosidl_typesupport_introspection_c__MessageMembers ResponseHeader__rosidl_typesupport_introspection_c__ResponseHeader_message_members = {
-  "unitree_api__msg",  // message namespace
-  "ResponseHeader",  // message name
-  2,  // number of fields
-  sizeof(unitree_api__msg__ResponseHeader),
-  ResponseHeader__rosidl_typesupport_introspection_c__ResponseHeader_message_member_array,  // message members
-  ResponseHeader__rosidl_typesupport_introspection_c__ResponseHeader_init_function,  // function to initialize message memory (memory has to be allocated)
-  ResponseHeader__rosidl_typesupport_introspection_c__ResponseHeader_fini_function  // function to terminate message instance (will not free memory)
-};
-
-// this is not const since it must be initialized on first access
-// since C does not allow non-integral compile-time constants
-static rosidl_message_type_support_t ResponseHeader__rosidl_typesupport_introspection_c__ResponseHeader_message_type_support_handle = {
-  0,
-  &ResponseHeader__rosidl_typesupport_introspection_c__ResponseHeader_message_members,
-  get_message_typesupport_handle_function,
-};
-
-ROSIDL_TYPESUPPORT_INTROSPECTION_C_EXPORT_unitree_api
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, unitree_api, msg, ResponseHeader)() {
-  ResponseHeader__rosidl_typesupport_introspection_c__ResponseHeader_message_member_array[0].members_ =
-    ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, unitree_api, msg, RequestIdentity)();
-  ResponseHeader__rosidl_typesupport_introspection_c__ResponseHeader_message_member_array[1].members_ =
-    ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, unitree_api, msg, ResponseStatus)();
-  if (!ResponseHeader__rosidl_typesupport_introspection_c__ResponseHeader_message_type_support_handle.typesupport_identifier) {
-    ResponseHeader__rosidl_typesupport_introspection_c__ResponseHeader_message_type_support_handle.typesupport_identifier =
-      rosidl_typesupport_introspection_c__identifier;
-  }
-  return &ResponseHeader__rosidl_typesupport_introspection_c__ResponseHeader_message_type_support_handle;
-}
-#ifdef __cplusplus
-}
-#endif
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_header__type_support.cpp b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_header__type_support.cpp
deleted file mode 100644
index ea946b8..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_header__type_support.cpp
+++ /dev/null
@@ -1,122 +0,0 @@
-// generated from rosidl_typesupport_introspection_cpp/resource/idl__type_support.cpp.em
-// with input from unitree_api:msg/ResponseHeader.idl
-// generated code does not contain a copyright notice
-
-#include "array"
-#include "cstddef"
-#include "string"
-#include "vector"
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_cpp/message_type_support.hpp"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_api/msg/detail/response_header__struct.hpp"
-#include "rosidl_typesupport_introspection_cpp/field_types.hpp"
-#include "rosidl_typesupport_introspection_cpp/identifier.hpp"
-#include "rosidl_typesupport_introspection_cpp/message_introspection.hpp"
-#include "rosidl_typesupport_introspection_cpp/message_type_support_decl.hpp"
-#include "rosidl_typesupport_introspection_cpp/visibility_control.h"
-
-namespace unitree_api
-{
-
-namespace msg
-{
-
-namespace rosidl_typesupport_introspection_cpp
-{
-
-void ResponseHeader_init_function(
-  void * message_memory, rosidl_runtime_cpp::MessageInitialization _init)
-{
-  new (message_memory) unitree_api::msg::ResponseHeader(_init);
-}
-
-void ResponseHeader_fini_function(void * message_memory)
-{
-  auto typed_message = static_cast<unitree_api::msg::ResponseHeader *>(message_memory);
-  typed_message->~ResponseHeader();
-}
-
-static const ::rosidl_typesupport_introspection_cpp::MessageMember ResponseHeader_message_member_array[2] = {
-  {
-    "identity",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_MESSAGE,  // type
-    0,  // upper bound of string
-    ::rosidl_typesupport_introspection_cpp::get_message_type_support_handle<unitree_api::msg::RequestIdentity>(),  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_api::msg::ResponseHeader, identity),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "status",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_MESSAGE,  // type
-    0,  // upper bound of string
-    ::rosidl_typesupport_introspection_cpp::get_message_type_support_handle<unitree_api::msg::ResponseStatus>(),  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_api::msg::ResponseHeader, status),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  }
-};
-
-static const ::rosidl_typesupport_introspection_cpp::MessageMembers ResponseHeader_message_members = {
-  "unitree_api::msg",  // message namespace
-  "ResponseHeader",  // message name
-  2,  // number of fields
-  sizeof(unitree_api::msg::ResponseHeader),
-  ResponseHeader_message_member_array,  // message members
-  ResponseHeader_init_function,  // function to initialize message memory (memory has to be allocated)
-  ResponseHeader_fini_function  // function to terminate message instance (will not free memory)
-};
-
-static const rosidl_message_type_support_t ResponseHeader_message_type_support_handle = {
-  ::rosidl_typesupport_introspection_cpp::typesupport_identifier,
-  &ResponseHeader_message_members,
-  get_message_typesupport_handle_function,
-};
-
-}  // namespace rosidl_typesupport_introspection_cpp
-
-}  // namespace msg
-
-}  // namespace unitree_api
-
-
-namespace rosidl_typesupport_introspection_cpp
-{
-
-template<>
-ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
-const rosidl_message_type_support_t *
-get_message_type_support_handle<unitree_api::msg::ResponseHeader>()
-{
-  return &::unitree_api::msg::rosidl_typesupport_introspection_cpp::ResponseHeader_message_type_support_handle;
-}
-
-}  // namespace rosidl_typesupport_introspection_cpp
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_cpp, unitree_api, msg, ResponseHeader)() {
-  return &::unitree_api::msg::rosidl_typesupport_introspection_cpp::ResponseHeader_message_type_support_handle;
-}
-
-#ifdef __cplusplus
-}
-#endif
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_header__type_support.h b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_header__type_support.h
deleted file mode 100644
index a9d20af..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_header__type_support.h
+++ /dev/null
@@ -1,33 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__type_support.h.em
-// with input from unitree_api:msg/ResponseHeader.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__DETAIL__RESPONSE_HEADER__TYPE_SUPPORT_H_
-#define UNITREE_API__MSG__DETAIL__RESPONSE_HEADER__TYPE_SUPPORT_H_
-
-#include "rosidl_typesupport_interface/macros.h"
-
-#include "unitree_api/msg/rosidl_generator_c__visibility_control.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-
-// Forward declare the get type support functions for this type.
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
-  rosidl_typesupport_c,
-  unitree_api,
-  msg,
-  ResponseHeader
-)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_API__MSG__DETAIL__RESPONSE_HEADER__TYPE_SUPPORT_H_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_header__type_support.hpp b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_header__type_support.hpp
deleted file mode 100644
index 3664697..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_header__type_support.hpp
+++ /dev/null
@@ -1,31 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__type_support.hpp.em
-// with input from unitree_api:msg/ResponseHeader.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__DETAIL__RESPONSE_HEADER__TYPE_SUPPORT_HPP_
-#define UNITREE_API__MSG__DETAIL__RESPONSE_HEADER__TYPE_SUPPORT_HPP_
-
-#include "rosidl_typesupport_interface/macros.h"
-
-#include "unitree_api/msg/rosidl_generator_cpp__visibility_control.hpp"
-
-#include "rosidl_typesupport_cpp/message_type_support.hpp"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-// Forward declare the get type support functions for this type.
-ROSIDL_GENERATOR_CPP_PUBLIC_unitree_api
-const rosidl_message_type_support_t *
-  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
-  rosidl_typesupport_cpp,
-  unitree_api,
-  msg,
-  ResponseHeader
-)();
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_API__MSG__DETAIL__RESPONSE_HEADER__TYPE_SUPPORT_HPP_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_status__builder.hpp b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_status__builder.hpp
deleted file mode 100644
index 6b78a61..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_status__builder.hpp
+++ /dev/null
@@ -1,55 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__builder.hpp.em
-// with input from unitree_api:msg/ResponseStatus.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__DETAIL__RESPONSE_STATUS__BUILDER_HPP_
-#define UNITREE_API__MSG__DETAIL__RESPONSE_STATUS__BUILDER_HPP_
-
-#include "unitree_api/msg/detail/response_status__struct.hpp"
-#include <rosidl_runtime_cpp/message_initialization.hpp>
-#include <algorithm>
-#include <utility>
-
-
-namespace unitree_api
-{
-
-namespace msg
-{
-
-namespace builder
-{
-
-class Init_ResponseStatus_code
-{
-public:
-  Init_ResponseStatus_code()
-  : msg_(::rosidl_runtime_cpp::MessageInitialization::SKIP)
-  {}
-  ::unitree_api::msg::ResponseStatus code(::unitree_api::msg::ResponseStatus::_code_type arg)
-  {
-    msg_.code = std::move(arg);
-    return std::move(msg_);
-  }
-
-private:
-  ::unitree_api::msg::ResponseStatus msg_;
-};
-
-}  // namespace builder
-
-}  // namespace msg
-
-template<typename MessageType>
-auto build();
-
-template<>
-inline
-auto build<::unitree_api::msg::ResponseStatus>()
-{
-  return unitree_api::msg::builder::Init_ResponseStatus_code();
-}
-
-}  // namespace unitree_api
-
-#endif  // UNITREE_API__MSG__DETAIL__RESPONSE_STATUS__BUILDER_HPP_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_status__functions.c b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_status__functions.c
deleted file mode 100644
index 535cc3f..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_status__functions.c
+++ /dev/null
@@ -1,231 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__functions.c.em
-// with input from unitree_api:msg/ResponseStatus.idl
-// generated code does not contain a copyright notice
-#include "unitree_api/msg/detail/response_status__functions.h"
-
-#include <assert.h>
-#include <stdbool.h>
-#include <stdlib.h>
-#include <string.h>
-
-#include "rcutils/allocator.h"
-
-
-bool
-unitree_api__msg__ResponseStatus__init(unitree_api__msg__ResponseStatus * msg)
-{
-  if (!msg) {
-    return false;
-  }
-  // code
-  return true;
-}
-
-void
-unitree_api__msg__ResponseStatus__fini(unitree_api__msg__ResponseStatus * msg)
-{
-  if (!msg) {
-    return;
-  }
-  // code
-}
-
-bool
-unitree_api__msg__ResponseStatus__are_equal(const unitree_api__msg__ResponseStatus * lhs, const unitree_api__msg__ResponseStatus * rhs)
-{
-  if (!lhs || !rhs) {
-    return false;
-  }
-  // code
-  if (lhs->code != rhs->code) {
-    return false;
-  }
-  return true;
-}
-
-bool
-unitree_api__msg__ResponseStatus__copy(
-  const unitree_api__msg__ResponseStatus * input,
-  unitree_api__msg__ResponseStatus * output)
-{
-  if (!input || !output) {
-    return false;
-  }
-  // code
-  output->code = input->code;
-  return true;
-}
-
-unitree_api__msg__ResponseStatus *
-unitree_api__msg__ResponseStatus__create()
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  unitree_api__msg__ResponseStatus * msg = (unitree_api__msg__ResponseStatus *)allocator.allocate(sizeof(unitree_api__msg__ResponseStatus), allocator.state);
-  if (!msg) {
-    return NULL;
-  }
-  memset(msg, 0, sizeof(unitree_api__msg__ResponseStatus));
-  bool success = unitree_api__msg__ResponseStatus__init(msg);
-  if (!success) {
-    allocator.deallocate(msg, allocator.state);
-    return NULL;
-  }
-  return msg;
-}
-
-void
-unitree_api__msg__ResponseStatus__destroy(unitree_api__msg__ResponseStatus * msg)
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  if (msg) {
-    unitree_api__msg__ResponseStatus__fini(msg);
-  }
-  allocator.deallocate(msg, allocator.state);
-}
-
-
-bool
-unitree_api__msg__ResponseStatus__Sequence__init(unitree_api__msg__ResponseStatus__Sequence * array, size_t size)
-{
-  if (!array) {
-    return false;
-  }
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  unitree_api__msg__ResponseStatus * data = NULL;
-
-  if (size) {
-    data = (unitree_api__msg__ResponseStatus *)allocator.zero_allocate(size, sizeof(unitree_api__msg__ResponseStatus), allocator.state);
-    if (!data) {
-      return false;
-    }
-    // initialize all array elements
-    size_t i;
-    for (i = 0; i < size; ++i) {
-      bool success = unitree_api__msg__ResponseStatus__init(&data[i]);
-      if (!success) {
-        break;
-      }
-    }
-    if (i < size) {
-      // if initialization failed finalize the already initialized array elements
-      for (; i > 0; --i) {
-        unitree_api__msg__ResponseStatus__fini(&data[i - 1]);
-      }
-      allocator.deallocate(data, allocator.state);
-      return false;
-    }
-  }
-  array->data = data;
-  array->size = size;
-  array->capacity = size;
-  return true;
-}
-
-void
-unitree_api__msg__ResponseStatus__Sequence__fini(unitree_api__msg__ResponseStatus__Sequence * array)
-{
-  if (!array) {
-    return;
-  }
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-
-  if (array->data) {
-    // ensure that data and capacity values are consistent
-    assert(array->capacity > 0);
-    // finalize all array elements
-    for (size_t i = 0; i < array->capacity; ++i) {
-      unitree_api__msg__ResponseStatus__fini(&array->data[i]);
-    }
-    allocator.deallocate(array->data, allocator.state);
-    array->data = NULL;
-    array->size = 0;
-    array->capacity = 0;
-  } else {
-    // ensure that data, size, and capacity values are consistent
-    assert(0 == array->size);
-    assert(0 == array->capacity);
-  }
-}
-
-unitree_api__msg__ResponseStatus__Sequence *
-unitree_api__msg__ResponseStatus__Sequence__create(size_t size)
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  unitree_api__msg__ResponseStatus__Sequence * array = (unitree_api__msg__ResponseStatus__Sequence *)allocator.allocate(sizeof(unitree_api__msg__ResponseStatus__Sequence), allocator.state);
-  if (!array) {
-    return NULL;
-  }
-  bool success = unitree_api__msg__ResponseStatus__Sequence__init(array, size);
-  if (!success) {
-    allocator.deallocate(array, allocator.state);
-    return NULL;
-  }
-  return array;
-}
-
-void
-unitree_api__msg__ResponseStatus__Sequence__destroy(unitree_api__msg__ResponseStatus__Sequence * array)
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  if (array) {
-    unitree_api__msg__ResponseStatus__Sequence__fini(array);
-  }
-  allocator.deallocate(array, allocator.state);
-}
-
-bool
-unitree_api__msg__ResponseStatus__Sequence__are_equal(const unitree_api__msg__ResponseStatus__Sequence * lhs, const unitree_api__msg__ResponseStatus__Sequence * rhs)
-{
-  if (!lhs || !rhs) {
-    return false;
-  }
-  if (lhs->size != rhs->size) {
-    return false;
-  }
-  for (size_t i = 0; i < lhs->size; ++i) {
-    if (!unitree_api__msg__ResponseStatus__are_equal(&(lhs->data[i]), &(rhs->data[i]))) {
-      return false;
-    }
-  }
-  return true;
-}
-
-bool
-unitree_api__msg__ResponseStatus__Sequence__copy(
-  const unitree_api__msg__ResponseStatus__Sequence * input,
-  unitree_api__msg__ResponseStatus__Sequence * output)
-{
-  if (!input || !output) {
-    return false;
-  }
-  if (output->capacity < input->size) {
-    const size_t allocation_size =
-      input->size * sizeof(unitree_api__msg__ResponseStatus);
-    unitree_api__msg__ResponseStatus * data =
-      (unitree_api__msg__ResponseStatus *)realloc(output->data, allocation_size);
-    if (!data) {
-      return false;
-    }
-    for (size_t i = output->capacity; i < input->size; ++i) {
-      if (!unitree_api__msg__ResponseStatus__init(&data[i])) {
-        /* free currently allocated and return false */
-        for (; i-- > output->capacity; ) {
-          unitree_api__msg__ResponseStatus__fini(&data[i]);
-        }
-        free(data);
-        return false;
-      }
-    }
-    output->data = data;
-    output->capacity = input->size;
-  }
-  output->size = input->size;
-  for (size_t i = 0; i < input->size; ++i) {
-    if (!unitree_api__msg__ResponseStatus__copy(
-        &(input->data[i]), &(output->data[i])))
-    {
-      return false;
-    }
-  }
-  return true;
-}
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_status__functions.h b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_status__functions.h
deleted file mode 100644
index 58b8246..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_status__functions.h
+++ /dev/null
@@ -1,177 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__functions.h.em
-// with input from unitree_api:msg/ResponseStatus.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__DETAIL__RESPONSE_STATUS__FUNCTIONS_H_
-#define UNITREE_API__MSG__DETAIL__RESPONSE_STATUS__FUNCTIONS_H_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include <stdbool.h>
-#include <stdlib.h>
-
-#include "rosidl_runtime_c/visibility_control.h"
-#include "unitree_api/msg/rosidl_generator_c__visibility_control.h"
-
-#include "unitree_api/msg/detail/response_status__struct.h"
-
-/// Initialize msg/ResponseStatus message.
-/**
- * If the init function is called twice for the same message without
- * calling fini inbetween previously allocated memory will be leaked.
- * \param[in,out] msg The previously allocated message pointer.
- * Fields without a default value will not be initialized by this function.
- * You might want to call memset(msg, 0, sizeof(
- * unitree_api__msg__ResponseStatus
- * )) before or use
- * unitree_api__msg__ResponseStatus__create()
- * to allocate and initialize the message.
- * \return true if initialization was successful, otherwise false
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-bool
-unitree_api__msg__ResponseStatus__init(unitree_api__msg__ResponseStatus * msg);
-
-/// Finalize msg/ResponseStatus message.
-/**
- * \param[in,out] msg The allocated message pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-void
-unitree_api__msg__ResponseStatus__fini(unitree_api__msg__ResponseStatus * msg);
-
-/// Create msg/ResponseStatus message.
-/**
- * It allocates the memory for the message, sets the memory to zero, and
- * calls
- * unitree_api__msg__ResponseStatus__init().
- * \return The pointer to the initialized message if successful,
- * otherwise NULL
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-unitree_api__msg__ResponseStatus *
-unitree_api__msg__ResponseStatus__create();
-
-/// Destroy msg/ResponseStatus message.
-/**
- * It calls
- * unitree_api__msg__ResponseStatus__fini()
- * and frees the memory of the message.
- * \param[in,out] msg The allocated message pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-void
-unitree_api__msg__ResponseStatus__destroy(unitree_api__msg__ResponseStatus * msg);
-
-/// Check for msg/ResponseStatus message equality.
-/**
- * \param[in] lhs The message on the left hand size of the equality operator.
- * \param[in] rhs The message on the right hand size of the equality operator.
- * \return true if messages are equal, otherwise false.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-bool
-unitree_api__msg__ResponseStatus__are_equal(const unitree_api__msg__ResponseStatus * lhs, const unitree_api__msg__ResponseStatus * rhs);
-
-/// Copy a msg/ResponseStatus message.
-/**
- * This functions performs a deep copy, as opposed to the shallow copy that
- * plain assignment yields.
- *
- * \param[in] input The source message pointer.
- * \param[out] output The target message pointer, which must
- *   have been initialized before calling this function.
- * \return true if successful, or false if either pointer is null
- *   or memory allocation fails.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-bool
-unitree_api__msg__ResponseStatus__copy(
-  const unitree_api__msg__ResponseStatus * input,
-  unitree_api__msg__ResponseStatus * output);
-
-/// Initialize array of msg/ResponseStatus messages.
-/**
- * It allocates the memory for the number of elements and calls
- * unitree_api__msg__ResponseStatus__init()
- * for each element of the array.
- * \param[in,out] array The allocated array pointer.
- * \param[in] size The size / capacity of the array.
- * \return true if initialization was successful, otherwise false
- * If the array pointer is valid and the size is zero it is guaranteed
- # to return true.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-bool
-unitree_api__msg__ResponseStatus__Sequence__init(unitree_api__msg__ResponseStatus__Sequence * array, size_t size);
-
-/// Finalize array of msg/ResponseStatus messages.
-/**
- * It calls
- * unitree_api__msg__ResponseStatus__fini()
- * for each element of the array and frees the memory for the number of
- * elements.
- * \param[in,out] array The initialized array pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-void
-unitree_api__msg__ResponseStatus__Sequence__fini(unitree_api__msg__ResponseStatus__Sequence * array);
-
-/// Create array of msg/ResponseStatus messages.
-/**
- * It allocates the memory for the array and calls
- * unitree_api__msg__ResponseStatus__Sequence__init().
- * \param[in] size The size / capacity of the array.
- * \return The pointer to the initialized array if successful, otherwise NULL
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-unitree_api__msg__ResponseStatus__Sequence *
-unitree_api__msg__ResponseStatus__Sequence__create(size_t size);
-
-/// Destroy array of msg/ResponseStatus messages.
-/**
- * It calls
- * unitree_api__msg__ResponseStatus__Sequence__fini()
- * on the array,
- * and frees the memory of the array.
- * \param[in,out] array The initialized array pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-void
-unitree_api__msg__ResponseStatus__Sequence__destroy(unitree_api__msg__ResponseStatus__Sequence * array);
-
-/// Check for msg/ResponseStatus message array equality.
-/**
- * \param[in] lhs The message array on the left hand size of the equality operator.
- * \param[in] rhs The message array on the right hand size of the equality operator.
- * \return true if message arrays are equal in size and content, otherwise false.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-bool
-unitree_api__msg__ResponseStatus__Sequence__are_equal(const unitree_api__msg__ResponseStatus__Sequence * lhs, const unitree_api__msg__ResponseStatus__Sequence * rhs);
-
-/// Copy an array of msg/ResponseStatus messages.
-/**
- * This functions performs a deep copy, as opposed to the shallow copy that
- * plain assignment yields.
- *
- * \param[in] input The source array pointer.
- * \param[out] output The target array pointer, which must
- *   have been initialized before calling this function.
- * \return true if successful, or false if either pointer
- *   is null or memory allocation fails.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-bool
-unitree_api__msg__ResponseStatus__Sequence__copy(
-  const unitree_api__msg__ResponseStatus__Sequence * input,
-  unitree_api__msg__ResponseStatus__Sequence * output);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_API__MSG__DETAIL__RESPONSE_STATUS__FUNCTIONS_H_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_status__rosidl_typesupport_fastrtps_c.h b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_status__rosidl_typesupport_fastrtps_c.h
deleted file mode 100644
index c7a090f..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_status__rosidl_typesupport_fastrtps_c.h
+++ /dev/null
@@ -1,36 +0,0 @@
-// generated from rosidl_typesupport_fastrtps_c/resource/idl__rosidl_typesupport_fastrtps_c.h.em
-// with input from unitree_api:msg/ResponseStatus.idl
-// generated code does not contain a copyright notice
-#ifndef UNITREE_API__MSG__DETAIL__RESPONSE_STATUS__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_
-#define UNITREE_API__MSG__DETAIL__RESPONSE_STATUS__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_
-
-
-#include <stddef.h>
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_api/msg/rosidl_typesupport_fastrtps_c__visibility_control.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_api
-size_t get_serialized_size_unitree_api__msg__ResponseStatus(
-  const void * untyped_ros_message,
-  size_t current_alignment);
-
-ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_api
-size_t max_serialized_size_unitree_api__msg__ResponseStatus(
-  bool & full_bounded,
-  size_t current_alignment);
-
-ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_api
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_fastrtps_c, unitree_api, msg, ResponseStatus)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_API__MSG__DETAIL__RESPONSE_STATUS__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_status__rosidl_typesupport_fastrtps_cpp.hpp b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_status__rosidl_typesupport_fastrtps_cpp.hpp
deleted file mode 100644
index f21d788..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_status__rosidl_typesupport_fastrtps_cpp.hpp
+++ /dev/null
@@ -1,79 +0,0 @@
-// generated from rosidl_typesupport_fastrtps_cpp/resource/idl__rosidl_typesupport_fastrtps_cpp.hpp.em
-// with input from unitree_api:msg/ResponseStatus.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__DETAIL__RESPONSE_STATUS__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_
-#define UNITREE_API__MSG__DETAIL__RESPONSE_STATUS__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_api/msg/rosidl_typesupport_fastrtps_cpp__visibility_control.h"
-#include "unitree_api/msg/detail/response_status__struct.hpp"
-
-#ifndef _WIN32
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wunused-parameter"
-# ifdef __clang__
-#  pragma clang diagnostic ignored "-Wdeprecated-register"
-#  pragma clang diagnostic ignored "-Wreturn-type-c-linkage"
-# endif
-#endif
-#ifndef _WIN32
-# pragma GCC diagnostic pop
-#endif
-
-#include "fastcdr/Cdr.h"
-
-namespace unitree_api
-{
-
-namespace msg
-{
-
-namespace typesupport_fastrtps_cpp
-{
-
-bool
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_api
-cdr_serialize(
-  const unitree_api::msg::ResponseStatus & ros_message,
-  eprosima::fastcdr::Cdr & cdr);
-
-bool
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_api
-cdr_deserialize(
-  eprosima::fastcdr::Cdr & cdr,
-  unitree_api::msg::ResponseStatus & ros_message);
-
-size_t
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_api
-get_serialized_size(
-  const unitree_api::msg::ResponseStatus & ros_message,
-  size_t current_alignment);
-
-size_t
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_api
-max_serialized_size_ResponseStatus(
-  bool & full_bounded,
-  size_t current_alignment);
-
-}  // namespace typesupport_fastrtps_cpp
-
-}  // namespace msg
-
-}  // namespace unitree_api
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_api
-const rosidl_message_type_support_t *
-  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_fastrtps_cpp, unitree_api, msg, ResponseStatus)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_API__MSG__DETAIL__RESPONSE_STATUS__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_status__rosidl_typesupport_introspection_c.h b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_status__rosidl_typesupport_introspection_c.h
deleted file mode 100644
index 8c3106c..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_status__rosidl_typesupport_introspection_c.h
+++ /dev/null
@@ -1,26 +0,0 @@
-// generated from rosidl_typesupport_introspection_c/resource/idl__rosidl_typesupport_introspection_c.h.em
-// with input from unitree_api:msg/ResponseStatus.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__DETAIL__RESPONSE_STATUS__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
-#define UNITREE_API__MSG__DETAIL__RESPONSE_STATUS__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_api/msg/rosidl_typesupport_introspection_c__visibility_control.h"
-
-ROSIDL_TYPESUPPORT_INTROSPECTION_C_PUBLIC_unitree_api
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, unitree_api, msg, ResponseStatus)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_API__MSG__DETAIL__RESPONSE_STATUS__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_status__rosidl_typesupport_introspection_cpp.hpp b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_status__rosidl_typesupport_introspection_cpp.hpp
deleted file mode 100644
index 7a8ab2e..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_status__rosidl_typesupport_introspection_cpp.hpp
+++ /dev/null
@@ -1,27 +0,0 @@
-// generated from rosidl_typesupport_introspection_cpp/resource/idl__rosidl_typesupport_introspection_cpp.h.em
-// with input from unitree_api:msg/ResponseStatus.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__DETAIL__RESPONSE_STATUS__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_
-#define UNITREE_API__MSG__DETAIL__RESPONSE_STATUS__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_
-
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "rosidl_typesupport_introspection_cpp/visibility_control.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-// TODO(dirk-thomas) these visibility macros should be message package specific
-ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
-const rosidl_message_type_support_t *
-  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_cpp, unitree_api, msg, ResponseStatus)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_API__MSG__DETAIL__RESPONSE_STATUS__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_status__struct.h b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_status__struct.h
deleted file mode 100644
index fc12219..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_status__struct.h
+++ /dev/null
@@ -1,40 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__struct.h.em
-// with input from unitree_api:msg/ResponseStatus.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__DETAIL__RESPONSE_STATUS__STRUCT_H_
-#define UNITREE_API__MSG__DETAIL__RESPONSE_STATUS__STRUCT_H_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include <stdbool.h>
-#include <stddef.h>
-#include <stdint.h>
-
-
-// Constants defined in the message
-
-// Struct defined in msg/ResponseStatus in the package unitree_api.
-typedef struct unitree_api__msg__ResponseStatus
-{
-  int32_t code;
-} unitree_api__msg__ResponseStatus;
-
-// Struct for a sequence of unitree_api__msg__ResponseStatus.
-typedef struct unitree_api__msg__ResponseStatus__Sequence
-{
-  unitree_api__msg__ResponseStatus * data;
-  /// The number of valid items in data
-  size_t size;
-  /// The number of allocated items in data
-  size_t capacity;
-} unitree_api__msg__ResponseStatus__Sequence;
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_API__MSG__DETAIL__RESPONSE_STATUS__STRUCT_H_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_status__struct.hpp b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_status__struct.hpp
deleted file mode 100644
index 126d908..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_status__struct.hpp
+++ /dev/null
@@ -1,130 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__struct.hpp.em
-// with input from unitree_api:msg/ResponseStatus.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__DETAIL__RESPONSE_STATUS__STRUCT_HPP_
-#define UNITREE_API__MSG__DETAIL__RESPONSE_STATUS__STRUCT_HPP_
-
-#include <rosidl_runtime_cpp/bounded_vector.hpp>
-#include <rosidl_runtime_cpp/message_initialization.hpp>
-#include <algorithm>
-#include <array>
-#include <memory>
-#include <string>
-#include <vector>
-
-
-#ifndef _WIN32
-# define DEPRECATED__unitree_api__msg__ResponseStatus __attribute__((deprecated))
-#else
-# define DEPRECATED__unitree_api__msg__ResponseStatus __declspec(deprecated)
-#endif
-
-namespace unitree_api
-{
-
-namespace msg
-{
-
-// message struct
-template<class ContainerAllocator>
-struct ResponseStatus_
-{
-  using Type = ResponseStatus_<ContainerAllocator>;
-
-  explicit ResponseStatus_(rosidl_runtime_cpp::MessageInitialization _init = rosidl_runtime_cpp::MessageInitialization::ALL)
-  {
-    if (rosidl_runtime_cpp::MessageInitialization::ALL == _init ||
-      rosidl_runtime_cpp::MessageInitialization::ZERO == _init)
-    {
-      this->code = 0l;
-    }
-  }
-
-  explicit ResponseStatus_(const ContainerAllocator & _alloc, rosidl_runtime_cpp::MessageInitialization _init = rosidl_runtime_cpp::MessageInitialization::ALL)
-  {
-    (void)_alloc;
-    if (rosidl_runtime_cpp::MessageInitialization::ALL == _init ||
-      rosidl_runtime_cpp::MessageInitialization::ZERO == _init)
-    {
-      this->code = 0l;
-    }
-  }
-
-  // field types and members
-  using _code_type =
-    int32_t;
-  _code_type code;
-
-  // setters for named parameter idiom
-  Type & set__code(
-    const int32_t & _arg)
-  {
-    this->code = _arg;
-    return *this;
-  }
-
-  // constant declarations
-
-  // pointer types
-  using RawPtr =
-    unitree_api::msg::ResponseStatus_<ContainerAllocator> *;
-  using ConstRawPtr =
-    const unitree_api::msg::ResponseStatus_<ContainerAllocator> *;
-  using SharedPtr =
-    std::shared_ptr<unitree_api::msg::ResponseStatus_<ContainerAllocator>>;
-  using ConstSharedPtr =
-    std::shared_ptr<unitree_api::msg::ResponseStatus_<ContainerAllocator> const>;
-
-  template<typename Deleter = std::default_delete<
-      unitree_api::msg::ResponseStatus_<ContainerAllocator>>>
-  using UniquePtrWithDeleter =
-    std::unique_ptr<unitree_api::msg::ResponseStatus_<ContainerAllocator>, Deleter>;
-
-  using UniquePtr = UniquePtrWithDeleter<>;
-
-  template<typename Deleter = std::default_delete<
-      unitree_api::msg::ResponseStatus_<ContainerAllocator>>>
-  using ConstUniquePtrWithDeleter =
-    std::unique_ptr<unitree_api::msg::ResponseStatus_<ContainerAllocator> const, Deleter>;
-  using ConstUniquePtr = ConstUniquePtrWithDeleter<>;
-
-  using WeakPtr =
-    std::weak_ptr<unitree_api::msg::ResponseStatus_<ContainerAllocator>>;
-  using ConstWeakPtr =
-    std::weak_ptr<unitree_api::msg::ResponseStatus_<ContainerAllocator> const>;
-
-  // pointer types similar to ROS 1, use SharedPtr / ConstSharedPtr instead
-  // NOTE: Can't use 'using' here because GNU C++ can't parse attributes properly
-  typedef DEPRECATED__unitree_api__msg__ResponseStatus
-    std::shared_ptr<unitree_api::msg::ResponseStatus_<ContainerAllocator>>
-    Ptr;
-  typedef DEPRECATED__unitree_api__msg__ResponseStatus
-    std::shared_ptr<unitree_api::msg::ResponseStatus_<ContainerAllocator> const>
-    ConstPtr;
-
-  // comparison operators
-  bool operator==(const ResponseStatus_ & other) const
-  {
-    if (this->code != other.code) {
-      return false;
-    }
-    return true;
-  }
-  bool operator!=(const ResponseStatus_ & other) const
-  {
-    return !this->operator==(other);
-  }
-};  // struct ResponseStatus_
-
-// alias to use template instance with default allocator
-using ResponseStatus =
-  unitree_api::msg::ResponseStatus_<std::allocator<void>>;
-
-// constant definitions
-
-}  // namespace msg
-
-}  // namespace unitree_api
-
-#endif  // UNITREE_API__MSG__DETAIL__RESPONSE_STATUS__STRUCT_HPP_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_status__traits.hpp b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_status__traits.hpp
deleted file mode 100644
index 928afdf..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_status__traits.hpp
+++ /dev/null
@@ -1,42 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__traits.hpp.em
-// with input from unitree_api:msg/ResponseStatus.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__DETAIL__RESPONSE_STATUS__TRAITS_HPP_
-#define UNITREE_API__MSG__DETAIL__RESPONSE_STATUS__TRAITS_HPP_
-
-#include "unitree_api/msg/detail/response_status__struct.hpp"
-#include <rosidl_runtime_cpp/traits.hpp>
-#include <stdint.h>
-#include <type_traits>
-
-namespace rosidl_generator_traits
-{
-
-template<>
-inline const char * data_type<unitree_api::msg::ResponseStatus>()
-{
-  return "unitree_api::msg::ResponseStatus";
-}
-
-template<>
-inline const char * name<unitree_api::msg::ResponseStatus>()
-{
-  return "unitree_api/msg/ResponseStatus";
-}
-
-template<>
-struct has_fixed_size<unitree_api::msg::ResponseStatus>
-  : std::integral_constant<bool, true> {};
-
-template<>
-struct has_bounded_size<unitree_api::msg::ResponseStatus>
-  : std::integral_constant<bool, true> {};
-
-template<>
-struct is_message<unitree_api::msg::ResponseStatus>
-  : std::true_type {};
-
-}  // namespace rosidl_generator_traits
-
-#endif  // UNITREE_API__MSG__DETAIL__RESPONSE_STATUS__TRAITS_HPP_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_status__type_support.c b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_status__type_support.c
deleted file mode 100644
index 91fa969..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_status__type_support.c
+++ /dev/null
@@ -1,81 +0,0 @@
-// generated from rosidl_typesupport_introspection_c/resource/idl__type_support.c.em
-// with input from unitree_api:msg/ResponseStatus.idl
-// generated code does not contain a copyright notice
-
-#include <stddef.h>
-#include "unitree_api/msg/detail/response_status__rosidl_typesupport_introspection_c.h"
-#include "unitree_api/msg/rosidl_typesupport_introspection_c__visibility_control.h"
-#include "rosidl_typesupport_introspection_c/field_types.h"
-#include "rosidl_typesupport_introspection_c/identifier.h"
-#include "rosidl_typesupport_introspection_c/message_introspection.h"
-#include "unitree_api/msg/detail/response_status__functions.h"
-#include "unitree_api/msg/detail/response_status__struct.h"
-
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-void ResponseStatus__rosidl_typesupport_introspection_c__ResponseStatus_init_function(
-  void * message_memory, enum rosidl_runtime_c__message_initialization _init)
-{
-  // TODO(karsten1987): initializers are not yet implemented for typesupport c
-  // see https://github.com/ros2/ros2/issues/397
-  (void) _init;
-  unitree_api__msg__ResponseStatus__init(message_memory);
-}
-
-void ResponseStatus__rosidl_typesupport_introspection_c__ResponseStatus_fini_function(void * message_memory)
-{
-  unitree_api__msg__ResponseStatus__fini(message_memory);
-}
-
-static rosidl_typesupport_introspection_c__MessageMember ResponseStatus__rosidl_typesupport_introspection_c__ResponseStatus_message_member_array[1] = {
-  {
-    "code",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_INT32,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_api__msg__ResponseStatus, code),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  }
-};
-
-static const rosidl_typesupport_introspection_c__MessageMembers ResponseStatus__rosidl_typesupport_introspection_c__ResponseStatus_message_members = {
-  "unitree_api__msg",  // message namespace
-  "ResponseStatus",  // message name
-  1,  // number of fields
-  sizeof(unitree_api__msg__ResponseStatus),
-  ResponseStatus__rosidl_typesupport_introspection_c__ResponseStatus_message_member_array,  // message members
-  ResponseStatus__rosidl_typesupport_introspection_c__ResponseStatus_init_function,  // function to initialize message memory (memory has to be allocated)
-  ResponseStatus__rosidl_typesupport_introspection_c__ResponseStatus_fini_function  // function to terminate message instance (will not free memory)
-};
-
-// this is not const since it must be initialized on first access
-// since C does not allow non-integral compile-time constants
-static rosidl_message_type_support_t ResponseStatus__rosidl_typesupport_introspection_c__ResponseStatus_message_type_support_handle = {
-  0,
-  &ResponseStatus__rosidl_typesupport_introspection_c__ResponseStatus_message_members,
-  get_message_typesupport_handle_function,
-};
-
-ROSIDL_TYPESUPPORT_INTROSPECTION_C_EXPORT_unitree_api
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, unitree_api, msg, ResponseStatus)() {
-  if (!ResponseStatus__rosidl_typesupport_introspection_c__ResponseStatus_message_type_support_handle.typesupport_identifier) {
-    ResponseStatus__rosidl_typesupport_introspection_c__ResponseStatus_message_type_support_handle.typesupport_identifier =
-      rosidl_typesupport_introspection_c__identifier;
-  }
-  return &ResponseStatus__rosidl_typesupport_introspection_c__ResponseStatus_message_type_support_handle;
-}
-#ifdef __cplusplus
-}
-#endif
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_status__type_support.cpp b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_status__type_support.cpp
deleted file mode 100644
index 69fe8f4..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_status__type_support.cpp
+++ /dev/null
@@ -1,107 +0,0 @@
-// generated from rosidl_typesupport_introspection_cpp/resource/idl__type_support.cpp.em
-// with input from unitree_api:msg/ResponseStatus.idl
-// generated code does not contain a copyright notice
-
-#include "array"
-#include "cstddef"
-#include "string"
-#include "vector"
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_cpp/message_type_support.hpp"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_api/msg/detail/response_status__struct.hpp"
-#include "rosidl_typesupport_introspection_cpp/field_types.hpp"
-#include "rosidl_typesupport_introspection_cpp/identifier.hpp"
-#include "rosidl_typesupport_introspection_cpp/message_introspection.hpp"
-#include "rosidl_typesupport_introspection_cpp/message_type_support_decl.hpp"
-#include "rosidl_typesupport_introspection_cpp/visibility_control.h"
-
-namespace unitree_api
-{
-
-namespace msg
-{
-
-namespace rosidl_typesupport_introspection_cpp
-{
-
-void ResponseStatus_init_function(
-  void * message_memory, rosidl_runtime_cpp::MessageInitialization _init)
-{
-  new (message_memory) unitree_api::msg::ResponseStatus(_init);
-}
-
-void ResponseStatus_fini_function(void * message_memory)
-{
-  auto typed_message = static_cast<unitree_api::msg::ResponseStatus *>(message_memory);
-  typed_message->~ResponseStatus();
-}
-
-static const ::rosidl_typesupport_introspection_cpp::MessageMember ResponseStatus_message_member_array[1] = {
-  {
-    "code",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_INT32,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_api::msg::ResponseStatus, code),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  }
-};
-
-static const ::rosidl_typesupport_introspection_cpp::MessageMembers ResponseStatus_message_members = {
-  "unitree_api::msg",  // message namespace
-  "ResponseStatus",  // message name
-  1,  // number of fields
-  sizeof(unitree_api::msg::ResponseStatus),
-  ResponseStatus_message_member_array,  // message members
-  ResponseStatus_init_function,  // function to initialize message memory (memory has to be allocated)
-  ResponseStatus_fini_function  // function to terminate message instance (will not free memory)
-};
-
-static const rosidl_message_type_support_t ResponseStatus_message_type_support_handle = {
-  ::rosidl_typesupport_introspection_cpp::typesupport_identifier,
-  &ResponseStatus_message_members,
-  get_message_typesupport_handle_function,
-};
-
-}  // namespace rosidl_typesupport_introspection_cpp
-
-}  // namespace msg
-
-}  // namespace unitree_api
-
-
-namespace rosidl_typesupport_introspection_cpp
-{
-
-template<>
-ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
-const rosidl_message_type_support_t *
-get_message_type_support_handle<unitree_api::msg::ResponseStatus>()
-{
-  return &::unitree_api::msg::rosidl_typesupport_introspection_cpp::ResponseStatus_message_type_support_handle;
-}
-
-}  // namespace rosidl_typesupport_introspection_cpp
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_cpp, unitree_api, msg, ResponseStatus)() {
-  return &::unitree_api::msg::rosidl_typesupport_introspection_cpp::ResponseStatus_message_type_support_handle;
-}
-
-#ifdef __cplusplus
-}
-#endif
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_status__type_support.h b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_status__type_support.h
deleted file mode 100644
index fa14f97..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_status__type_support.h
+++ /dev/null
@@ -1,33 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__type_support.h.em
-// with input from unitree_api:msg/ResponseStatus.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__DETAIL__RESPONSE_STATUS__TYPE_SUPPORT_H_
-#define UNITREE_API__MSG__DETAIL__RESPONSE_STATUS__TYPE_SUPPORT_H_
-
-#include "rosidl_typesupport_interface/macros.h"
-
-#include "unitree_api/msg/rosidl_generator_c__visibility_control.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-
-// Forward declare the get type support functions for this type.
-ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
-  rosidl_typesupport_c,
-  unitree_api,
-  msg,
-  ResponseStatus
-)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_API__MSG__DETAIL__RESPONSE_STATUS__TYPE_SUPPORT_H_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_status__type_support.hpp b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_status__type_support.hpp
deleted file mode 100644
index 733b937..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_status__type_support.hpp
+++ /dev/null
@@ -1,31 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__type_support.hpp.em
-// with input from unitree_api:msg/ResponseStatus.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__DETAIL__RESPONSE_STATUS__TYPE_SUPPORT_HPP_
-#define UNITREE_API__MSG__DETAIL__RESPONSE_STATUS__TYPE_SUPPORT_HPP_
-
-#include "rosidl_typesupport_interface/macros.h"
-
-#include "unitree_api/msg/rosidl_generator_cpp__visibility_control.hpp"
-
-#include "rosidl_typesupport_cpp/message_type_support.hpp"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-// Forward declare the get type support functions for this type.
-ROSIDL_GENERATOR_CPP_PUBLIC_unitree_api
-const rosidl_message_type_support_t *
-  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
-  rosidl_typesupport_cpp,
-  unitree_api,
-  msg,
-  ResponseStatus
-)();
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_API__MSG__DETAIL__RESPONSE_STATUS__TYPE_SUPPORT_HPP_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/request.h b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/request.h
deleted file mode 100644
index 49432ff..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/request.h
+++ /dev/null
@@ -1,12 +0,0 @@
-// generated from rosidl_generator_c/resource/idl.h.em
-// with input from unitree_api:msg/Request.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__REQUEST_H_
-#define UNITREE_API__MSG__REQUEST_H_
-
-#include "unitree_api/msg/detail/request__struct.h"
-#include "unitree_api/msg/detail/request__functions.h"
-#include "unitree_api/msg/detail/request__type_support.h"
-
-#endif  // UNITREE_API__MSG__REQUEST_H_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/request.hpp b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/request.hpp
deleted file mode 100644
index f537925..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/request.hpp
+++ /dev/null
@@ -1,12 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl.hpp.em
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__REQUEST_HPP_
-#define UNITREE_API__MSG__REQUEST_HPP_
-
-#include "unitree_api/msg/detail/request__struct.hpp"
-#include "unitree_api/msg/detail/request__builder.hpp"
-#include "unitree_api/msg/detail/request__traits.hpp"
-#include "unitree_api/msg/detail/request__type_support.hpp"
-
-#endif  // UNITREE_API__MSG__REQUEST_HPP_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/request_header.h b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/request_header.h
deleted file mode 100644
index db176d4..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/request_header.h
+++ /dev/null
@@ -1,12 +0,0 @@
-// generated from rosidl_generator_c/resource/idl.h.em
-// with input from unitree_api:msg/RequestHeader.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__REQUEST_HEADER_H_
-#define UNITREE_API__MSG__REQUEST_HEADER_H_
-
-#include "unitree_api/msg/detail/request_header__struct.h"
-#include "unitree_api/msg/detail/request_header__functions.h"
-#include "unitree_api/msg/detail/request_header__type_support.h"
-
-#endif  // UNITREE_API__MSG__REQUEST_HEADER_H_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/request_header.hpp b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/request_header.hpp
deleted file mode 100644
index e5468b2..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/request_header.hpp
+++ /dev/null
@@ -1,12 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl.hpp.em
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__REQUEST_HEADER_HPP_
-#define UNITREE_API__MSG__REQUEST_HEADER_HPP_
-
-#include "unitree_api/msg/detail/request_header__struct.hpp"
-#include "unitree_api/msg/detail/request_header__builder.hpp"
-#include "unitree_api/msg/detail/request_header__traits.hpp"
-#include "unitree_api/msg/detail/request_header__type_support.hpp"
-
-#endif  // UNITREE_API__MSG__REQUEST_HEADER_HPP_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/request_identity.h b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/request_identity.h
deleted file mode 100644
index e818b2f..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/request_identity.h
+++ /dev/null
@@ -1,12 +0,0 @@
-// generated from rosidl_generator_c/resource/idl.h.em
-// with input from unitree_api:msg/RequestIdentity.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__REQUEST_IDENTITY_H_
-#define UNITREE_API__MSG__REQUEST_IDENTITY_H_
-
-#include "unitree_api/msg/detail/request_identity__struct.h"
-#include "unitree_api/msg/detail/request_identity__functions.h"
-#include "unitree_api/msg/detail/request_identity__type_support.h"
-
-#endif  // UNITREE_API__MSG__REQUEST_IDENTITY_H_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/request_identity.hpp b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/request_identity.hpp
deleted file mode 100644
index 06e0041..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/request_identity.hpp
+++ /dev/null
@@ -1,12 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl.hpp.em
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__REQUEST_IDENTITY_HPP_
-#define UNITREE_API__MSG__REQUEST_IDENTITY_HPP_
-
-#include "unitree_api/msg/detail/request_identity__struct.hpp"
-#include "unitree_api/msg/detail/request_identity__builder.hpp"
-#include "unitree_api/msg/detail/request_identity__traits.hpp"
-#include "unitree_api/msg/detail/request_identity__type_support.hpp"
-
-#endif  // UNITREE_API__MSG__REQUEST_IDENTITY_HPP_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/request_lease.h b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/request_lease.h
deleted file mode 100644
index 5774e17..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/request_lease.h
+++ /dev/null
@@ -1,12 +0,0 @@
-// generated from rosidl_generator_c/resource/idl.h.em
-// with input from unitree_api:msg/RequestLease.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__REQUEST_LEASE_H_
-#define UNITREE_API__MSG__REQUEST_LEASE_H_
-
-#include "unitree_api/msg/detail/request_lease__struct.h"
-#include "unitree_api/msg/detail/request_lease__functions.h"
-#include "unitree_api/msg/detail/request_lease__type_support.h"
-
-#endif  // UNITREE_API__MSG__REQUEST_LEASE_H_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/request_lease.hpp b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/request_lease.hpp
deleted file mode 100644
index 9869d1a..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/request_lease.hpp
+++ /dev/null
@@ -1,12 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl.hpp.em
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__REQUEST_LEASE_HPP_
-#define UNITREE_API__MSG__REQUEST_LEASE_HPP_
-
-#include "unitree_api/msg/detail/request_lease__struct.hpp"
-#include "unitree_api/msg/detail/request_lease__builder.hpp"
-#include "unitree_api/msg/detail/request_lease__traits.hpp"
-#include "unitree_api/msg/detail/request_lease__type_support.hpp"
-
-#endif  // UNITREE_API__MSG__REQUEST_LEASE_HPP_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/request_policy.h b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/request_policy.h
deleted file mode 100644
index 83f89ee..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/request_policy.h
+++ /dev/null
@@ -1,12 +0,0 @@
-// generated from rosidl_generator_c/resource/idl.h.em
-// with input from unitree_api:msg/RequestPolicy.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__REQUEST_POLICY_H_
-#define UNITREE_API__MSG__REQUEST_POLICY_H_
-
-#include "unitree_api/msg/detail/request_policy__struct.h"
-#include "unitree_api/msg/detail/request_policy__functions.h"
-#include "unitree_api/msg/detail/request_policy__type_support.h"
-
-#endif  // UNITREE_API__MSG__REQUEST_POLICY_H_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/request_policy.hpp b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/request_policy.hpp
deleted file mode 100644
index 389c475..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/request_policy.hpp
+++ /dev/null
@@ -1,12 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl.hpp.em
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__REQUEST_POLICY_HPP_
-#define UNITREE_API__MSG__REQUEST_POLICY_HPP_
-
-#include "unitree_api/msg/detail/request_policy__struct.hpp"
-#include "unitree_api/msg/detail/request_policy__builder.hpp"
-#include "unitree_api/msg/detail/request_policy__traits.hpp"
-#include "unitree_api/msg/detail/request_policy__type_support.hpp"
-
-#endif  // UNITREE_API__MSG__REQUEST_POLICY_HPP_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/response.h b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/response.h
deleted file mode 100644
index 13063dd..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/response.h
+++ /dev/null
@@ -1,12 +0,0 @@
-// generated from rosidl_generator_c/resource/idl.h.em
-// with input from unitree_api:msg/Response.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__RESPONSE_H_
-#define UNITREE_API__MSG__RESPONSE_H_
-
-#include "unitree_api/msg/detail/response__struct.h"
-#include "unitree_api/msg/detail/response__functions.h"
-#include "unitree_api/msg/detail/response__type_support.h"
-
-#endif  // UNITREE_API__MSG__RESPONSE_H_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/response.hpp b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/response.hpp
deleted file mode 100644
index 8af5cc9..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/response.hpp
+++ /dev/null
@@ -1,12 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl.hpp.em
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__RESPONSE_HPP_
-#define UNITREE_API__MSG__RESPONSE_HPP_
-
-#include "unitree_api/msg/detail/response__struct.hpp"
-#include "unitree_api/msg/detail/response__builder.hpp"
-#include "unitree_api/msg/detail/response__traits.hpp"
-#include "unitree_api/msg/detail/response__type_support.hpp"
-
-#endif  // UNITREE_API__MSG__RESPONSE_HPP_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/response_header.h b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/response_header.h
deleted file mode 100644
index 5cba446..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/response_header.h
+++ /dev/null
@@ -1,12 +0,0 @@
-// generated from rosidl_generator_c/resource/idl.h.em
-// with input from unitree_api:msg/ResponseHeader.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__RESPONSE_HEADER_H_
-#define UNITREE_API__MSG__RESPONSE_HEADER_H_
-
-#include "unitree_api/msg/detail/response_header__struct.h"
-#include "unitree_api/msg/detail/response_header__functions.h"
-#include "unitree_api/msg/detail/response_header__type_support.h"
-
-#endif  // UNITREE_API__MSG__RESPONSE_HEADER_H_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/response_header.hpp b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/response_header.hpp
deleted file mode 100644
index 3115d6c..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/response_header.hpp
+++ /dev/null
@@ -1,12 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl.hpp.em
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__RESPONSE_HEADER_HPP_
-#define UNITREE_API__MSG__RESPONSE_HEADER_HPP_
-
-#include "unitree_api/msg/detail/response_header__struct.hpp"
-#include "unitree_api/msg/detail/response_header__builder.hpp"
-#include "unitree_api/msg/detail/response_header__traits.hpp"
-#include "unitree_api/msg/detail/response_header__type_support.hpp"
-
-#endif  // UNITREE_API__MSG__RESPONSE_HEADER_HPP_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/response_status.h b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/response_status.h
deleted file mode 100644
index b01030c..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/response_status.h
+++ /dev/null
@@ -1,12 +0,0 @@
-// generated from rosidl_generator_c/resource/idl.h.em
-// with input from unitree_api:msg/ResponseStatus.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__RESPONSE_STATUS_H_
-#define UNITREE_API__MSG__RESPONSE_STATUS_H_
-
-#include "unitree_api/msg/detail/response_status__struct.h"
-#include "unitree_api/msg/detail/response_status__functions.h"
-#include "unitree_api/msg/detail/response_status__type_support.h"
-
-#endif  // UNITREE_API__MSG__RESPONSE_STATUS_H_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/response_status.hpp b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/response_status.hpp
deleted file mode 100644
index 4e59390..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/response_status.hpp
+++ /dev/null
@@ -1,12 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl.hpp.em
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__RESPONSE_STATUS_HPP_
-#define UNITREE_API__MSG__RESPONSE_STATUS_HPP_
-
-#include "unitree_api/msg/detail/response_status__struct.hpp"
-#include "unitree_api/msg/detail/response_status__builder.hpp"
-#include "unitree_api/msg/detail/response_status__traits.hpp"
-#include "unitree_api/msg/detail/response_status__type_support.hpp"
-
-#endif  // UNITREE_API__MSG__RESPONSE_STATUS_HPP_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/rosidl_generator_c__visibility_control.h b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/rosidl_generator_c__visibility_control.h
deleted file mode 100644
index c3f4c94..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/rosidl_generator_c__visibility_control.h
+++ /dev/null
@@ -1,42 +0,0 @@
-// generated from rosidl_generator_c/resource/rosidl_generator_c__visibility_control.h.in
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__ROSIDL_GENERATOR_C__VISIBILITY_CONTROL_H_
-#define UNITREE_API__MSG__ROSIDL_GENERATOR_C__VISIBILITY_CONTROL_H_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
-//     https://gcc.gnu.org/wiki/Visibility
-
-#if defined _WIN32 || defined __CYGWIN__
-  #ifdef __GNUC__
-    #define ROSIDL_GENERATOR_C_EXPORT_unitree_api __attribute__ ((dllexport))
-    #define ROSIDL_GENERATOR_C_IMPORT_unitree_api __attribute__ ((dllimport))
-  #else
-    #define ROSIDL_GENERATOR_C_EXPORT_unitree_api __declspec(dllexport)
-    #define ROSIDL_GENERATOR_C_IMPORT_unitree_api __declspec(dllimport)
-  #endif
-  #ifdef ROSIDL_GENERATOR_C_BUILDING_DLL_unitree_api
-    #define ROSIDL_GENERATOR_C_PUBLIC_unitree_api ROSIDL_GENERATOR_C_EXPORT_unitree_api
-  #else
-    #define ROSIDL_GENERATOR_C_PUBLIC_unitree_api ROSIDL_GENERATOR_C_IMPORT_unitree_api
-  #endif
-#else
-  #define ROSIDL_GENERATOR_C_EXPORT_unitree_api __attribute__ ((visibility("default")))
-  #define ROSIDL_GENERATOR_C_IMPORT_unitree_api
-  #if __GNUC__ >= 4
-    #define ROSIDL_GENERATOR_C_PUBLIC_unitree_api __attribute__ ((visibility("default")))
-  #else
-    #define ROSIDL_GENERATOR_C_PUBLIC_unitree_api
-  #endif
-#endif
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_API__MSG__ROSIDL_GENERATOR_C__VISIBILITY_CONTROL_H_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/rosidl_generator_cpp__visibility_control.hpp b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/rosidl_generator_cpp__visibility_control.hpp
deleted file mode 100644
index 6444c9a..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/rosidl_generator_cpp__visibility_control.hpp
+++ /dev/null
@@ -1,42 +0,0 @@
-// generated from rosidl_generator_cpp/resource/rosidl_generator_cpp__visibility_control.hpp.in
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__ROSIDL_GENERATOR_CPP__VISIBILITY_CONTROL_HPP_
-#define UNITREE_API__MSG__ROSIDL_GENERATOR_CPP__VISIBILITY_CONTROL_HPP_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
-//     https://gcc.gnu.org/wiki/Visibility
-
-#if defined _WIN32 || defined __CYGWIN__
-  #ifdef __GNUC__
-    #define ROSIDL_GENERATOR_CPP_EXPORT_unitree_api __attribute__ ((dllexport))
-    #define ROSIDL_GENERATOR_CPP_IMPORT_unitree_api __attribute__ ((dllimport))
-  #else
-    #define ROSIDL_GENERATOR_CPP_EXPORT_unitree_api __declspec(dllexport)
-    #define ROSIDL_GENERATOR_CPP_IMPORT_unitree_api __declspec(dllimport)
-  #endif
-  #ifdef ROSIDL_GENERATOR_CPP_BUILDING_DLL_unitree_api
-    #define ROSIDL_GENERATOR_CPP_PUBLIC_unitree_api ROSIDL_GENERATOR_CPP_EXPORT_unitree_api
-  #else
-    #define ROSIDL_GENERATOR_CPP_PUBLIC_unitree_api ROSIDL_GENERATOR_CPP_IMPORT_unitree_api
-  #endif
-#else
-  #define ROSIDL_GENERATOR_CPP_EXPORT_unitree_api __attribute__ ((visibility("default")))
-  #define ROSIDL_GENERATOR_CPP_IMPORT_unitree_api
-  #if __GNUC__ >= 4
-    #define ROSIDL_GENERATOR_CPP_PUBLIC_unitree_api __attribute__ ((visibility("default")))
-  #else
-    #define ROSIDL_GENERATOR_CPP_PUBLIC_unitree_api
-  #endif
-#endif
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_API__MSG__ROSIDL_GENERATOR_CPP__VISIBILITY_CONTROL_HPP_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/rosidl_typesupport_fastrtps_c__visibility_control.h b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/rosidl_typesupport_fastrtps_c__visibility_control.h
deleted file mode 100644
index d8ec81c..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/rosidl_typesupport_fastrtps_c__visibility_control.h
+++ /dev/null
@@ -1,43 +0,0 @@
-// generated from
-// rosidl_typesupport_fastrtps_c/resource/rosidl_typesupport_fastrtps_c__visibility_control.h.in
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__ROSIDL_TYPESUPPORT_FASTRTPS_C__VISIBILITY_CONTROL_H_
-#define UNITREE_API__MSG__ROSIDL_TYPESUPPORT_FASTRTPS_C__VISIBILITY_CONTROL_H_
-
-#if __cplusplus
-extern "C"
-{
-#endif
-
-// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
-//     https://gcc.gnu.org/wiki/Visibility
-
-#if defined _WIN32 || defined __CYGWIN__
-  #ifdef __GNUC__
-    #define ROSIDL_TYPESUPPORT_FASTRTPS_C_EXPORT_unitree_api __attribute__ ((dllexport))
-    #define ROSIDL_TYPESUPPORT_FASTRTPS_C_IMPORT_unitree_api __attribute__ ((dllimport))
-  #else
-    #define ROSIDL_TYPESUPPORT_FASTRTPS_C_EXPORT_unitree_api __declspec(dllexport)
-    #define ROSIDL_TYPESUPPORT_FASTRTPS_C_IMPORT_unitree_api __declspec(dllimport)
-  #endif
-  #ifdef ROSIDL_TYPESUPPORT_FASTRTPS_C_BUILDING_DLL_unitree_api
-    #define ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_api ROSIDL_TYPESUPPORT_FASTRTPS_C_EXPORT_unitree_api
-  #else
-    #define ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_api ROSIDL_TYPESUPPORT_FASTRTPS_C_IMPORT_unitree_api
-  #endif
-#else
-  #define ROSIDL_TYPESUPPORT_FASTRTPS_C_EXPORT_unitree_api __attribute__ ((visibility("default")))
-  #define ROSIDL_TYPESUPPORT_FASTRTPS_C_IMPORT_unitree_api
-  #if __GNUC__ >= 4
-    #define ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_api __attribute__ ((visibility("default")))
-  #else
-    #define ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_api
-  #endif
-#endif
-
-#if __cplusplus
-}
-#endif
-
-#endif  // UNITREE_API__MSG__ROSIDL_TYPESUPPORT_FASTRTPS_C__VISIBILITY_CONTROL_H_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/rosidl_typesupport_fastrtps_cpp__visibility_control.h b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/rosidl_typesupport_fastrtps_cpp__visibility_control.h
deleted file mode 100644
index d43fdba..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/rosidl_typesupport_fastrtps_cpp__visibility_control.h
+++ /dev/null
@@ -1,43 +0,0 @@
-// generated from
-// rosidl_typesupport_fastrtps_cpp/resource/rosidl_typesupport_fastrtps_cpp__visibility_control.h.in
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__ROSIDL_TYPESUPPORT_FASTRTPS_CPP__VISIBILITY_CONTROL_H_
-#define UNITREE_API__MSG__ROSIDL_TYPESUPPORT_FASTRTPS_CPP__VISIBILITY_CONTROL_H_
-
-#if __cplusplus
-extern "C"
-{
-#endif
-
-// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
-//     https://gcc.gnu.org/wiki/Visibility
-
-#if defined _WIN32 || defined __CYGWIN__
-  #ifdef __GNUC__
-    #define ROSIDL_TYPESUPPORT_FASTRTPS_CPP_EXPORT_unitree_api __attribute__ ((dllexport))
-    #define ROSIDL_TYPESUPPORT_FASTRTPS_CPP_IMPORT_unitree_api __attribute__ ((dllimport))
-  #else
-    #define ROSIDL_TYPESUPPORT_FASTRTPS_CPP_EXPORT_unitree_api __declspec(dllexport)
-    #define ROSIDL_TYPESUPPORT_FASTRTPS_CPP_IMPORT_unitree_api __declspec(dllimport)
-  #endif
-  #ifdef ROSIDL_TYPESUPPORT_FASTRTPS_CPP_BUILDING_DLL_unitree_api
-    #define ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_api ROSIDL_TYPESUPPORT_FASTRTPS_CPP_EXPORT_unitree_api
-  #else
-    #define ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_api ROSIDL_TYPESUPPORT_FASTRTPS_CPP_IMPORT_unitree_api
-  #endif
-#else
-  #define ROSIDL_TYPESUPPORT_FASTRTPS_CPP_EXPORT_unitree_api __attribute__ ((visibility("default")))
-  #define ROSIDL_TYPESUPPORT_FASTRTPS_CPP_IMPORT_unitree_api
-  #if __GNUC__ >= 4
-    #define ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_api __attribute__ ((visibility("default")))
-  #else
-    #define ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_api
-  #endif
-#endif
-
-#if __cplusplus
-}
-#endif
-
-#endif  // UNITREE_API__MSG__ROSIDL_TYPESUPPORT_FASTRTPS_CPP__VISIBILITY_CONTROL_H_
diff --git a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/rosidl_typesupport_introspection_c__visibility_control.h b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/rosidl_typesupport_introspection_c__visibility_control.h
deleted file mode 100644
index 22bb9fc..0000000
--- a/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/rosidl_typesupport_introspection_c__visibility_control.h
+++ /dev/null
@@ -1,43 +0,0 @@
-// generated from
-// rosidl_typesupport_introspection_c/resource/rosidl_typesupport_introspection_c__visibility_control.h.in
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_API__MSG__ROSIDL_TYPESUPPORT_INTROSPECTION_C__VISIBILITY_CONTROL_H_
-#define UNITREE_API__MSG__ROSIDL_TYPESUPPORT_INTROSPECTION_C__VISIBILITY_CONTROL_H_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
-//     https://gcc.gnu.org/wiki/Visibility
-
-#if defined _WIN32 || defined __CYGWIN__
-  #ifdef __GNUC__
-    #define ROSIDL_TYPESUPPORT_INTROSPECTION_C_EXPORT_unitree_api __attribute__ ((dllexport))
-    #define ROSIDL_TYPESUPPORT_INTROSPECTION_C_IMPORT_unitree_api __attribute__ ((dllimport))
-  #else
-    #define ROSIDL_TYPESUPPORT_INTROSPECTION_C_EXPORT_unitree_api __declspec(dllexport)
-    #define ROSIDL_TYPESUPPORT_INTROSPECTION_C_IMPORT_unitree_api __declspec(dllimport)
-  #endif
-  #ifdef ROSIDL_TYPESUPPORT_INTROSPECTION_C_BUILDING_DLL_unitree_api
-    #define ROSIDL_TYPESUPPORT_INTROSPECTION_C_PUBLIC_unitree_api ROSIDL_TYPESUPPORT_INTROSPECTION_C_EXPORT_unitree_api
-  #else
-    #define ROSIDL_TYPESUPPORT_INTROSPECTION_C_PUBLIC_unitree_api ROSIDL_TYPESUPPORT_INTROSPECTION_C_IMPORT_unitree_api
-  #endif
-#else
-  #define ROSIDL_TYPESUPPORT_INTROSPECTION_C_EXPORT_unitree_api __attribute__ ((visibility("default")))
-  #define ROSIDL_TYPESUPPORT_INTROSPECTION_C_IMPORT_unitree_api
-  #if __GNUC__ >= 4
-    #define ROSIDL_TYPESUPPORT_INTROSPECTION_C_PUBLIC_unitree_api __attribute__ ((visibility("default")))
-  #else
-    #define ROSIDL_TYPESUPPORT_INTROSPECTION_C_PUBLIC_unitree_api
-  #endif
-#endif
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_API__MSG__ROSIDL_TYPESUPPORT_INTROSPECTION_C__VISIBILITY_CONTROL_H_
diff --git a/deploy/robot_ws/install/unitree_api/lib/python3.8/site-packages/unitree_api/__init__.py b/deploy/robot_ws/install/unitree_api/lib/python3.8/site-packages/unitree_api/__init__.py
deleted file mode 100644
index e69de29..0000000
diff --git a/deploy/robot_ws/install/unitree_api/lib/python3.8/site-packages/unitree_api/msg/__init__.py b/deploy/robot_ws/install/unitree_api/lib/python3.8/site-packages/unitree_api/msg/__init__.py
deleted file mode 100644
index d9c8f06..0000000
--- a/deploy/robot_ws/install/unitree_api/lib/python3.8/site-packages/unitree_api/msg/__init__.py
+++ /dev/null
@@ -1,8 +0,0 @@
-from unitree_api.msg._request import Request  # noqa: F401
-from unitree_api.msg._request_header import RequestHeader  # noqa: F401
-from unitree_api.msg._request_identity import RequestIdentity  # noqa: F401
-from unitree_api.msg._request_lease import RequestLease  # noqa: F401
-from unitree_api.msg._request_policy import RequestPolicy  # noqa: F401
-from unitree_api.msg._response import Response  # noqa: F401
-from unitree_api.msg._response_header import ResponseHeader  # noqa: F401
-from unitree_api.msg._response_status import ResponseStatus  # noqa: F401
diff --git a/deploy/robot_ws/install/unitree_api/lib/python3.8/site-packages/unitree_api/msg/_request.py b/deploy/robot_ws/install/unitree_api/lib/python3.8/site-packages/unitree_api/msg/_request.py
deleted file mode 100644
index 07b2141..0000000
--- a/deploy/robot_ws/install/unitree_api/lib/python3.8/site-packages/unitree_api/msg/_request.py
+++ /dev/null
@@ -1,184 +0,0 @@
-# generated from rosidl_generator_py/resource/_idl.py.em
-# with input from unitree_api:msg/Request.idl
-# generated code does not contain a copyright notice
-
-
-# Import statements for member types
-
-# Member 'binary'
-import array  # noqa: E402, I100
-
-import rosidl_parser.definition  # noqa: E402, I100
-
-
-class Metaclass_Request(type):
-    """Metaclass of message 'Request'."""
-
-    _CREATE_ROS_MESSAGE = None
-    _CONVERT_FROM_PY = None
-    _CONVERT_TO_PY = None
-    _DESTROY_ROS_MESSAGE = None
-    _TYPE_SUPPORT = None
-
-    __constants = {
-    }
-
-    @classmethod
-    def __import_type_support__(cls):
-        try:
-            from rosidl_generator_py import import_type_support
-            module = import_type_support('unitree_api')
-        except ImportError:
-            import logging
-            import traceback
-            logger = logging.getLogger(
-                'unitree_api.msg.Request')
-            logger.debug(
-                'Failed to import needed modules for type support:\n' +
-                traceback.format_exc())
-        else:
-            cls._CREATE_ROS_MESSAGE = module.create_ros_message_msg__msg__request
-            cls._CONVERT_FROM_PY = module.convert_from_py_msg__msg__request
-            cls._CONVERT_TO_PY = module.convert_to_py_msg__msg__request
-            cls._TYPE_SUPPORT = module.type_support_msg__msg__request
-            cls._DESTROY_ROS_MESSAGE = module.destroy_ros_message_msg__msg__request
-
-            from unitree_api.msg import RequestHeader
-            if RequestHeader.__class__._TYPE_SUPPORT is None:
-                RequestHeader.__class__.__import_type_support__()
-
-    @classmethod
-    def __prepare__(cls, name, bases, **kwargs):
-        # list constant names here so that they appear in the help text of
-        # the message class under "Data and other attributes defined here:"
-        # as well as populate each message instance
-        return {
-        }
-
-
-class Request(metaclass=Metaclass_Request):
-    """Message class 'Request'."""
-
-    __slots__ = [
-        '_header',
-        '_parameter',
-        '_binary',
-    ]
-
-    _fields_and_field_types = {
-        'header': 'unitree_api/RequestHeader',
-        'parameter': 'string',
-        'binary': 'sequence<uint8>',
-    }
-
-    SLOT_TYPES = (
-        rosidl_parser.definition.NamespacedType(['unitree_api', 'msg'], 'RequestHeader'),  # noqa: E501
-        rosidl_parser.definition.UnboundedString(),  # noqa: E501
-        rosidl_parser.definition.UnboundedSequence(rosidl_parser.definition.BasicType('uint8')),  # noqa: E501
-    )
-
-    def __init__(self, **kwargs):
-        assert all('_' + key in self.__slots__ for key in kwargs.keys()), \
-            'Invalid arguments passed to constructor: %s' % \
-            ', '.join(sorted(k for k in kwargs.keys() if '_' + k not in self.__slots__))
-        from unitree_api.msg import RequestHeader
-        self.header = kwargs.get('header', RequestHeader())
-        self.parameter = kwargs.get('parameter', str())
-        self.binary = array.array('B', kwargs.get('binary', []))
-
-    def __repr__(self):
-        typename = self.__class__.__module__.split('.')
-        typename.pop()
-        typename.append(self.__class__.__name__)
-        args = []
-        for s, t in zip(self.__slots__, self.SLOT_TYPES):
-            field = getattr(self, s)
-            fieldstr = repr(field)
-            # We use Python array type for fields that can be directly stored
-            # in them, and "normal" sequences for everything else.  If it is
-            # a type that we store in an array, strip off the 'array' portion.
-            if (
-                isinstance(t, rosidl_parser.definition.AbstractSequence) and
-                isinstance(t.value_type, rosidl_parser.definition.BasicType) and
-                t.value_type.typename in ['float', 'double', 'int8', 'uint8', 'int16', 'uint16', 'int32', 'uint32', 'int64', 'uint64']
-            ):
-                if len(field) == 0:
-                    fieldstr = '[]'
-                else:
-                    assert fieldstr.startswith('array(')
-                    prefix = "array('X', "
-                    suffix = ')'
-                    fieldstr = fieldstr[len(prefix):-len(suffix)]
-            args.append(s[1:] + '=' + fieldstr)
-        return '%s(%s)' % ('.'.join(typename), ', '.join(args))
-
-    def __eq__(self, other):
-        if not isinstance(other, self.__class__):
-            return False
-        if self.header != other.header:
-            return False
-        if self.parameter != other.parameter:
-            return False
-        if self.binary != other.binary:
-            return False
-        return True
-
-    @classmethod
-    def get_fields_and_field_types(cls):
-        from copy import copy
-        return copy(cls._fields_and_field_types)
-
-    @property
-    def header(self):
-        """Message field 'header'."""
-        return self._header
-
-    @header.setter
-    def header(self, value):
-        if __debug__:
-            from unitree_api.msg import RequestHeader
-            assert \
-                isinstance(value, RequestHeader), \
-                "The 'header' field must be a sub message of type 'RequestHeader'"
-        self._header = value
-
-    @property
-    def parameter(self):
-        """Message field 'parameter'."""
-        return self._parameter
-
-    @parameter.setter
-    def parameter(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, str), \
-                "The 'parameter' field must be of type 'str'"
-        self._parameter = value
-
-    @property
-    def binary(self):
-        """Message field 'binary'."""
-        return self._binary
-
-    @binary.setter
-    def binary(self, value):
-        if isinstance(value, array.array):
-            assert value.typecode == 'B', \
-                "The 'binary' array.array() must have the type code of 'B'"
-            self._binary = value
-            return
-        if __debug__:
-            from collections.abc import Sequence
-            from collections.abc import Set
-            from collections import UserList
-            from collections import UserString
-            assert \
-                ((isinstance(value, Sequence) or
-                  isinstance(value, Set) or
-                  isinstance(value, UserList)) and
-                 not isinstance(value, str) and
-                 not isinstance(value, UserString) and
-                 all(isinstance(v, int) for v in value) and
-                 all(val >= 0 and val < 256 for val in value)), \
-                "The 'binary' field must be a set or sequence and each value of type 'int' and each unsigned integer in [0, 255]"
-        self._binary = array.array('B', value)
diff --git a/deploy/robot_ws/install/unitree_api/lib/python3.8/site-packages/unitree_api/msg/_request_header.py b/deploy/robot_ws/install/unitree_api/lib/python3.8/site-packages/unitree_api/msg/_request_header.py
deleted file mode 100644
index a1c597d..0000000
--- a/deploy/robot_ws/install/unitree_api/lib/python3.8/site-packages/unitree_api/msg/_request_header.py
+++ /dev/null
@@ -1,178 +0,0 @@
-# generated from rosidl_generator_py/resource/_idl.py.em
-# with input from unitree_api:msg/RequestHeader.idl
-# generated code does not contain a copyright notice
-
-
-# Import statements for member types
-
-import rosidl_parser.definition  # noqa: E402, I100
-
-
-class Metaclass_RequestHeader(type):
-    """Metaclass of message 'RequestHeader'."""
-
-    _CREATE_ROS_MESSAGE = None
-    _CONVERT_FROM_PY = None
-    _CONVERT_TO_PY = None
-    _DESTROY_ROS_MESSAGE = None
-    _TYPE_SUPPORT = None
-
-    __constants = {
-    }
-
-    @classmethod
-    def __import_type_support__(cls):
-        try:
-            from rosidl_generator_py import import_type_support
-            module = import_type_support('unitree_api')
-        except ImportError:
-            import logging
-            import traceback
-            logger = logging.getLogger(
-                'unitree_api.msg.RequestHeader')
-            logger.debug(
-                'Failed to import needed modules for type support:\n' +
-                traceback.format_exc())
-        else:
-            cls._CREATE_ROS_MESSAGE = module.create_ros_message_msg__msg__request_header
-            cls._CONVERT_FROM_PY = module.convert_from_py_msg__msg__request_header
-            cls._CONVERT_TO_PY = module.convert_to_py_msg__msg__request_header
-            cls._TYPE_SUPPORT = module.type_support_msg__msg__request_header
-            cls._DESTROY_ROS_MESSAGE = module.destroy_ros_message_msg__msg__request_header
-
-            from unitree_api.msg import RequestIdentity
-            if RequestIdentity.__class__._TYPE_SUPPORT is None:
-                RequestIdentity.__class__.__import_type_support__()
-
-            from unitree_api.msg import RequestLease
-            if RequestLease.__class__._TYPE_SUPPORT is None:
-                RequestLease.__class__.__import_type_support__()
-
-            from unitree_api.msg import RequestPolicy
-            if RequestPolicy.__class__._TYPE_SUPPORT is None:
-                RequestPolicy.__class__.__import_type_support__()
-
-    @classmethod
-    def __prepare__(cls, name, bases, **kwargs):
-        # list constant names here so that they appear in the help text of
-        # the message class under "Data and other attributes defined here:"
-        # as well as populate each message instance
-        return {
-        }
-
-
-class RequestHeader(metaclass=Metaclass_RequestHeader):
-    """Message class 'RequestHeader'."""
-
-    __slots__ = [
-        '_identity',
-        '_lease',
-        '_policy',
-    ]
-
-    _fields_and_field_types = {
-        'identity': 'unitree_api/RequestIdentity',
-        'lease': 'unitree_api/RequestLease',
-        'policy': 'unitree_api/RequestPolicy',
-    }
-
-    SLOT_TYPES = (
-        rosidl_parser.definition.NamespacedType(['unitree_api', 'msg'], 'RequestIdentity'),  # noqa: E501
-        rosidl_parser.definition.NamespacedType(['unitree_api', 'msg'], 'RequestLease'),  # noqa: E501
-        rosidl_parser.definition.NamespacedType(['unitree_api', 'msg'], 'RequestPolicy'),  # noqa: E501
-    )
-
-    def __init__(self, **kwargs):
-        assert all('_' + key in self.__slots__ for key in kwargs.keys()), \
-            'Invalid arguments passed to constructor: %s' % \
-            ', '.join(sorted(k for k in kwargs.keys() if '_' + k not in self.__slots__))
-        from unitree_api.msg import RequestIdentity
-        self.identity = kwargs.get('identity', RequestIdentity())
-        from unitree_api.msg import RequestLease
-        self.lease = kwargs.get('lease', RequestLease())
-        from unitree_api.msg import RequestPolicy
-        self.policy = kwargs.get('policy', RequestPolicy())
-
-    def __repr__(self):
-        typename = self.__class__.__module__.split('.')
-        typename.pop()
-        typename.append(self.__class__.__name__)
-        args = []
-        for s, t in zip(self.__slots__, self.SLOT_TYPES):
-            field = getattr(self, s)
-            fieldstr = repr(field)
-            # We use Python array type for fields that can be directly stored
-            # in them, and "normal" sequences for everything else.  If it is
-            # a type that we store in an array, strip off the 'array' portion.
-            if (
-                isinstance(t, rosidl_parser.definition.AbstractSequence) and
-                isinstance(t.value_type, rosidl_parser.definition.BasicType) and
-                t.value_type.typename in ['float', 'double', 'int8', 'uint8', 'int16', 'uint16', 'int32', 'uint32', 'int64', 'uint64']
-            ):
-                if len(field) == 0:
-                    fieldstr = '[]'
-                else:
-                    assert fieldstr.startswith('array(')
-                    prefix = "array('X', "
-                    suffix = ')'
-                    fieldstr = fieldstr[len(prefix):-len(suffix)]
-            args.append(s[1:] + '=' + fieldstr)
-        return '%s(%s)' % ('.'.join(typename), ', '.join(args))
-
-    def __eq__(self, other):
-        if not isinstance(other, self.__class__):
-            return False
-        if self.identity != other.identity:
-            return False
-        if self.lease != other.lease:
-            return False
-        if self.policy != other.policy:
-            return False
-        return True
-
-    @classmethod
-    def get_fields_and_field_types(cls):
-        from copy import copy
-        return copy(cls._fields_and_field_types)
-
-    @property
-    def identity(self):
-        """Message field 'identity'."""
-        return self._identity
-
-    @identity.setter
-    def identity(self, value):
-        if __debug__:
-            from unitree_api.msg import RequestIdentity
-            assert \
-                isinstance(value, RequestIdentity), \
-                "The 'identity' field must be a sub message of type 'RequestIdentity'"
-        self._identity = value
-
-    @property
-    def lease(self):
-        """Message field 'lease'."""
-        return self._lease
-
-    @lease.setter
-    def lease(self, value):
-        if __debug__:
-            from unitree_api.msg import RequestLease
-            assert \
-                isinstance(value, RequestLease), \
-                "The 'lease' field must be a sub message of type 'RequestLease'"
-        self._lease = value
-
-    @property
-    def policy(self):
-        """Message field 'policy'."""
-        return self._policy
-
-    @policy.setter
-    def policy(self, value):
-        if __debug__:
-            from unitree_api.msg import RequestPolicy
-            assert \
-                isinstance(value, RequestPolicy), \
-                "The 'policy' field must be a sub message of type 'RequestPolicy'"
-        self._policy = value
diff --git a/deploy/robot_ws/install/unitree_api/lib/python3.8/site-packages/unitree_api/msg/_request_header_s.c b/deploy/robot_ws/install/unitree_api/lib/python3.8/site-packages/unitree_api/msg/_request_header_s.c
deleted file mode 100644
index f9a2173..0000000
--- a/deploy/robot_ws/install/unitree_api/lib/python3.8/site-packages/unitree_api/msg/_request_header_s.c
+++ /dev/null
@@ -1,159 +0,0 @@
-// generated from rosidl_generator_py/resource/_idl_support.c.em
-// with input from unitree_api:msg/RequestHeader.idl
-// generated code does not contain a copyright notice
-#define NPY_NO_DEPRECATED_API NPY_1_7_API_VERSION
-#include <Python.h>
-#include <stdbool.h>
-#ifndef _WIN32
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wunused-function"
-#endif
-#include "numpy/ndarrayobject.h"
-#ifndef _WIN32
-# pragma GCC diagnostic pop
-#endif
-#include "rosidl_runtime_c/visibility_control.h"
-#include "unitree_api/msg/detail/request_header__struct.h"
-#include "unitree_api/msg/detail/request_header__functions.h"
-
-bool unitree_api__msg__request_identity__convert_from_py(PyObject * _pymsg, void * _ros_message);
-PyObject * unitree_api__msg__request_identity__convert_to_py(void * raw_ros_message);
-bool unitree_api__msg__request_lease__convert_from_py(PyObject * _pymsg, void * _ros_message);
-PyObject * unitree_api__msg__request_lease__convert_to_py(void * raw_ros_message);
-bool unitree_api__msg__request_policy__convert_from_py(PyObject * _pymsg, void * _ros_message);
-PyObject * unitree_api__msg__request_policy__convert_to_py(void * raw_ros_message);
-
-ROSIDL_GENERATOR_C_EXPORT
-bool unitree_api__msg__request_header__convert_from_py(PyObject * _pymsg, void * _ros_message)
-{
-  // check that the passed message is of the expected Python class
-  {
-    char full_classname_dest[46];
-    {
-      char * class_name = NULL;
-      char * module_name = NULL;
-      {
-        PyObject * class_attr = PyObject_GetAttrString(_pymsg, "__class__");
-        if (class_attr) {
-          PyObject * name_attr = PyObject_GetAttrString(class_attr, "__name__");
-          if (name_attr) {
-            class_name = (char *)PyUnicode_1BYTE_DATA(name_attr);
-            Py_DECREF(name_attr);
-          }
-          PyObject * module_attr = PyObject_GetAttrString(class_attr, "__module__");
-          if (module_attr) {
-            module_name = (char *)PyUnicode_1BYTE_DATA(module_attr);
-            Py_DECREF(module_attr);
-          }
-          Py_DECREF(class_attr);
-        }
-      }
-      if (!class_name || !module_name) {
-        return false;
-      }
-      snprintf(full_classname_dest, sizeof(full_classname_dest), "%s.%s", module_name, class_name);
-    }
-    assert(strncmp("unitree_api.msg._request_header.RequestHeader", full_classname_dest, 45) == 0);
-  }
-  unitree_api__msg__RequestHeader * ros_message = _ros_message;
-  {  // identity
-    PyObject * field = PyObject_GetAttrString(_pymsg, "identity");
-    if (!field) {
-      return false;
-    }
-    if (!unitree_api__msg__request_identity__convert_from_py(field, &ros_message->identity)) {
-      Py_DECREF(field);
-      return false;
-    }
-    Py_DECREF(field);
-  }
-  {  // lease
-    PyObject * field = PyObject_GetAttrString(_pymsg, "lease");
-    if (!field) {
-      return false;
-    }
-    if (!unitree_api__msg__request_lease__convert_from_py(field, &ros_message->lease)) {
-      Py_DECREF(field);
-      return false;
-    }
-    Py_DECREF(field);
-  }
-  {  // policy
-    PyObject * field = PyObject_GetAttrString(_pymsg, "policy");
-    if (!field) {
-      return false;
-    }
-    if (!unitree_api__msg__request_policy__convert_from_py(field, &ros_message->policy)) {
-      Py_DECREF(field);
-      return false;
-    }
-    Py_DECREF(field);
-  }
-
-  return true;
-}
-
-ROSIDL_GENERATOR_C_EXPORT
-PyObject * unitree_api__msg__request_header__convert_to_py(void * raw_ros_message)
-{
-  /* NOTE(esteve): Call constructor of RequestHeader */
-  PyObject * _pymessage = NULL;
-  {
-    PyObject * pymessage_module = PyImport_ImportModule("unitree_api.msg._request_header");
-    assert(pymessage_module);
-    PyObject * pymessage_class = PyObject_GetAttrString(pymessage_module, "RequestHeader");
-    assert(pymessage_class);
-    Py_DECREF(pymessage_module);
-    _pymessage = PyObject_CallObject(pymessage_class, NULL);
-    Py_DECREF(pymessage_class);
-    if (!_pymessage) {
-      return NULL;
-    }
-  }
-  unitree_api__msg__RequestHeader * ros_message = (unitree_api__msg__RequestHeader *)raw_ros_message;
-  {  // identity
-    PyObject * field = NULL;
-    field = unitree_api__msg__request_identity__convert_to_py(&ros_message->identity);
-    if (!field) {
-      return NULL;
-    }
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "identity", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // lease
-    PyObject * field = NULL;
-    field = unitree_api__msg__request_lease__convert_to_py(&ros_message->lease);
-    if (!field) {
-      return NULL;
-    }
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "lease", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // policy
-    PyObject * field = NULL;
-    field = unitree_api__msg__request_policy__convert_to_py(&ros_message->policy);
-    if (!field) {
-      return NULL;
-    }
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "policy", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-
-  // ownership of _pymessage is transferred to the caller
-  return _pymessage;
-}
diff --git a/deploy/robot_ws/install/unitree_api/lib/python3.8/site-packages/unitree_api/msg/_request_identity.py b/deploy/robot_ws/install/unitree_api/lib/python3.8/site-packages/unitree_api/msg/_request_identity.py
deleted file mode 100644
index 77d5a90..0000000
--- a/deploy/robot_ws/install/unitree_api/lib/python3.8/site-packages/unitree_api/msg/_request_identity.py
+++ /dev/null
@@ -1,145 +0,0 @@
-# generated from rosidl_generator_py/resource/_idl.py.em
-# with input from unitree_api:msg/RequestIdentity.idl
-# generated code does not contain a copyright notice
-
-
-# Import statements for member types
-
-import rosidl_parser.definition  # noqa: E402, I100
-
-
-class Metaclass_RequestIdentity(type):
-    """Metaclass of message 'RequestIdentity'."""
-
-    _CREATE_ROS_MESSAGE = None
-    _CONVERT_FROM_PY = None
-    _CONVERT_TO_PY = None
-    _DESTROY_ROS_MESSAGE = None
-    _TYPE_SUPPORT = None
-
-    __constants = {
-    }
-
-    @classmethod
-    def __import_type_support__(cls):
-        try:
-            from rosidl_generator_py import import_type_support
-            module = import_type_support('unitree_api')
-        except ImportError:
-            import logging
-            import traceback
-            logger = logging.getLogger(
-                'unitree_api.msg.RequestIdentity')
-            logger.debug(
-                'Failed to import needed modules for type support:\n' +
-                traceback.format_exc())
-        else:
-            cls._CREATE_ROS_MESSAGE = module.create_ros_message_msg__msg__request_identity
-            cls._CONVERT_FROM_PY = module.convert_from_py_msg__msg__request_identity
-            cls._CONVERT_TO_PY = module.convert_to_py_msg__msg__request_identity
-            cls._TYPE_SUPPORT = module.type_support_msg__msg__request_identity
-            cls._DESTROY_ROS_MESSAGE = module.destroy_ros_message_msg__msg__request_identity
-
-    @classmethod
-    def __prepare__(cls, name, bases, **kwargs):
-        # list constant names here so that they appear in the help text of
-        # the message class under "Data and other attributes defined here:"
-        # as well as populate each message instance
-        return {
-        }
-
-
-class RequestIdentity(metaclass=Metaclass_RequestIdentity):
-    """Message class 'RequestIdentity'."""
-
-    __slots__ = [
-        '_id',
-        '_api_id',
-    ]
-
-    _fields_and_field_types = {
-        'id': 'int64',
-        'api_id': 'int64',
-    }
-
-    SLOT_TYPES = (
-        rosidl_parser.definition.BasicType('int64'),  # noqa: E501
-        rosidl_parser.definition.BasicType('int64'),  # noqa: E501
-    )
-
-    def __init__(self, **kwargs):
-        assert all('_' + key in self.__slots__ for key in kwargs.keys()), \
-            'Invalid arguments passed to constructor: %s' % \
-            ', '.join(sorted(k for k in kwargs.keys() if '_' + k not in self.__slots__))
-        self.id = kwargs.get('id', int())
-        self.api_id = kwargs.get('api_id', int())
-
-    def __repr__(self):
-        typename = self.__class__.__module__.split('.')
-        typename.pop()
-        typename.append(self.__class__.__name__)
-        args = []
-        for s, t in zip(self.__slots__, self.SLOT_TYPES):
-            field = getattr(self, s)
-            fieldstr = repr(field)
-            # We use Python array type for fields that can be directly stored
-            # in them, and "normal" sequences for everything else.  If it is
-            # a type that we store in an array, strip off the 'array' portion.
-            if (
-                isinstance(t, rosidl_parser.definition.AbstractSequence) and
-                isinstance(t.value_type, rosidl_parser.definition.BasicType) and
-                t.value_type.typename in ['float', 'double', 'int8', 'uint8', 'int16', 'uint16', 'int32', 'uint32', 'int64', 'uint64']
-            ):
-                if len(field) == 0:
-                    fieldstr = '[]'
-                else:
-                    assert fieldstr.startswith('array(')
-                    prefix = "array('X', "
-                    suffix = ')'
-                    fieldstr = fieldstr[len(prefix):-len(suffix)]
-            args.append(s[1:] + '=' + fieldstr)
-        return '%s(%s)' % ('.'.join(typename), ', '.join(args))
-
-    def __eq__(self, other):
-        if not isinstance(other, self.__class__):
-            return False
-        if self.id != other.id:
-            return False
-        if self.api_id != other.api_id:
-            return False
-        return True
-
-    @classmethod
-    def get_fields_and_field_types(cls):
-        from copy import copy
-        return copy(cls._fields_and_field_types)
-
-    @property  # noqa: A003
-    def id(self):  # noqa: A003
-        """Message field 'id'."""
-        return self._id
-
-    @id.setter  # noqa: A003
-    def id(self, value):  # noqa: A003
-        if __debug__:
-            assert \
-                isinstance(value, int), \
-                "The 'id' field must be of type 'int'"
-            assert value >= -9223372036854775808 and value < 9223372036854775808, \
-                "The 'id' field must be an integer in [-9223372036854775808, 9223372036854775807]"
-        self._id = value
-
-    @property
-    def api_id(self):
-        """Message field 'api_id'."""
-        return self._api_id
-
-    @api_id.setter
-    def api_id(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, int), \
-                "The 'api_id' field must be of type 'int'"
-            assert value >= -9223372036854775808 and value < 9223372036854775808, \
-                "The 'api_id' field must be an integer in [-9223372036854775808, 9223372036854775807]"
-        self._api_id = value
diff --git a/deploy/robot_ws/install/unitree_api/lib/python3.8/site-packages/unitree_api/msg/_request_identity_s.c b/deploy/robot_ws/install/unitree_api/lib/python3.8/site-packages/unitree_api/msg/_request_identity_s.c
deleted file mode 100644
index ac38d5d..0000000
--- a/deploy/robot_ws/install/unitree_api/lib/python3.8/site-packages/unitree_api/msg/_request_identity_s.c
+++ /dev/null
@@ -1,118 +0,0 @@
-// generated from rosidl_generator_py/resource/_idl_support.c.em
-// with input from unitree_api:msg/RequestIdentity.idl
-// generated code does not contain a copyright notice
-#define NPY_NO_DEPRECATED_API NPY_1_7_API_VERSION
-#include <Python.h>
-#include <stdbool.h>
-#ifndef _WIN32
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wunused-function"
-#endif
-#include "numpy/ndarrayobject.h"
-#ifndef _WIN32
-# pragma GCC diagnostic pop
-#endif
-#include "rosidl_runtime_c/visibility_control.h"
-#include "unitree_api/msg/detail/request_identity__struct.h"
-#include "unitree_api/msg/detail/request_identity__functions.h"
-
-
-ROSIDL_GENERATOR_C_EXPORT
-bool unitree_api__msg__request_identity__convert_from_py(PyObject * _pymsg, void * _ros_message)
-{
-  // check that the passed message is of the expected Python class
-  {
-    char full_classname_dest[50];
-    {
-      char * class_name = NULL;
-      char * module_name = NULL;
-      {
-        PyObject * class_attr = PyObject_GetAttrString(_pymsg, "__class__");
-        if (class_attr) {
-          PyObject * name_attr = PyObject_GetAttrString(class_attr, "__name__");
-          if (name_attr) {
-            class_name = (char *)PyUnicode_1BYTE_DATA(name_attr);
-            Py_DECREF(name_attr);
-          }
-          PyObject * module_attr = PyObject_GetAttrString(class_attr, "__module__");
-          if (module_attr) {
-            module_name = (char *)PyUnicode_1BYTE_DATA(module_attr);
-            Py_DECREF(module_attr);
-          }
-          Py_DECREF(class_attr);
-        }
-      }
-      if (!class_name || !module_name) {
-        return false;
-      }
-      snprintf(full_classname_dest, sizeof(full_classname_dest), "%s.%s", module_name, class_name);
-    }
-    assert(strncmp("unitree_api.msg._request_identity.RequestIdentity", full_classname_dest, 49) == 0);
-  }
-  unitree_api__msg__RequestIdentity * ros_message = _ros_message;
-  {  // id
-    PyObject * field = PyObject_GetAttrString(_pymsg, "id");
-    if (!field) {
-      return false;
-    }
-    assert(PyLong_Check(field));
-    ros_message->id = PyLong_AsLongLong(field);
-    Py_DECREF(field);
-  }
-  {  // api_id
-    PyObject * field = PyObject_GetAttrString(_pymsg, "api_id");
-    if (!field) {
-      return false;
-    }
-    assert(PyLong_Check(field));
-    ros_message->api_id = PyLong_AsLongLong(field);
-    Py_DECREF(field);
-  }
-
-  return true;
-}
-
-ROSIDL_GENERATOR_C_EXPORT
-PyObject * unitree_api__msg__request_identity__convert_to_py(void * raw_ros_message)
-{
-  /* NOTE(esteve): Call constructor of RequestIdentity */
-  PyObject * _pymessage = NULL;
-  {
-    PyObject * pymessage_module = PyImport_ImportModule("unitree_api.msg._request_identity");
-    assert(pymessage_module);
-    PyObject * pymessage_class = PyObject_GetAttrString(pymessage_module, "RequestIdentity");
-    assert(pymessage_class);
-    Py_DECREF(pymessage_module);
-    _pymessage = PyObject_CallObject(pymessage_class, NULL);
-    Py_DECREF(pymessage_class);
-    if (!_pymessage) {
-      return NULL;
-    }
-  }
-  unitree_api__msg__RequestIdentity * ros_message = (unitree_api__msg__RequestIdentity *)raw_ros_message;
-  {  // id
-    PyObject * field = NULL;
-    field = PyLong_FromLongLong(ros_message->id);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "id", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // api_id
-    PyObject * field = NULL;
-    field = PyLong_FromLongLong(ros_message->api_id);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "api_id", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-
-  // ownership of _pymessage is transferred to the caller
-  return _pymessage;
-}
diff --git a/deploy/robot_ws/install/unitree_api/lib/python3.8/site-packages/unitree_api/msg/_request_lease.py b/deploy/robot_ws/install/unitree_api/lib/python3.8/site-packages/unitree_api/msg/_request_lease.py
deleted file mode 100644
index 016cba8..0000000
--- a/deploy/robot_ws/install/unitree_api/lib/python3.8/site-packages/unitree_api/msg/_request_lease.py
+++ /dev/null
@@ -1,124 +0,0 @@
-# generated from rosidl_generator_py/resource/_idl.py.em
-# with input from unitree_api:msg/RequestLease.idl
-# generated code does not contain a copyright notice
-
-
-# Import statements for member types
-
-import rosidl_parser.definition  # noqa: E402, I100
-
-
-class Metaclass_RequestLease(type):
-    """Metaclass of message 'RequestLease'."""
-
-    _CREATE_ROS_MESSAGE = None
-    _CONVERT_FROM_PY = None
-    _CONVERT_TO_PY = None
-    _DESTROY_ROS_MESSAGE = None
-    _TYPE_SUPPORT = None
-
-    __constants = {
-    }
-
-    @classmethod
-    def __import_type_support__(cls):
-        try:
-            from rosidl_generator_py import import_type_support
-            module = import_type_support('unitree_api')
-        except ImportError:
-            import logging
-            import traceback
-            logger = logging.getLogger(
-                'unitree_api.msg.RequestLease')
-            logger.debug(
-                'Failed to import needed modules for type support:\n' +
-                traceback.format_exc())
-        else:
-            cls._CREATE_ROS_MESSAGE = module.create_ros_message_msg__msg__request_lease
-            cls._CONVERT_FROM_PY = module.convert_from_py_msg__msg__request_lease
-            cls._CONVERT_TO_PY = module.convert_to_py_msg__msg__request_lease
-            cls._TYPE_SUPPORT = module.type_support_msg__msg__request_lease
-            cls._DESTROY_ROS_MESSAGE = module.destroy_ros_message_msg__msg__request_lease
-
-    @classmethod
-    def __prepare__(cls, name, bases, **kwargs):
-        # list constant names here so that they appear in the help text of
-        # the message class under "Data and other attributes defined here:"
-        # as well as populate each message instance
-        return {
-        }
-
-
-class RequestLease(metaclass=Metaclass_RequestLease):
-    """Message class 'RequestLease'."""
-
-    __slots__ = [
-        '_id',
-    ]
-
-    _fields_and_field_types = {
-        'id': 'int64',
-    }
-
-    SLOT_TYPES = (
-        rosidl_parser.definition.BasicType('int64'),  # noqa: E501
-    )
-
-    def __init__(self, **kwargs):
-        assert all('_' + key in self.__slots__ for key in kwargs.keys()), \
-            'Invalid arguments passed to constructor: %s' % \
-            ', '.join(sorted(k for k in kwargs.keys() if '_' + k not in self.__slots__))
-        self.id = kwargs.get('id', int())
-
-    def __repr__(self):
-        typename = self.__class__.__module__.split('.')
-        typename.pop()
-        typename.append(self.__class__.__name__)
-        args = []
-        for s, t in zip(self.__slots__, self.SLOT_TYPES):
-            field = getattr(self, s)
-            fieldstr = repr(field)
-            # We use Python array type for fields that can be directly stored
-            # in them, and "normal" sequences for everything else.  If it is
-            # a type that we store in an array, strip off the 'array' portion.
-            if (
-                isinstance(t, rosidl_parser.definition.AbstractSequence) and
-                isinstance(t.value_type, rosidl_parser.definition.BasicType) and
-                t.value_type.typename in ['float', 'double', 'int8', 'uint8', 'int16', 'uint16', 'int32', 'uint32', 'int64', 'uint64']
-            ):
-                if len(field) == 0:
-                    fieldstr = '[]'
-                else:
-                    assert fieldstr.startswith('array(')
-                    prefix = "array('X', "
-                    suffix = ')'
-                    fieldstr = fieldstr[len(prefix):-len(suffix)]
-            args.append(s[1:] + '=' + fieldstr)
-        return '%s(%s)' % ('.'.join(typename), ', '.join(args))
-
-    def __eq__(self, other):
-        if not isinstance(other, self.__class__):
-            return False
-        if self.id != other.id:
-            return False
-        return True
-
-    @classmethod
-    def get_fields_and_field_types(cls):
-        from copy import copy
-        return copy(cls._fields_and_field_types)
-
-    @property  # noqa: A003
-    def id(self):  # noqa: A003
-        """Message field 'id'."""
-        return self._id
-
-    @id.setter  # noqa: A003
-    def id(self, value):  # noqa: A003
-        if __debug__:
-            assert \
-                isinstance(value, int), \
-                "The 'id' field must be of type 'int'"
-            assert value >= -9223372036854775808 and value < 9223372036854775808, \
-                "The 'id' field must be an integer in [-9223372036854775808, 9223372036854775807]"
-        self._id = value
diff --git a/deploy/robot_ws/install/unitree_api/lib/python3.8/site-packages/unitree_api/msg/_request_lease_s.c b/deploy/robot_ws/install/unitree_api/lib/python3.8/site-packages/unitree_api/msg/_request_lease_s.c
deleted file mode 100644
index a98c137..0000000
--- a/deploy/robot_ws/install/unitree_api/lib/python3.8/site-packages/unitree_api/msg/_request_lease_s.c
+++ /dev/null
@@ -1,98 +0,0 @@
-// generated from rosidl_generator_py/resource/_idl_support.c.em
-// with input from unitree_api:msg/RequestLease.idl
-// generated code does not contain a copyright notice
-#define NPY_NO_DEPRECATED_API NPY_1_7_API_VERSION
-#include <Python.h>
-#include <stdbool.h>
-#ifndef _WIN32
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wunused-function"
-#endif
-#include "numpy/ndarrayobject.h"
-#ifndef _WIN32
-# pragma GCC diagnostic pop
-#endif
-#include "rosidl_runtime_c/visibility_control.h"
-#include "unitree_api/msg/detail/request_lease__struct.h"
-#include "unitree_api/msg/detail/request_lease__functions.h"
-
-
-ROSIDL_GENERATOR_C_EXPORT
-bool unitree_api__msg__request_lease__convert_from_py(PyObject * _pymsg, void * _ros_message)
-{
-  // check that the passed message is of the expected Python class
-  {
-    char full_classname_dest[44];
-    {
-      char * class_name = NULL;
-      char * module_name = NULL;
-      {
-        PyObject * class_attr = PyObject_GetAttrString(_pymsg, "__class__");
-        if (class_attr) {
-          PyObject * name_attr = PyObject_GetAttrString(class_attr, "__name__");
-          if (name_attr) {
-            class_name = (char *)PyUnicode_1BYTE_DATA(name_attr);
-            Py_DECREF(name_attr);
-          }
-          PyObject * module_attr = PyObject_GetAttrString(class_attr, "__module__");
-          if (module_attr) {
-            module_name = (char *)PyUnicode_1BYTE_DATA(module_attr);
-            Py_DECREF(module_attr);
-          }
-          Py_DECREF(class_attr);
-        }
-      }
-      if (!class_name || !module_name) {
-        return false;
-      }
-      snprintf(full_classname_dest, sizeof(full_classname_dest), "%s.%s", module_name, class_name);
-    }
-    assert(strncmp("unitree_api.msg._request_lease.RequestLease", full_classname_dest, 43) == 0);
-  }
-  unitree_api__msg__RequestLease * ros_message = _ros_message;
-  {  // id
-    PyObject * field = PyObject_GetAttrString(_pymsg, "id");
-    if (!field) {
-      return false;
-    }
-    assert(PyLong_Check(field));
-    ros_message->id = PyLong_AsLongLong(field);
-    Py_DECREF(field);
-  }
-
-  return true;
-}
-
-ROSIDL_GENERATOR_C_EXPORT
-PyObject * unitree_api__msg__request_lease__convert_to_py(void * raw_ros_message)
-{
-  /* NOTE(esteve): Call constructor of RequestLease */
-  PyObject * _pymessage = NULL;
-  {
-    PyObject * pymessage_module = PyImport_ImportModule("unitree_api.msg._request_lease");
-    assert(pymessage_module);
-    PyObject * pymessage_class = PyObject_GetAttrString(pymessage_module, "RequestLease");
-    assert(pymessage_class);
-    Py_DECREF(pymessage_module);
-    _pymessage = PyObject_CallObject(pymessage_class, NULL);
-    Py_DECREF(pymessage_class);
-    if (!_pymessage) {
-      return NULL;
-    }
-  }
-  unitree_api__msg__RequestLease * ros_message = (unitree_api__msg__RequestLease *)raw_ros_message;
-  {  // id
-    PyObject * field = NULL;
-    field = PyLong_FromLongLong(ros_message->id);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "id", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-
-  // ownership of _pymessage is transferred to the caller
-  return _pymessage;
-}
diff --git a/deploy/robot_ws/install/unitree_api/lib/python3.8/site-packages/unitree_api/msg/_request_policy.py b/deploy/robot_ws/install/unitree_api/lib/python3.8/site-packages/unitree_api/msg/_request_policy.py
deleted file mode 100644
index 97a0331..0000000
--- a/deploy/robot_ws/install/unitree_api/lib/python3.8/site-packages/unitree_api/msg/_request_policy.py
+++ /dev/null
@@ -1,143 +0,0 @@
-# generated from rosidl_generator_py/resource/_idl.py.em
-# with input from unitree_api:msg/RequestPolicy.idl
-# generated code does not contain a copyright notice
-
-
-# Import statements for member types
-
-import rosidl_parser.definition  # noqa: E402, I100
-
-
-class Metaclass_RequestPolicy(type):
-    """Metaclass of message 'RequestPolicy'."""
-
-    _CREATE_ROS_MESSAGE = None
-    _CONVERT_FROM_PY = None
-    _CONVERT_TO_PY = None
-    _DESTROY_ROS_MESSAGE = None
-    _TYPE_SUPPORT = None
-
-    __constants = {
-    }
-
-    @classmethod
-    def __import_type_support__(cls):
-        try:
-            from rosidl_generator_py import import_type_support
-            module = import_type_support('unitree_api')
-        except ImportError:
-            import logging
-            import traceback
-            logger = logging.getLogger(
-                'unitree_api.msg.RequestPolicy')
-            logger.debug(
-                'Failed to import needed modules for type support:\n' +
-                traceback.format_exc())
-        else:
-            cls._CREATE_ROS_MESSAGE = module.create_ros_message_msg__msg__request_policy
-            cls._CONVERT_FROM_PY = module.convert_from_py_msg__msg__request_policy
-            cls._CONVERT_TO_PY = module.convert_to_py_msg__msg__request_policy
-            cls._TYPE_SUPPORT = module.type_support_msg__msg__request_policy
-            cls._DESTROY_ROS_MESSAGE = module.destroy_ros_message_msg__msg__request_policy
-
-    @classmethod
-    def __prepare__(cls, name, bases, **kwargs):
-        # list constant names here so that they appear in the help text of
-        # the message class under "Data and other attributes defined here:"
-        # as well as populate each message instance
-        return {
-        }
-
-
-class RequestPolicy(metaclass=Metaclass_RequestPolicy):
-    """Message class 'RequestPolicy'."""
-
-    __slots__ = [
-        '_priority',
-        '_noreply',
-    ]
-
-    _fields_and_field_types = {
-        'priority': 'int32',
-        'noreply': 'boolean',
-    }
-
-    SLOT_TYPES = (
-        rosidl_parser.definition.BasicType('int32'),  # noqa: E501
-        rosidl_parser.definition.BasicType('boolean'),  # noqa: E501
-    )
-
-    def __init__(self, **kwargs):
-        assert all('_' + key in self.__slots__ for key in kwargs.keys()), \
-            'Invalid arguments passed to constructor: %s' % \
-            ', '.join(sorted(k for k in kwargs.keys() if '_' + k not in self.__slots__))
-        self.priority = kwargs.get('priority', int())
-        self.noreply = kwargs.get('noreply', bool())
-
-    def __repr__(self):
-        typename = self.__class__.__module__.split('.')
-        typename.pop()
-        typename.append(self.__class__.__name__)
-        args = []
-        for s, t in zip(self.__slots__, self.SLOT_TYPES):
-            field = getattr(self, s)
-            fieldstr = repr(field)
-            # We use Python array type for fields that can be directly stored
-            # in them, and "normal" sequences for everything else.  If it is
-            # a type that we store in an array, strip off the 'array' portion.
-            if (
-                isinstance(t, rosidl_parser.definition.AbstractSequence) and
-                isinstance(t.value_type, rosidl_parser.definition.BasicType) and
-                t.value_type.typename in ['float', 'double', 'int8', 'uint8', 'int16', 'uint16', 'int32', 'uint32', 'int64', 'uint64']
-            ):
-                if len(field) == 0:
-                    fieldstr = '[]'
-                else:
-                    assert fieldstr.startswith('array(')
-                    prefix = "array('X', "
-                    suffix = ')'
-                    fieldstr = fieldstr[len(prefix):-len(suffix)]
-            args.append(s[1:] + '=' + fieldstr)
-        return '%s(%s)' % ('.'.join(typename), ', '.join(args))
-
-    def __eq__(self, other):
-        if not isinstance(other, self.__class__):
-            return False
-        if self.priority != other.priority:
-            return False
-        if self.noreply != other.noreply:
-            return False
-        return True
-
-    @classmethod
-    def get_fields_and_field_types(cls):
-        from copy import copy
-        return copy(cls._fields_and_field_types)
-
-    @property
-    def priority(self):
-        """Message field 'priority'."""
-        return self._priority
-
-    @priority.setter
-    def priority(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, int), \
-                "The 'priority' field must be of type 'int'"
-            assert value >= -2147483648 and value < 2147483648, \
-                "The 'priority' field must be an integer in [-2147483648, 2147483647]"
-        self._priority = value
-
-    @property
-    def noreply(self):
-        """Message field 'noreply'."""
-        return self._noreply
-
-    @noreply.setter
-    def noreply(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, bool), \
-                "The 'noreply' field must be of type 'bool'"
-        self._noreply = value
diff --git a/deploy/robot_ws/install/unitree_api/lib/python3.8/site-packages/unitree_api/msg/_request_policy_s.c b/deploy/robot_ws/install/unitree_api/lib/python3.8/site-packages/unitree_api/msg/_request_policy_s.c
deleted file mode 100644
index ab38a3a..0000000
--- a/deploy/robot_ws/install/unitree_api/lib/python3.8/site-packages/unitree_api/msg/_request_policy_s.c
+++ /dev/null
@@ -1,118 +0,0 @@
-// generated from rosidl_generator_py/resource/_idl_support.c.em
-// with input from unitree_api:msg/RequestPolicy.idl
-// generated code does not contain a copyright notice
-#define NPY_NO_DEPRECATED_API NPY_1_7_API_VERSION
-#include <Python.h>
-#include <stdbool.h>
-#ifndef _WIN32
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wunused-function"
-#endif
-#include "numpy/ndarrayobject.h"
-#ifndef _WIN32
-# pragma GCC diagnostic pop
-#endif
-#include "rosidl_runtime_c/visibility_control.h"
-#include "unitree_api/msg/detail/request_policy__struct.h"
-#include "unitree_api/msg/detail/request_policy__functions.h"
-
-
-ROSIDL_GENERATOR_C_EXPORT
-bool unitree_api__msg__request_policy__convert_from_py(PyObject * _pymsg, void * _ros_message)
-{
-  // check that the passed message is of the expected Python class
-  {
-    char full_classname_dest[46];
-    {
-      char * class_name = NULL;
-      char * module_name = NULL;
-      {
-        PyObject * class_attr = PyObject_GetAttrString(_pymsg, "__class__");
-        if (class_attr) {
-          PyObject * name_attr = PyObject_GetAttrString(class_attr, "__name__");
-          if (name_attr) {
-            class_name = (char *)PyUnicode_1BYTE_DATA(name_attr);
-            Py_DECREF(name_attr);
-          }
-          PyObject * module_attr = PyObject_GetAttrString(class_attr, "__module__");
-          if (module_attr) {
-            module_name = (char *)PyUnicode_1BYTE_DATA(module_attr);
-            Py_DECREF(module_attr);
-          }
-          Py_DECREF(class_attr);
-        }
-      }
-      if (!class_name || !module_name) {
-        return false;
-      }
-      snprintf(full_classname_dest, sizeof(full_classname_dest), "%s.%s", module_name, class_name);
-    }
-    assert(strncmp("unitree_api.msg._request_policy.RequestPolicy", full_classname_dest, 45) == 0);
-  }
-  unitree_api__msg__RequestPolicy * ros_message = _ros_message;
-  {  // priority
-    PyObject * field = PyObject_GetAttrString(_pymsg, "priority");
-    if (!field) {
-      return false;
-    }
-    assert(PyLong_Check(field));
-    ros_message->priority = (int32_t)PyLong_AsLong(field);
-    Py_DECREF(field);
-  }
-  {  // noreply
-    PyObject * field = PyObject_GetAttrString(_pymsg, "noreply");
-    if (!field) {
-      return false;
-    }
-    assert(PyBool_Check(field));
-    ros_message->noreply = (Py_True == field);
-    Py_DECREF(field);
-  }
-
-  return true;
-}
-
-ROSIDL_GENERATOR_C_EXPORT
-PyObject * unitree_api__msg__request_policy__convert_to_py(void * raw_ros_message)
-{
-  /* NOTE(esteve): Call constructor of RequestPolicy */
-  PyObject * _pymessage = NULL;
-  {
-    PyObject * pymessage_module = PyImport_ImportModule("unitree_api.msg._request_policy");
-    assert(pymessage_module);
-    PyObject * pymessage_class = PyObject_GetAttrString(pymessage_module, "RequestPolicy");
-    assert(pymessage_class);
-    Py_DECREF(pymessage_module);
-    _pymessage = PyObject_CallObject(pymessage_class, NULL);
-    Py_DECREF(pymessage_class);
-    if (!_pymessage) {
-      return NULL;
-    }
-  }
-  unitree_api__msg__RequestPolicy * ros_message = (unitree_api__msg__RequestPolicy *)raw_ros_message;
-  {  // priority
-    PyObject * field = NULL;
-    field = PyLong_FromLong(ros_message->priority);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "priority", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // noreply
-    PyObject * field = NULL;
-    field = PyBool_FromLong(ros_message->noreply ? 1 : 0);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "noreply", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-
-  // ownership of _pymessage is transferred to the caller
-  return _pymessage;
-}
diff --git a/deploy/robot_ws/install/unitree_api/lib/python3.8/site-packages/unitree_api/msg/_request_s.c b/deploy/robot_ws/install/unitree_api/lib/python3.8/site-packages/unitree_api/msg/_request_s.c
deleted file mode 100644
index 9212cde..0000000
--- a/deploy/robot_ws/install/unitree_api/lib/python3.8/site-packages/unitree_api/msg/_request_s.c
+++ /dev/null
@@ -1,263 +0,0 @@
-// generated from rosidl_generator_py/resource/_idl_support.c.em
-// with input from unitree_api:msg/Request.idl
-// generated code does not contain a copyright notice
-#define NPY_NO_DEPRECATED_API NPY_1_7_API_VERSION
-#include <Python.h>
-#include <stdbool.h>
-#ifndef _WIN32
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wunused-function"
-#endif
-#include "numpy/ndarrayobject.h"
-#ifndef _WIN32
-# pragma GCC diagnostic pop
-#endif
-#include "rosidl_runtime_c/visibility_control.h"
-#include "unitree_api/msg/detail/request__struct.h"
-#include "unitree_api/msg/detail/request__functions.h"
-
-#include "rosidl_runtime_c/string.h"
-#include "rosidl_runtime_c/string_functions.h"
-
-#include "rosidl_runtime_c/primitives_sequence.h"
-#include "rosidl_runtime_c/primitives_sequence_functions.h"
-
-bool unitree_api__msg__request_header__convert_from_py(PyObject * _pymsg, void * _ros_message);
-PyObject * unitree_api__msg__request_header__convert_to_py(void * raw_ros_message);
-
-ROSIDL_GENERATOR_C_EXPORT
-bool unitree_api__msg__request__convert_from_py(PyObject * _pymsg, void * _ros_message)
-{
-  // check that the passed message is of the expected Python class
-  {
-    char full_classname_dest[33];
-    {
-      char * class_name = NULL;
-      char * module_name = NULL;
-      {
-        PyObject * class_attr = PyObject_GetAttrString(_pymsg, "__class__");
-        if (class_attr) {
-          PyObject * name_attr = PyObject_GetAttrString(class_attr, "__name__");
-          if (name_attr) {
-            class_name = (char *)PyUnicode_1BYTE_DATA(name_attr);
-            Py_DECREF(name_attr);
-          }
-          PyObject * module_attr = PyObject_GetAttrString(class_attr, "__module__");
-          if (module_attr) {
-            module_name = (char *)PyUnicode_1BYTE_DATA(module_attr);
-            Py_DECREF(module_attr);
-          }
-          Py_DECREF(class_attr);
-        }
-      }
-      if (!class_name || !module_name) {
-        return false;
-      }
-      snprintf(full_classname_dest, sizeof(full_classname_dest), "%s.%s", module_name, class_name);
-    }
-    assert(strncmp("unitree_api.msg._request.Request", full_classname_dest, 32) == 0);
-  }
-  unitree_api__msg__Request * ros_message = _ros_message;
-  {  // header
-    PyObject * field = PyObject_GetAttrString(_pymsg, "header");
-    if (!field) {
-      return false;
-    }
-    if (!unitree_api__msg__request_header__convert_from_py(field, &ros_message->header)) {
-      Py_DECREF(field);
-      return false;
-    }
-    Py_DECREF(field);
-  }
-  {  // parameter
-    PyObject * field = PyObject_GetAttrString(_pymsg, "parameter");
-    if (!field) {
-      return false;
-    }
-    assert(PyUnicode_Check(field));
-    PyObject * encoded_field = PyUnicode_AsUTF8String(field);
-    if (!encoded_field) {
-      Py_DECREF(field);
-      return false;
-    }
-    rosidl_runtime_c__String__assign(&ros_message->parameter, PyBytes_AS_STRING(encoded_field));
-    Py_DECREF(encoded_field);
-    Py_DECREF(field);
-  }
-  {  // binary
-    PyObject * field = PyObject_GetAttrString(_pymsg, "binary");
-    if (!field) {
-      return false;
-    }
-    if (PyObject_CheckBuffer(field)) {
-      // Optimization for converting arrays of primitives
-      Py_buffer view;
-      int rc = PyObject_GetBuffer(field, &view, PyBUF_SIMPLE);
-      if (rc < 0) {
-        Py_DECREF(field);
-        return false;
-      }
-      Py_ssize_t size = view.len / sizeof(uint8_t);
-      if (!rosidl_runtime_c__uint8__Sequence__init(&(ros_message->binary), size)) {
-        PyErr_SetString(PyExc_RuntimeError, "unable to create uint8__Sequence ros_message");
-        PyBuffer_Release(&view);
-        Py_DECREF(field);
-        return false;
-      }
-      uint8_t * dest = ros_message->binary.data;
-      rc = PyBuffer_ToContiguous(dest, &view, view.len, 'C');
-      if (rc < 0) {
-        PyBuffer_Release(&view);
-        Py_DECREF(field);
-        return false;
-      }
-      PyBuffer_Release(&view);
-    } else {
-      PyObject * seq_field = PySequence_Fast(field, "expected a sequence in 'binary'");
-      if (!seq_field) {
-        Py_DECREF(field);
-        return false;
-      }
-      Py_ssize_t size = PySequence_Size(field);
-      if (-1 == size) {
-        Py_DECREF(seq_field);
-        Py_DECREF(field);
-        return false;
-      }
-      if (!rosidl_runtime_c__uint8__Sequence__init(&(ros_message->binary), size)) {
-        PyErr_SetString(PyExc_RuntimeError, "unable to create uint8__Sequence ros_message");
-        Py_DECREF(seq_field);
-        Py_DECREF(field);
-        return false;
-      }
-      uint8_t * dest = ros_message->binary.data;
-      for (Py_ssize_t i = 0; i < size; ++i) {
-        PyObject * item = PySequence_Fast_GET_ITEM(seq_field, i);
-        if (!item) {
-          Py_DECREF(seq_field);
-          Py_DECREF(field);
-          return false;
-        }
-        assert(PyLong_Check(item));
-        uint8_t tmp = (uint8_t)PyLong_AsUnsignedLong(item);
-
-        memcpy(&dest[i], &tmp, sizeof(uint8_t));
-      }
-      Py_DECREF(seq_field);
-    }
-    Py_DECREF(field);
-  }
-
-  return true;
-}
-
-ROSIDL_GENERATOR_C_EXPORT
-PyObject * unitree_api__msg__request__convert_to_py(void * raw_ros_message)
-{
-  /* NOTE(esteve): Call constructor of Request */
-  PyObject * _pymessage = NULL;
-  {
-    PyObject * pymessage_module = PyImport_ImportModule("unitree_api.msg._request");
-    assert(pymessage_module);
-    PyObject * pymessage_class = PyObject_GetAttrString(pymessage_module, "Request");
-    assert(pymessage_class);
-    Py_DECREF(pymessage_module);
-    _pymessage = PyObject_CallObject(pymessage_class, NULL);
-    Py_DECREF(pymessage_class);
-    if (!_pymessage) {
-      return NULL;
-    }
-  }
-  unitree_api__msg__Request * ros_message = (unitree_api__msg__Request *)raw_ros_message;
-  {  // header
-    PyObject * field = NULL;
-    field = unitree_api__msg__request_header__convert_to_py(&ros_message->header);
-    if (!field) {
-      return NULL;
-    }
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "header", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // parameter
-    PyObject * field = NULL;
-    field = PyUnicode_DecodeUTF8(
-      ros_message->parameter.data,
-      strlen(ros_message->parameter.data),
-      "replace");
-    if (!field) {
-      return NULL;
-    }
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "parameter", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // binary
-    PyObject * field = NULL;
-    field = PyObject_GetAttrString(_pymessage, "binary");
-    if (!field) {
-      return NULL;
-    }
-    assert(field->ob_type != NULL);
-    assert(field->ob_type->tp_name != NULL);
-    assert(strcmp(field->ob_type->tp_name, "array.array") == 0);
-    // ensure that itemsize matches the sizeof of the ROS message field
-    PyObject * itemsize_attr = PyObject_GetAttrString(field, "itemsize");
-    assert(itemsize_attr != NULL);
-    size_t itemsize = PyLong_AsSize_t(itemsize_attr);
-    Py_DECREF(itemsize_attr);
-    if (itemsize != sizeof(uint8_t)) {
-      PyErr_SetString(PyExc_RuntimeError, "itemsize doesn't match expectation");
-      Py_DECREF(field);
-      return NULL;
-    }
-    // clear the array, poor approach to remove potential default values
-    Py_ssize_t length = PyObject_Length(field);
-    if (-1 == length) {
-      Py_DECREF(field);
-      return NULL;
-    }
-    if (length > 0) {
-      PyObject * pop = PyObject_GetAttrString(field, "pop");
-      assert(pop != NULL);
-      for (Py_ssize_t i = 0; i < length; ++i) {
-        PyObject * ret = PyObject_CallFunctionObjArgs(pop, NULL);
-        if (!ret) {
-          Py_DECREF(pop);
-          Py_DECREF(field);
-          return NULL;
-        }
-        Py_DECREF(ret);
-      }
-      Py_DECREF(pop);
-    }
-    if (ros_message->binary.size > 0) {
-      // populating the array.array using the frombytes method
-      PyObject * frombytes = PyObject_GetAttrString(field, "frombytes");
-      assert(frombytes != NULL);
-      uint8_t * src = &(ros_message->binary.data[0]);
-      PyObject * data = PyBytes_FromStringAndSize((const char *)src, ros_message->binary.size * sizeof(uint8_t));
-      assert(data != NULL);
-      PyObject * ret = PyObject_CallFunctionObjArgs(frombytes, data, NULL);
-      Py_DECREF(data);
-      Py_DECREF(frombytes);
-      if (!ret) {
-        Py_DECREF(field);
-        return NULL;
-      }
-      Py_DECREF(ret);
-    }
-    Py_DECREF(field);
-  }
-
-  // ownership of _pymessage is transferred to the caller
-  return _pymessage;
-}
diff --git a/deploy/robot_ws/install/unitree_api/lib/python3.8/site-packages/unitree_api/msg/_response.py b/deploy/robot_ws/install/unitree_api/lib/python3.8/site-packages/unitree_api/msg/_response.py
deleted file mode 100644
index cf6a415..0000000
--- a/deploy/robot_ws/install/unitree_api/lib/python3.8/site-packages/unitree_api/msg/_response.py
+++ /dev/null
@@ -1,184 +0,0 @@
-# generated from rosidl_generator_py/resource/_idl.py.em
-# with input from unitree_api:msg/Response.idl
-# generated code does not contain a copyright notice
-
-
-# Import statements for member types
-
-# Member 'binary'
-import array  # noqa: E402, I100
-
-import rosidl_parser.definition  # noqa: E402, I100
-
-
-class Metaclass_Response(type):
-    """Metaclass of message 'Response'."""
-
-    _CREATE_ROS_MESSAGE = None
-    _CONVERT_FROM_PY = None
-    _CONVERT_TO_PY = None
-    _DESTROY_ROS_MESSAGE = None
-    _TYPE_SUPPORT = None
-
-    __constants = {
-    }
-
-    @classmethod
-    def __import_type_support__(cls):
-        try:
-            from rosidl_generator_py import import_type_support
-            module = import_type_support('unitree_api')
-        except ImportError:
-            import logging
-            import traceback
-            logger = logging.getLogger(
-                'unitree_api.msg.Response')
-            logger.debug(
-                'Failed to import needed modules for type support:\n' +
-                traceback.format_exc())
-        else:
-            cls._CREATE_ROS_MESSAGE = module.create_ros_message_msg__msg__response
-            cls._CONVERT_FROM_PY = module.convert_from_py_msg__msg__response
-            cls._CONVERT_TO_PY = module.convert_to_py_msg__msg__response
-            cls._TYPE_SUPPORT = module.type_support_msg__msg__response
-            cls._DESTROY_ROS_MESSAGE = module.destroy_ros_message_msg__msg__response
-
-            from unitree_api.msg import ResponseHeader
-            if ResponseHeader.__class__._TYPE_SUPPORT is None:
-                ResponseHeader.__class__.__import_type_support__()
-
-    @classmethod
-    def __prepare__(cls, name, bases, **kwargs):
-        # list constant names here so that they appear in the help text of
-        # the message class under "Data and other attributes defined here:"
-        # as well as populate each message instance
-        return {
-        }
-
-
-class Response(metaclass=Metaclass_Response):
-    """Message class 'Response'."""
-
-    __slots__ = [
-        '_header',
-        '_data',
-        '_binary',
-    ]
-
-    _fields_and_field_types = {
-        'header': 'unitree_api/ResponseHeader',
-        'data': 'string',
-        'binary': 'sequence<int8>',
-    }
-
-    SLOT_TYPES = (
-        rosidl_parser.definition.NamespacedType(['unitree_api', 'msg'], 'ResponseHeader'),  # noqa: E501
-        rosidl_parser.definition.UnboundedString(),  # noqa: E501
-        rosidl_parser.definition.UnboundedSequence(rosidl_parser.definition.BasicType('int8')),  # noqa: E501
-    )
-
-    def __init__(self, **kwargs):
-        assert all('_' + key in self.__slots__ for key in kwargs.keys()), \
-            'Invalid arguments passed to constructor: %s' % \
-            ', '.join(sorted(k for k in kwargs.keys() if '_' + k not in self.__slots__))
-        from unitree_api.msg import ResponseHeader
-        self.header = kwargs.get('header', ResponseHeader())
-        self.data = kwargs.get('data', str())
-        self.binary = array.array('b', kwargs.get('binary', []))
-
-    def __repr__(self):
-        typename = self.__class__.__module__.split('.')
-        typename.pop()
-        typename.append(self.__class__.__name__)
-        args = []
-        for s, t in zip(self.__slots__, self.SLOT_TYPES):
-            field = getattr(self, s)
-            fieldstr = repr(field)
-            # We use Python array type for fields that can be directly stored
-            # in them, and "normal" sequences for everything else.  If it is
-            # a type that we store in an array, strip off the 'array' portion.
-            if (
-                isinstance(t, rosidl_parser.definition.AbstractSequence) and
-                isinstance(t.value_type, rosidl_parser.definition.BasicType) and
-                t.value_type.typename in ['float', 'double', 'int8', 'uint8', 'int16', 'uint16', 'int32', 'uint32', 'int64', 'uint64']
-            ):
-                if len(field) == 0:
-                    fieldstr = '[]'
-                else:
-                    assert fieldstr.startswith('array(')
-                    prefix = "array('X', "
-                    suffix = ')'
-                    fieldstr = fieldstr[len(prefix):-len(suffix)]
-            args.append(s[1:] + '=' + fieldstr)
-        return '%s(%s)' % ('.'.join(typename), ', '.join(args))
-
-    def __eq__(self, other):
-        if not isinstance(other, self.__class__):
-            return False
-        if self.header != other.header:
-            return False
-        if self.data != other.data:
-            return False
-        if self.binary != other.binary:
-            return False
-        return True
-
-    @classmethod
-    def get_fields_and_field_types(cls):
-        from copy import copy
-        return copy(cls._fields_and_field_types)
-
-    @property
-    def header(self):
-        """Message field 'header'."""
-        return self._header
-
-    @header.setter
-    def header(self, value):
-        if __debug__:
-            from unitree_api.msg import ResponseHeader
-            assert \
-                isinstance(value, ResponseHeader), \
-                "The 'header' field must be a sub message of type 'ResponseHeader'"
-        self._header = value
-
-    @property
-    def data(self):
-        """Message field 'data'."""
-        return self._data
-
-    @data.setter
-    def data(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, str), \
-                "The 'data' field must be of type 'str'"
-        self._data = value
-
-    @property
-    def binary(self):
-        """Message field 'binary'."""
-        return self._binary
-
-    @binary.setter
-    def binary(self, value):
-        if isinstance(value, array.array):
-            assert value.typecode == 'b', \
-                "The 'binary' array.array() must have the type code of 'b'"
-            self._binary = value
-            return
-        if __debug__:
-            from collections.abc import Sequence
-            from collections.abc import Set
-            from collections import UserList
-            from collections import UserString
-            assert \
-                ((isinstance(value, Sequence) or
-                  isinstance(value, Set) or
-                  isinstance(value, UserList)) and
-                 not isinstance(value, str) and
-                 not isinstance(value, UserString) and
-                 all(isinstance(v, int) for v in value) and
-                 all(val >= -128 and val < 128 for val in value)), \
-                "The 'binary' field must be a set or sequence and each value of type 'int' and each integer in [-128, 127]"
-        self._binary = array.array('b', value)
diff --git a/deploy/robot_ws/install/unitree_api/lib/python3.8/site-packages/unitree_api/msg/_response_header.py b/deploy/robot_ws/install/unitree_api/lib/python3.8/site-packages/unitree_api/msg/_response_header.py
deleted file mode 100644
index c39b64b..0000000
--- a/deploy/robot_ws/install/unitree_api/lib/python3.8/site-packages/unitree_api/msg/_response_header.py
+++ /dev/null
@@ -1,153 +0,0 @@
-# generated from rosidl_generator_py/resource/_idl.py.em
-# with input from unitree_api:msg/ResponseHeader.idl
-# generated code does not contain a copyright notice
-
-
-# Import statements for member types
-
-import rosidl_parser.definition  # noqa: E402, I100
-
-
-class Metaclass_ResponseHeader(type):
-    """Metaclass of message 'ResponseHeader'."""
-
-    _CREATE_ROS_MESSAGE = None
-    _CONVERT_FROM_PY = None
-    _CONVERT_TO_PY = None
-    _DESTROY_ROS_MESSAGE = None
-    _TYPE_SUPPORT = None
-
-    __constants = {
-    }
-
-    @classmethod
-    def __import_type_support__(cls):
-        try:
-            from rosidl_generator_py import import_type_support
-            module = import_type_support('unitree_api')
-        except ImportError:
-            import logging
-            import traceback
-            logger = logging.getLogger(
-                'unitree_api.msg.ResponseHeader')
-            logger.debug(
-                'Failed to import needed modules for type support:\n' +
-                traceback.format_exc())
-        else:
-            cls._CREATE_ROS_MESSAGE = module.create_ros_message_msg__msg__response_header
-            cls._CONVERT_FROM_PY = module.convert_from_py_msg__msg__response_header
-            cls._CONVERT_TO_PY = module.convert_to_py_msg__msg__response_header
-            cls._TYPE_SUPPORT = module.type_support_msg__msg__response_header
-            cls._DESTROY_ROS_MESSAGE = module.destroy_ros_message_msg__msg__response_header
-
-            from unitree_api.msg import RequestIdentity
-            if RequestIdentity.__class__._TYPE_SUPPORT is None:
-                RequestIdentity.__class__.__import_type_support__()
-
-            from unitree_api.msg import ResponseStatus
-            if ResponseStatus.__class__._TYPE_SUPPORT is None:
-                ResponseStatus.__class__.__import_type_support__()
-
-    @classmethod
-    def __prepare__(cls, name, bases, **kwargs):
-        # list constant names here so that they appear in the help text of
-        # the message class under "Data and other attributes defined here:"
-        # as well as populate each message instance
-        return {
-        }
-
-
-class ResponseHeader(metaclass=Metaclass_ResponseHeader):
-    """Message class 'ResponseHeader'."""
-
-    __slots__ = [
-        '_identity',
-        '_status',
-    ]
-
-    _fields_and_field_types = {
-        'identity': 'unitree_api/RequestIdentity',
-        'status': 'unitree_api/ResponseStatus',
-    }
-
-    SLOT_TYPES = (
-        rosidl_parser.definition.NamespacedType(['unitree_api', 'msg'], 'RequestIdentity'),  # noqa: E501
-        rosidl_parser.definition.NamespacedType(['unitree_api', 'msg'], 'ResponseStatus'),  # noqa: E501
-    )
-
-    def __init__(self, **kwargs):
-        assert all('_' + key in self.__slots__ for key in kwargs.keys()), \
-            'Invalid arguments passed to constructor: %s' % \
-            ', '.join(sorted(k for k in kwargs.keys() if '_' + k not in self.__slots__))
-        from unitree_api.msg import RequestIdentity
-        self.identity = kwargs.get('identity', RequestIdentity())
-        from unitree_api.msg import ResponseStatus
-        self.status = kwargs.get('status', ResponseStatus())
-
-    def __repr__(self):
-        typename = self.__class__.__module__.split('.')
-        typename.pop()
-        typename.append(self.__class__.__name__)
-        args = []
-        for s, t in zip(self.__slots__, self.SLOT_TYPES):
-            field = getattr(self, s)
-            fieldstr = repr(field)
-            # We use Python array type for fields that can be directly stored
-            # in them, and "normal" sequences for everything else.  If it is
-            # a type that we store in an array, strip off the 'array' portion.
-            if (
-                isinstance(t, rosidl_parser.definition.AbstractSequence) and
-                isinstance(t.value_type, rosidl_parser.definition.BasicType) and
-                t.value_type.typename in ['float', 'double', 'int8', 'uint8', 'int16', 'uint16', 'int32', 'uint32', 'int64', 'uint64']
-            ):
-                if len(field) == 0:
-                    fieldstr = '[]'
-                else:
-                    assert fieldstr.startswith('array(')
-                    prefix = "array('X', "
-                    suffix = ')'
-                    fieldstr = fieldstr[len(prefix):-len(suffix)]
-            args.append(s[1:] + '=' + fieldstr)
-        return '%s(%s)' % ('.'.join(typename), ', '.join(args))
-
-    def __eq__(self, other):
-        if not isinstance(other, self.__class__):
-            return False
-        if self.identity != other.identity:
-            return False
-        if self.status != other.status:
-            return False
-        return True
-
-    @classmethod
-    def get_fields_and_field_types(cls):
-        from copy import copy
-        return copy(cls._fields_and_field_types)
-
-    @property
-    def identity(self):
-        """Message field 'identity'."""
-        return self._identity
-
-    @identity.setter
-    def identity(self, value):
-        if __debug__:
-            from unitree_api.msg import RequestIdentity
-            assert \
-                isinstance(value, RequestIdentity), \
-                "The 'identity' field must be a sub message of type 'RequestIdentity'"
-        self._identity = value
-
-    @property
-    def status(self):
-        """Message field 'status'."""
-        return self._status
-
-    @status.setter
-    def status(self, value):
-        if __debug__:
-            from unitree_api.msg import ResponseStatus
-            assert \
-                isinstance(value, ResponseStatus), \
-                "The 'status' field must be a sub message of type 'ResponseStatus'"
-        self._status = value
diff --git a/deploy/robot_ws/install/unitree_api/lib/python3.8/site-packages/unitree_api/msg/_response_header_s.c b/deploy/robot_ws/install/unitree_api/lib/python3.8/site-packages/unitree_api/msg/_response_header_s.c
deleted file mode 100644
index 7201b0b..0000000
--- a/deploy/robot_ws/install/unitree_api/lib/python3.8/site-packages/unitree_api/msg/_response_header_s.c
+++ /dev/null
@@ -1,132 +0,0 @@
-// generated from rosidl_generator_py/resource/_idl_support.c.em
-// with input from unitree_api:msg/ResponseHeader.idl
-// generated code does not contain a copyright notice
-#define NPY_NO_DEPRECATED_API NPY_1_7_API_VERSION
-#include <Python.h>
-#include <stdbool.h>
-#ifndef _WIN32
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wunused-function"
-#endif
-#include "numpy/ndarrayobject.h"
-#ifndef _WIN32
-# pragma GCC diagnostic pop
-#endif
-#include "rosidl_runtime_c/visibility_control.h"
-#include "unitree_api/msg/detail/response_header__struct.h"
-#include "unitree_api/msg/detail/response_header__functions.h"
-
-bool unitree_api__msg__request_identity__convert_from_py(PyObject * _pymsg, void * _ros_message);
-PyObject * unitree_api__msg__request_identity__convert_to_py(void * raw_ros_message);
-bool unitree_api__msg__response_status__convert_from_py(PyObject * _pymsg, void * _ros_message);
-PyObject * unitree_api__msg__response_status__convert_to_py(void * raw_ros_message);
-
-ROSIDL_GENERATOR_C_EXPORT
-bool unitree_api__msg__response_header__convert_from_py(PyObject * _pymsg, void * _ros_message)
-{
-  // check that the passed message is of the expected Python class
-  {
-    char full_classname_dest[48];
-    {
-      char * class_name = NULL;
-      char * module_name = NULL;
-      {
-        PyObject * class_attr = PyObject_GetAttrString(_pymsg, "__class__");
-        if (class_attr) {
-          PyObject * name_attr = PyObject_GetAttrString(class_attr, "__name__");
-          if (name_attr) {
-            class_name = (char *)PyUnicode_1BYTE_DATA(name_attr);
-            Py_DECREF(name_attr);
-          }
-          PyObject * module_attr = PyObject_GetAttrString(class_attr, "__module__");
-          if (module_attr) {
-            module_name = (char *)PyUnicode_1BYTE_DATA(module_attr);
-            Py_DECREF(module_attr);
-          }
-          Py_DECREF(class_attr);
-        }
-      }
-      if (!class_name || !module_name) {
-        return false;
-      }
-      snprintf(full_classname_dest, sizeof(full_classname_dest), "%s.%s", module_name, class_name);
-    }
-    assert(strncmp("unitree_api.msg._response_header.ResponseHeader", full_classname_dest, 47) == 0);
-  }
-  unitree_api__msg__ResponseHeader * ros_message = _ros_message;
-  {  // identity
-    PyObject * field = PyObject_GetAttrString(_pymsg, "identity");
-    if (!field) {
-      return false;
-    }
-    if (!unitree_api__msg__request_identity__convert_from_py(field, &ros_message->identity)) {
-      Py_DECREF(field);
-      return false;
-    }
-    Py_DECREF(field);
-  }
-  {  // status
-    PyObject * field = PyObject_GetAttrString(_pymsg, "status");
-    if (!field) {
-      return false;
-    }
-    if (!unitree_api__msg__response_status__convert_from_py(field, &ros_message->status)) {
-      Py_DECREF(field);
-      return false;
-    }
-    Py_DECREF(field);
-  }
-
-  return true;
-}
-
-ROSIDL_GENERATOR_C_EXPORT
-PyObject * unitree_api__msg__response_header__convert_to_py(void * raw_ros_message)
-{
-  /* NOTE(esteve): Call constructor of ResponseHeader */
-  PyObject * _pymessage = NULL;
-  {
-    PyObject * pymessage_module = PyImport_ImportModule("unitree_api.msg._response_header");
-    assert(pymessage_module);
-    PyObject * pymessage_class = PyObject_GetAttrString(pymessage_module, "ResponseHeader");
-    assert(pymessage_class);
-    Py_DECREF(pymessage_module);
-    _pymessage = PyObject_CallObject(pymessage_class, NULL);
-    Py_DECREF(pymessage_class);
-    if (!_pymessage) {
-      return NULL;
-    }
-  }
-  unitree_api__msg__ResponseHeader * ros_message = (unitree_api__msg__ResponseHeader *)raw_ros_message;
-  {  // identity
-    PyObject * field = NULL;
-    field = unitree_api__msg__request_identity__convert_to_py(&ros_message->identity);
-    if (!field) {
-      return NULL;
-    }
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "identity", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // status
-    PyObject * field = NULL;
-    field = unitree_api__msg__response_status__convert_to_py(&ros_message->status);
-    if (!field) {
-      return NULL;
-    }
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "status", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-
-  // ownership of _pymessage is transferred to the caller
-  return _pymessage;
-}
diff --git a/deploy/robot_ws/install/unitree_api/lib/python3.8/site-packages/unitree_api/msg/_response_s.c b/deploy/robot_ws/install/unitree_api/lib/python3.8/site-packages/unitree_api/msg/_response_s.c
deleted file mode 100644
index 9798e13..0000000
--- a/deploy/robot_ws/install/unitree_api/lib/python3.8/site-packages/unitree_api/msg/_response_s.c
+++ /dev/null
@@ -1,262 +0,0 @@
-// generated from rosidl_generator_py/resource/_idl_support.c.em
-// with input from unitree_api:msg/Response.idl
-// generated code does not contain a copyright notice
-#define NPY_NO_DEPRECATED_API NPY_1_7_API_VERSION
-#include <Python.h>
-#include <stdbool.h>
-#ifndef _WIN32
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wunused-function"
-#endif
-#include "numpy/ndarrayobject.h"
-#ifndef _WIN32
-# pragma GCC diagnostic pop
-#endif
-#include "rosidl_runtime_c/visibility_control.h"
-#include "unitree_api/msg/detail/response__struct.h"
-#include "unitree_api/msg/detail/response__functions.h"
-
-#include "rosidl_runtime_c/string.h"
-#include "rosidl_runtime_c/string_functions.h"
-
-#include "rosidl_runtime_c/primitives_sequence.h"
-#include "rosidl_runtime_c/primitives_sequence_functions.h"
-
-bool unitree_api__msg__response_header__convert_from_py(PyObject * _pymsg, void * _ros_message);
-PyObject * unitree_api__msg__response_header__convert_to_py(void * raw_ros_message);
-
-ROSIDL_GENERATOR_C_EXPORT
-bool unitree_api__msg__response__convert_from_py(PyObject * _pymsg, void * _ros_message)
-{
-  // check that the passed message is of the expected Python class
-  {
-    char full_classname_dest[35];
-    {
-      char * class_name = NULL;
-      char * module_name = NULL;
-      {
-        PyObject * class_attr = PyObject_GetAttrString(_pymsg, "__class__");
-        if (class_attr) {
-          PyObject * name_attr = PyObject_GetAttrString(class_attr, "__name__");
-          if (name_attr) {
-            class_name = (char *)PyUnicode_1BYTE_DATA(name_attr);
-            Py_DECREF(name_attr);
-          }
-          PyObject * module_attr = PyObject_GetAttrString(class_attr, "__module__");
-          if (module_attr) {
-            module_name = (char *)PyUnicode_1BYTE_DATA(module_attr);
-            Py_DECREF(module_attr);
-          }
-          Py_DECREF(class_attr);
-        }
-      }
-      if (!class_name || !module_name) {
-        return false;
-      }
-      snprintf(full_classname_dest, sizeof(full_classname_dest), "%s.%s", module_name, class_name);
-    }
-    assert(strncmp("unitree_api.msg._response.Response", full_classname_dest, 34) == 0);
-  }
-  unitree_api__msg__Response * ros_message = _ros_message;
-  {  // header
-    PyObject * field = PyObject_GetAttrString(_pymsg, "header");
-    if (!field) {
-      return false;
-    }
-    if (!unitree_api__msg__response_header__convert_from_py(field, &ros_message->header)) {
-      Py_DECREF(field);
-      return false;
-    }
-    Py_DECREF(field);
-  }
-  {  // data
-    PyObject * field = PyObject_GetAttrString(_pymsg, "data");
-    if (!field) {
-      return false;
-    }
-    assert(PyUnicode_Check(field));
-    PyObject * encoded_field = PyUnicode_AsUTF8String(field);
-    if (!encoded_field) {
-      Py_DECREF(field);
-      return false;
-    }
-    rosidl_runtime_c__String__assign(&ros_message->data, PyBytes_AS_STRING(encoded_field));
-    Py_DECREF(encoded_field);
-    Py_DECREF(field);
-  }
-  {  // binary
-    PyObject * field = PyObject_GetAttrString(_pymsg, "binary");
-    if (!field) {
-      return false;
-    }
-    if (PyObject_CheckBuffer(field)) {
-      // Optimization for converting arrays of primitives
-      Py_buffer view;
-      int rc = PyObject_GetBuffer(field, &view, PyBUF_SIMPLE);
-      if (rc < 0) {
-        Py_DECREF(field);
-        return false;
-      }
-      Py_ssize_t size = view.len / sizeof(int8_t);
-      if (!rosidl_runtime_c__int8__Sequence__init(&(ros_message->binary), size)) {
-        PyErr_SetString(PyExc_RuntimeError, "unable to create int8__Sequence ros_message");
-        PyBuffer_Release(&view);
-        Py_DECREF(field);
-        return false;
-      }
-      int8_t * dest = ros_message->binary.data;
-      rc = PyBuffer_ToContiguous(dest, &view, view.len, 'C');
-      if (rc < 0) {
-        PyBuffer_Release(&view);
-        Py_DECREF(field);
-        return false;
-      }
-      PyBuffer_Release(&view);
-    } else {
-      PyObject * seq_field = PySequence_Fast(field, "expected a sequence in 'binary'");
-      if (!seq_field) {
-        Py_DECREF(field);
-        return false;
-      }
-      Py_ssize_t size = PySequence_Size(field);
-      if (-1 == size) {
-        Py_DECREF(seq_field);
-        Py_DECREF(field);
-        return false;
-      }
-      if (!rosidl_runtime_c__int8__Sequence__init(&(ros_message->binary), size)) {
-        PyErr_SetString(PyExc_RuntimeError, "unable to create int8__Sequence ros_message");
-        Py_DECREF(seq_field);
-        Py_DECREF(field);
-        return false;
-      }
-      int8_t * dest = ros_message->binary.data;
-      for (Py_ssize_t i = 0; i < size; ++i) {
-        PyObject * item = PySequence_Fast_GET_ITEM(seq_field, i);
-        if (!item) {
-          Py_DECREF(seq_field);
-          Py_DECREF(field);
-          return false;
-        }
-        assert(PyLong_Check(item));
-        int8_t tmp = (int8_t)PyLong_AsLong(item);
-        memcpy(&dest[i], &tmp, sizeof(int8_t));
-      }
-      Py_DECREF(seq_field);
-    }
-    Py_DECREF(field);
-  }
-
-  return true;
-}
-
-ROSIDL_GENERATOR_C_EXPORT
-PyObject * unitree_api__msg__response__convert_to_py(void * raw_ros_message)
-{
-  /* NOTE(esteve): Call constructor of Response */
-  PyObject * _pymessage = NULL;
-  {
-    PyObject * pymessage_module = PyImport_ImportModule("unitree_api.msg._response");
-    assert(pymessage_module);
-    PyObject * pymessage_class = PyObject_GetAttrString(pymessage_module, "Response");
-    assert(pymessage_class);
-    Py_DECREF(pymessage_module);
-    _pymessage = PyObject_CallObject(pymessage_class, NULL);
-    Py_DECREF(pymessage_class);
-    if (!_pymessage) {
-      return NULL;
-    }
-  }
-  unitree_api__msg__Response * ros_message = (unitree_api__msg__Response *)raw_ros_message;
-  {  // header
-    PyObject * field = NULL;
-    field = unitree_api__msg__response_header__convert_to_py(&ros_message->header);
-    if (!field) {
-      return NULL;
-    }
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "header", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // data
-    PyObject * field = NULL;
-    field = PyUnicode_DecodeUTF8(
-      ros_message->data.data,
-      strlen(ros_message->data.data),
-      "replace");
-    if (!field) {
-      return NULL;
-    }
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "data", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // binary
-    PyObject * field = NULL;
-    field = PyObject_GetAttrString(_pymessage, "binary");
-    if (!field) {
-      return NULL;
-    }
-    assert(field->ob_type != NULL);
-    assert(field->ob_type->tp_name != NULL);
-    assert(strcmp(field->ob_type->tp_name, "array.array") == 0);
-    // ensure that itemsize matches the sizeof of the ROS message field
-    PyObject * itemsize_attr = PyObject_GetAttrString(field, "itemsize");
-    assert(itemsize_attr != NULL);
-    size_t itemsize = PyLong_AsSize_t(itemsize_attr);
-    Py_DECREF(itemsize_attr);
-    if (itemsize != sizeof(int8_t)) {
-      PyErr_SetString(PyExc_RuntimeError, "itemsize doesn't match expectation");
-      Py_DECREF(field);
-      return NULL;
-    }
-    // clear the array, poor approach to remove potential default values
-    Py_ssize_t length = PyObject_Length(field);
-    if (-1 == length) {
-      Py_DECREF(field);
-      return NULL;
-    }
-    if (length > 0) {
-      PyObject * pop = PyObject_GetAttrString(field, "pop");
-      assert(pop != NULL);
-      for (Py_ssize_t i = 0; i < length; ++i) {
-        PyObject * ret = PyObject_CallFunctionObjArgs(pop, NULL);
-        if (!ret) {
-          Py_DECREF(pop);
-          Py_DECREF(field);
-          return NULL;
-        }
-        Py_DECREF(ret);
-      }
-      Py_DECREF(pop);
-    }
-    if (ros_message->binary.size > 0) {
-      // populating the array.array using the frombytes method
-      PyObject * frombytes = PyObject_GetAttrString(field, "frombytes");
-      assert(frombytes != NULL);
-      int8_t * src = &(ros_message->binary.data[0]);
-      PyObject * data = PyBytes_FromStringAndSize((const char *)src, ros_message->binary.size * sizeof(int8_t));
-      assert(data != NULL);
-      PyObject * ret = PyObject_CallFunctionObjArgs(frombytes, data, NULL);
-      Py_DECREF(data);
-      Py_DECREF(frombytes);
-      if (!ret) {
-        Py_DECREF(field);
-        return NULL;
-      }
-      Py_DECREF(ret);
-    }
-    Py_DECREF(field);
-  }
-
-  // ownership of _pymessage is transferred to the caller
-  return _pymessage;
-}
diff --git a/deploy/robot_ws/install/unitree_api/lib/python3.8/site-packages/unitree_api/msg/_response_status.py b/deploy/robot_ws/install/unitree_api/lib/python3.8/site-packages/unitree_api/msg/_response_status.py
deleted file mode 100644
index a8dd87f..0000000
--- a/deploy/robot_ws/install/unitree_api/lib/python3.8/site-packages/unitree_api/msg/_response_status.py
+++ /dev/null
@@ -1,124 +0,0 @@
-# generated from rosidl_generator_py/resource/_idl.py.em
-# with input from unitree_api:msg/ResponseStatus.idl
-# generated code does not contain a copyright notice
-
-
-# Import statements for member types
-
-import rosidl_parser.definition  # noqa: E402, I100
-
-
-class Metaclass_ResponseStatus(type):
-    """Metaclass of message 'ResponseStatus'."""
-
-    _CREATE_ROS_MESSAGE = None
-    _CONVERT_FROM_PY = None
-    _CONVERT_TO_PY = None
-    _DESTROY_ROS_MESSAGE = None
-    _TYPE_SUPPORT = None
-
-    __constants = {
-    }
-
-    @classmethod
-    def __import_type_support__(cls):
-        try:
-            from rosidl_generator_py import import_type_support
-            module = import_type_support('unitree_api')
-        except ImportError:
-            import logging
-            import traceback
-            logger = logging.getLogger(
-                'unitree_api.msg.ResponseStatus')
-            logger.debug(
-                'Failed to import needed modules for type support:\n' +
-                traceback.format_exc())
-        else:
-            cls._CREATE_ROS_MESSAGE = module.create_ros_message_msg__msg__response_status
-            cls._CONVERT_FROM_PY = module.convert_from_py_msg__msg__response_status
-            cls._CONVERT_TO_PY = module.convert_to_py_msg__msg__response_status
-            cls._TYPE_SUPPORT = module.type_support_msg__msg__response_status
-            cls._DESTROY_ROS_MESSAGE = module.destroy_ros_message_msg__msg__response_status
-
-    @classmethod
-    def __prepare__(cls, name, bases, **kwargs):
-        # list constant names here so that they appear in the help text of
-        # the message class under "Data and other attributes defined here:"
-        # as well as populate each message instance
-        return {
-        }
-
-
-class ResponseStatus(metaclass=Metaclass_ResponseStatus):
-    """Message class 'ResponseStatus'."""
-
-    __slots__ = [
-        '_code',
-    ]
-
-    _fields_and_field_types = {
-        'code': 'int32',
-    }
-
-    SLOT_TYPES = (
-        rosidl_parser.definition.BasicType('int32'),  # noqa: E501
-    )
-
-    def __init__(self, **kwargs):
-        assert all('_' + key in self.__slots__ for key in kwargs.keys()), \
-            'Invalid arguments passed to constructor: %s' % \
-            ', '.join(sorted(k for k in kwargs.keys() if '_' + k not in self.__slots__))
-        self.code = kwargs.get('code', int())
-
-    def __repr__(self):
-        typename = self.__class__.__module__.split('.')
-        typename.pop()
-        typename.append(self.__class__.__name__)
-        args = []
-        for s, t in zip(self.__slots__, self.SLOT_TYPES):
-            field = getattr(self, s)
-            fieldstr = repr(field)
-            # We use Python array type for fields that can be directly stored
-            # in them, and "normal" sequences for everything else.  If it is
-            # a type that we store in an array, strip off the 'array' portion.
-            if (
-                isinstance(t, rosidl_parser.definition.AbstractSequence) and
-                isinstance(t.value_type, rosidl_parser.definition.BasicType) and
-                t.value_type.typename in ['float', 'double', 'int8', 'uint8', 'int16', 'uint16', 'int32', 'uint32', 'int64', 'uint64']
-            ):
-                if len(field) == 0:
-                    fieldstr = '[]'
-                else:
-                    assert fieldstr.startswith('array(')
-                    prefix = "array('X', "
-                    suffix = ')'
-                    fieldstr = fieldstr[len(prefix):-len(suffix)]
-            args.append(s[1:] + '=' + fieldstr)
-        return '%s(%s)' % ('.'.join(typename), ', '.join(args))
-
-    def __eq__(self, other):
-        if not isinstance(other, self.__class__):
-            return False
-        if self.code != other.code:
-            return False
-        return True
-
-    @classmethod
-    def get_fields_and_field_types(cls):
-        from copy import copy
-        return copy(cls._fields_and_field_types)
-
-    @property
-    def code(self):
-        """Message field 'code'."""
-        return self._code
-
-    @code.setter
-    def code(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, int), \
-                "The 'code' field must be of type 'int'"
-            assert value >= -2147483648 and value < 2147483648, \
-                "The 'code' field must be an integer in [-2147483648, 2147483647]"
-        self._code = value
diff --git a/deploy/robot_ws/install/unitree_api/lib/python3.8/site-packages/unitree_api/msg/_response_status_s.c b/deploy/robot_ws/install/unitree_api/lib/python3.8/site-packages/unitree_api/msg/_response_status_s.c
deleted file mode 100644
index 6a9497c..0000000
--- a/deploy/robot_ws/install/unitree_api/lib/python3.8/site-packages/unitree_api/msg/_response_status_s.c
+++ /dev/null
@@ -1,98 +0,0 @@
-// generated from rosidl_generator_py/resource/_idl_support.c.em
-// with input from unitree_api:msg/ResponseStatus.idl
-// generated code does not contain a copyright notice
-#define NPY_NO_DEPRECATED_API NPY_1_7_API_VERSION
-#include <Python.h>
-#include <stdbool.h>
-#ifndef _WIN32
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wunused-function"
-#endif
-#include "numpy/ndarrayobject.h"
-#ifndef _WIN32
-# pragma GCC diagnostic pop
-#endif
-#include "rosidl_runtime_c/visibility_control.h"
-#include "unitree_api/msg/detail/response_status__struct.h"
-#include "unitree_api/msg/detail/response_status__functions.h"
-
-
-ROSIDL_GENERATOR_C_EXPORT
-bool unitree_api__msg__response_status__convert_from_py(PyObject * _pymsg, void * _ros_message)
-{
-  // check that the passed message is of the expected Python class
-  {
-    char full_classname_dest[48];
-    {
-      char * class_name = NULL;
-      char * module_name = NULL;
-      {
-        PyObject * class_attr = PyObject_GetAttrString(_pymsg, "__class__");
-        if (class_attr) {
-          PyObject * name_attr = PyObject_GetAttrString(class_attr, "__name__");
-          if (name_attr) {
-            class_name = (char *)PyUnicode_1BYTE_DATA(name_attr);
-            Py_DECREF(name_attr);
-          }
-          PyObject * module_attr = PyObject_GetAttrString(class_attr, "__module__");
-          if (module_attr) {
-            module_name = (char *)PyUnicode_1BYTE_DATA(module_attr);
-            Py_DECREF(module_attr);
-          }
-          Py_DECREF(class_attr);
-        }
-      }
-      if (!class_name || !module_name) {
-        return false;
-      }
-      snprintf(full_classname_dest, sizeof(full_classname_dest), "%s.%s", module_name, class_name);
-    }
-    assert(strncmp("unitree_api.msg._response_status.ResponseStatus", full_classname_dest, 47) == 0);
-  }
-  unitree_api__msg__ResponseStatus * ros_message = _ros_message;
-  {  // code
-    PyObject * field = PyObject_GetAttrString(_pymsg, "code");
-    if (!field) {
-      return false;
-    }
-    assert(PyLong_Check(field));
-    ros_message->code = (int32_t)PyLong_AsLong(field);
-    Py_DECREF(field);
-  }
-
-  return true;
-}
-
-ROSIDL_GENERATOR_C_EXPORT
-PyObject * unitree_api__msg__response_status__convert_to_py(void * raw_ros_message)
-{
-  /* NOTE(esteve): Call constructor of ResponseStatus */
-  PyObject * _pymessage = NULL;
-  {
-    PyObject * pymessage_module = PyImport_ImportModule("unitree_api.msg._response_status");
-    assert(pymessage_module);
-    PyObject * pymessage_class = PyObject_GetAttrString(pymessage_module, "ResponseStatus");
-    assert(pymessage_class);
-    Py_DECREF(pymessage_module);
-    _pymessage = PyObject_CallObject(pymessage_class, NULL);
-    Py_DECREF(pymessage_class);
-    if (!_pymessage) {
-      return NULL;
-    }
-  }
-  unitree_api__msg__ResponseStatus * ros_message = (unitree_api__msg__ResponseStatus *)raw_ros_message;
-  {  // code
-    PyObject * field = NULL;
-    field = PyLong_FromLong(ros_message->code);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "code", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-
-  // ownership of _pymessage is transferred to the caller
-  return _pymessage;
-}
diff --git a/deploy/robot_ws/install/unitree_api/share/ament_index/resource_index/package_run_dependencies/unitree_api b/deploy/robot_ws/install/unitree_api/share/ament_index/resource_index/package_run_dependencies/unitree_api
deleted file mode 100644
index cabffa8..0000000
--- a/deploy/robot_ws/install/unitree_api/share/ament_index/resource_index/package_run_dependencies/unitree_api
+++ /dev/null
@@ -1 +0,0 @@
-geometry_msgs;rosidl_default_runtime;ament_lint_auto;ament_lint_common
\ No newline at end of file
diff --git a/deploy/robot_ws/install/unitree_api/share/ament_index/resource_index/packages/unitree_api b/deploy/robot_ws/install/unitree_api/share/ament_index/resource_index/packages/unitree_api
deleted file mode 100644
index e69de29..0000000
diff --git a/deploy/robot_ws/install/unitree_api/share/ament_index/resource_index/parent_prefix_path/unitree_api b/deploy/robot_ws/install/unitree_api/share/ament_index/resource_index/parent_prefix_path/unitree_api
deleted file mode 100644
index e053138..0000000
--- a/deploy/robot_ws/install/unitree_api/share/ament_index/resource_index/parent_prefix_path/unitree_api
+++ /dev/null
@@ -1 +0,0 @@
-/home/unitree/locomotion/Go2Py/deploy/ros2_ws/install/go2py_node:/home/unitree/locomotion/Go2Py/deploy/ros2_ws/install/unitree_go:/home/unitree/locomotion/Go2Py/deploy/ros2_ws/install/unitree_api:/home/unitree/locomotion/Go2Py/deploy/ros2_ws/install/hesai_ros_driver:/home/unitree/locomotion/unitree_ros2/cyclonedds_ws/install/unitree_go:/home/unitree/locomotion/unitree_ros2/cyclonedds_ws/install/unitree_api:/home/unitree/locomotion/unitree_ros2/cyclonedds_ws/install/rmw_cyclonedds_cpp:/opt/ros/foxy
\ No newline at end of file
diff --git a/deploy/robot_ws/install/unitree_api/share/ament_index/resource_index/rosidl_interfaces/unitree_api b/deploy/robot_ws/install/unitree_api/share/ament_index/resource_index/rosidl_interfaces/unitree_api
deleted file mode 100644
index cf70eec..0000000
--- a/deploy/robot_ws/install/unitree_api/share/ament_index/resource_index/rosidl_interfaces/unitree_api
+++ /dev/null
@@ -1,16 +0,0 @@
-msg/Request.idl
-msg/Request.msg
-msg/RequestHeader.idl
-msg/RequestHeader.msg
-msg/RequestIdentity.idl
-msg/RequestIdentity.msg
-msg/RequestLease.idl
-msg/RequestLease.msg
-msg/RequestPolicy.idl
-msg/RequestPolicy.msg
-msg/Response.idl
-msg/Response.msg
-msg/ResponseHeader.idl
-msg/ResponseHeader.msg
-msg/ResponseStatus.idl
-msg/ResponseStatus.msg
\ No newline at end of file
diff --git a/deploy/robot_ws/install/unitree_api/share/colcon-core/packages/unitree_api b/deploy/robot_ws/install/unitree_api/share/colcon-core/packages/unitree_api
deleted file mode 100644
index c819a81..0000000
--- a/deploy/robot_ws/install/unitree_api/share/colcon-core/packages/unitree_api
+++ /dev/null
@@ -1 +0,0 @@
-geometry_msgs:rosidl_default_runtime
\ No newline at end of file
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/ament_cmake_export_dependencies-extras.cmake b/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/ament_cmake_export_dependencies-extras.cmake
deleted file mode 100644
index 728a66a..0000000
--- a/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/ament_cmake_export_dependencies-extras.cmake
+++ /dev/null
@@ -1,92 +0,0 @@
-# generated from ament_cmake_export_dependencies/cmake/ament_cmake_export_dependencies-extras.cmake.in
-
-set(_exported_dependencies "geometry_msgs;geometry_msgs;std_msgs;builtin_interfaces;rosidl_runtime_c;rosidl_typesupport_interface;geometry_msgs;std_msgs;builtin_interfaces;geometry_msgs;std_msgs;builtin_interfaces")
-
-find_package(ament_cmake_libraries QUIET REQUIRED)
-
-# find_package() all dependencies
-# and append their DEFINITIONS INCLUDE_DIRS, LIBRARIES, and LINK_FLAGS
-# variables to unitree_api_DEFINITIONS, unitree_api_INCLUDE_DIRS,
-# unitree_api_LIBRARIES, and unitree_api_LINK_FLAGS.
-# Additionally collect the direct dependency names in
-# unitree_api_DEPENDENCIES as well as the recursive dependency names
-# in unitree_api_RECURSIVE_DEPENDENCIES.
-if(NOT _exported_dependencies STREQUAL "")
-  find_package(ament_cmake_core QUIET REQUIRED)
-  set(unitree_api_DEPENDENCIES ${_exported_dependencies})
-  set(unitree_api_RECURSIVE_DEPENDENCIES ${_exported_dependencies})
-  set(_libraries)
-  foreach(_dep ${_exported_dependencies})
-    if(NOT ${_dep}_FOUND)
-      find_package("${_dep}" QUIET REQUIRED)
-    endif()
-    # if a package provides modern CMake interface targets use them
-    # exclusively assuming the classic CMake variables only exist for
-    # backward compatibility
-    set(use_modern_cmake FALSE)
-    if(NOT "${${_dep}_TARGETS}" STREQUAL "")
-      foreach(_target ${${_dep}_TARGETS})
-        # only use actual targets
-        # in case a package uses this variable for other content
-        if(TARGET "${_target}")
-          get_target_property(_include_dirs ${_target} INTERFACE_INCLUDE_DIRECTORIES)
-          if(_include_dirs)
-            list_append_unique(unitree_api_INCLUDE_DIRS "${_include_dirs}")
-          endif()
-
-          get_target_property(_imported_configurations ${_target} IMPORTED_CONFIGURATIONS)
-          if(_imported_configurations)
-            string(TOUPPER "${_imported_configurations}" _imported_configurations)
-            if(DEBUG_CONFIGURATIONS)
-              string(TOUPPER "${DEBUG_CONFIGURATIONS}" _debug_configurations_uppercase)
-            else()
-              set(_debug_configurations_uppercase "DEBUG")
-            endif()
-            foreach(_imported_config ${_imported_configurations})
-              get_target_property(_imported_implib ${_target} IMPORTED_IMPLIB_${_imported_config})
-              if(_imported_implib)
-                set(_imported_implib_config "optimized")
-                if(${_imported_config} IN_LIST _debug_configurations_uppercase)
-                  set(_imported_implib_config "debug")
-                endif()
-                list(APPEND _libraries ${_imported_implib_config} ${_imported_implib})
-              else()
-                get_target_property(_imported_location ${_target} IMPORTED_LOCATION_${_imported_config})
-                if(_imported_location)
-                  list(APPEND _libraries "${_imported_location}")
-                endif()
-              endif()
-            endforeach() 
-          endif()
-
-          get_target_property(_link_libraries ${_target} INTERFACE_LINK_LIBRARIES)
-          if(_link_libraries)
-            list(APPEND _libraries "${_link_libraries}")
-          endif()
-          set(use_modern_cmake TRUE)
-        endif()
-      endforeach()
-    endif()
-    if(NOT use_modern_cmake)
-      if(${_dep}_DEFINITIONS)
-        list_append_unique(unitree_api_DEFINITIONS "${${_dep}_DEFINITIONS}")
-      endif()
-      if(${_dep}_INCLUDE_DIRS)
-        list_append_unique(unitree_api_INCLUDE_DIRS "${${_dep}_INCLUDE_DIRS}")
-      endif()
-      if(${_dep}_LIBRARIES)
-        list(APPEND _libraries "${${_dep}_LIBRARIES}")
-      endif()
-      if(${_dep}_LINK_FLAGS)
-        list_append_unique(unitree_api_LINK_FLAGS "${${_dep}_LINK_FLAGS}")
-      endif()
-      if(${_dep}_RECURSIVE_DEPENDENCIES)
-        list_append_unique(unitree_api_RECURSIVE_DEPENDENCIES "${${_dep}_RECURSIVE_DEPENDENCIES}")
-      endif()
-    endif()
-    if(_libraries)
-      ament_libraries_deduplicate(_libraries "${_libraries}")
-      list(APPEND unitree_api_LIBRARIES "${_libraries}")
-    endif()
-  endforeach()
-endif()
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/ament_cmake_export_include_directories-extras.cmake b/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/ament_cmake_export_include_directories-extras.cmake
deleted file mode 100644
index a8069fa..0000000
--- a/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/ament_cmake_export_include_directories-extras.cmake
+++ /dev/null
@@ -1,16 +0,0 @@
-# generated from ament_cmake_export_include_directories/cmake/ament_cmake_export_include_directories-extras.cmake.in
-
-set(_exported_include_dirs "${unitree_api_DIR}/../../../include")
-
-# append include directories to unitree_api_INCLUDE_DIRS
-# warn about not existing paths
-if(NOT _exported_include_dirs STREQUAL "")
-  find_package(ament_cmake_core QUIET REQUIRED)
-  foreach(_exported_include_dir ${_exported_include_dirs})
-    if(NOT IS_DIRECTORY "${_exported_include_dir}")
-      message(WARNING "Package 'unitree_api' exports the include directory '${_exported_include_dir}' which doesn't exist")
-    endif()
-    normalize_path(_exported_include_dir "${_exported_include_dir}")
-    list(APPEND unitree_api_INCLUDE_DIRS "${_exported_include_dir}")
-  endforeach()
-endif()
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/ament_cmake_export_libraries-extras.cmake b/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/ament_cmake_export_libraries-extras.cmake
deleted file mode 100644
index d514da4..0000000
--- a/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/ament_cmake_export_libraries-extras.cmake
+++ /dev/null
@@ -1,140 +0,0 @@
-# generated from ament_cmake_export_libraries/cmake/template/ament_cmake_export_libraries.cmake.in
-
-set(_exported_libraries "unitree_api__rosidl_generator_c;unitree_api__rosidl_typesupport_c;unitree_api__rosidl_typesupport_cpp")
-set(_exported_library_names "")
-
-# populate unitree_api_LIBRARIES
-if(NOT _exported_libraries STREQUAL "")
-  # loop over libraries, either target names or absolute paths
-  list(LENGTH _exported_libraries _length)
-  set(_i 0)
-  while(_i LESS _length)
-    list(GET _exported_libraries ${_i} _arg)
-
-    # pass linker flags along
-    if("${_arg}" MATCHES "^-" AND NOT "${_arg}" MATCHES "^-[l|framework]")
-      list(APPEND unitree_api_LIBRARIES "${_arg}")
-      math(EXPR _i "${_i} + 1")
-      continue()
-    endif()
-
-    if("${_arg}" MATCHES "^(debug|optimized|general)$")
-      # remember build configuration keyword
-      # and get following library
-      set(_cfg "${_arg}")
-      math(EXPR _i "${_i} + 1")
-      if(_i EQUAL _length)
-        message(FATAL_ERROR "Package 'unitree_api' passes the build configuration keyword '${_cfg}' as the last exported library")
-      endif()
-      list(GET _exported_libraries ${_i} _library)
-    else()
-      # the value is a library without a build configuration keyword
-      set(_cfg "")
-      set(_library "${_arg}")
-    endif()
-    math(EXPR _i "${_i} + 1")
-
-    if(NOT IS_ABSOLUTE "${_library}")
-      # search for library target relative to this CMake file
-      set(_lib "NOTFOUND")
-      find_library(
-        _lib NAMES "${_library}"
-        PATHS "${unitree_api_DIR}/../../../lib"
-        NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH
-      )
-
-      if(NOT _lib)
-        # warn about not existing library and ignore it
-        message(FATAL_ERROR "Package 'unitree_api' exports the library '${_library}' which couldn't be found")
-      elseif(NOT IS_ABSOLUTE "${_lib}")
-        # the found library must be an absolute path
-        message(FATAL_ERROR "Package 'unitree_api' found the library '${_library}' at '${_lib}' which is not an absolute path")
-      elseif(NOT EXISTS "${_lib}")
-        # the found library must exist
-        message(FATAL_ERROR "Package 'unitree_api' found the library '${_lib}' which doesn't exist")
-      else()
-        list(APPEND unitree_api_LIBRARIES ${_cfg} "${_lib}")
-      endif()
-
-    else()
-      if(NOT EXISTS "${_library}")
-        # the found library must exist
-        message(WARNING "Package 'unitree_api' exports the library '${_library}' which doesn't exist")
-      else()
-        list(APPEND unitree_api_LIBRARIES ${_cfg} "${_library}")
-      endif()
-    endif()
-  endwhile()
-endif()
-
-# find_library() library names with optional LIBRARY_DIRS
-# and add the libraries to unitree_api_LIBRARIES
-if(NOT _exported_library_names STREQUAL "")
-  # loop over library names
-  # but remember related build configuration keyword if available
-  list(LENGTH _exported_library_names _length)
-  set(_i 0)
-  while(_i LESS _length)
-    list(GET _exported_library_names ${_i} _arg)
-    # pass linker flags along
-    if("${_arg}" MATCHES "^-" AND NOT "${_arg}" MATCHES "^-[l|framework]")
-      list(APPEND unitree_api_LIBRARIES "${_arg}")
-      math(EXPR _i "${_i} + 1")
-      continue()
-    endif()
-
-    if("${_arg}" MATCHES "^(debug|optimized|general)$")
-      # remember build configuration keyword
-      # and get following library name
-      set(_cfg "${_arg}")
-      math(EXPR _i "${_i} + 1")
-      if(_i EQUAL _length)
-        message(FATAL_ERROR "Package 'unitree_api' passes the build configuration keyword '${_cfg}' as the last exported target")
-      endif()
-      list(GET _exported_library_names ${_i} _library)
-    else()
-      # the value is a library target without a build configuration keyword
-      set(_cfg "")
-      set(_library "${_arg}")
-    endif()
-    math(EXPR _i "${_i} + 1")
-
-    # extract optional LIBRARY_DIRS from library name
-    string(REPLACE ":" ";" _library_dirs "${_library}")
-    list(GET _library_dirs 0 _library_name)
-    list(REMOVE_AT _library_dirs 0)
-
-    set(_lib "NOTFOUND")
-    if(NOT _library_dirs)
-      # search for library in the common locations
-      find_library(
-        _lib
-        NAMES "${_library_name}"
-      )
-      if(NOT _lib)
-        # warn about not existing library and later ignore it
-        message(WARNING "Package 'unitree_api' exports library '${_library_name}' which couldn't be found")
-      endif()
-    else()
-      # search for library in the specified directories
-      find_library(
-        _lib
-        NAMES "${_library_name}"
-        PATHS ${_library_dirs}
-        NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH
-      )
-      if(NOT _lib)
-        # warn about not existing library and later ignore it
-        message(WARNING "Package 'unitree_api' exports library '${_library_name}' with LIBRARY_DIRS '${_library_dirs}' which couldn't be found")
-      endif()
-    endif()
-    if(_lib)
-      list(APPEND unitree_api_LIBRARIES ${_cfg} "${_lib}")
-    endif()
-  endwhile()
-endif()
-
-# TODO(dirk-thomas) deduplicate unitree_api_LIBRARIES
-# while maintaining library order
-# as well as build configuration keywords
-# as well as linker flags
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/ament_cmake_export_targets-extras.cmake b/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/ament_cmake_export_targets-extras.cmake
deleted file mode 100644
index cc5525c..0000000
--- a/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/ament_cmake_export_targets-extras.cmake
+++ /dev/null
@@ -1,27 +0,0 @@
-# generated from ament_cmake_export_targets/cmake/ament_cmake_export_targets-extras.cmake.in
-
-set(_exported_targets "unitree_api__rosidl_generator_c;unitree_api__rosidl_typesupport_introspection_c;unitree_api__rosidl_typesupport_c;unitree_api__rosidl_generator_cpp;unitree_api__rosidl_typesupport_introspection_cpp;unitree_api__rosidl_typesupport_cpp")
-
-# include all exported targets
-if(NOT _exported_targets STREQUAL "")
-  foreach(_target ${_exported_targets})
-    set(_export_file "${unitree_api_DIR}/${_target}Export.cmake")
-    include("${_export_file}")
-
-    # extract the target names associated with the export
-    set(_regex "foreach\\((_cmake)?_expected_?[Tt]arget (IN ITEMS )?(.+)\\)")
-    file(
-      STRINGS "${_export_file}" _foreach_targets
-      REGEX "${_regex}")
-    list(LENGTH _foreach_targets _matches)
-    if(NOT _matches EQUAL 1)
-      message(FATAL_ERROR
-        "Failed to find exported target names in '${_export_file}'")
-    endif()
-    string(REGEX REPLACE "${_regex}" "\\3" _targets "${_foreach_targets}")
-    string(REPLACE " " ";" _targets "${_targets}")
-    list(LENGTH _targets _length)
-
-    list(APPEND unitree_api_TARGETS ${_targets})
-  endforeach()
-endif()
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/rosidl_cmake-extras.cmake b/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/rosidl_cmake-extras.cmake
deleted file mode 100644
index 9b686e8..0000000
--- a/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/rosidl_cmake-extras.cmake
+++ /dev/null
@@ -1,4 +0,0 @@
-# generated from rosidl_cmake/cmake/rosidl_cmake-extras.cmake.in
-
-set(unitree_api_IDL_FILES "msg/Request.idl;msg/RequestHeader.idl;msg/RequestIdentity.idl;msg/RequestLease.idl;msg/RequestPolicy.idl;msg/Response.idl;msg/ResponseHeader.idl;msg/ResponseStatus.idl")
-set(unitree_api_INTERFACE_FILES "msg/Request.msg;msg/RequestHeader.msg;msg/RequestIdentity.msg;msg/RequestLease.msg;msg/RequestPolicy.msg;msg/Response.msg;msg/ResponseHeader.msg;msg/ResponseStatus.msg")
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/rosidl_cmake_export_typesupport_libraries-extras.cmake b/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/rosidl_cmake_export_typesupport_libraries-extras.cmake
deleted file mode 100644
index c9d47ed..0000000
--- a/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/rosidl_cmake_export_typesupport_libraries-extras.cmake
+++ /dev/null
@@ -1,46 +0,0 @@
-# generated from
-# rosidl_cmake/cmake/template/rosidl_cmake_export_typesupport_libraries.cmake.in
-
-set(_exported_typesupport_libraries
-  "__rosidl_typesupport_fastrtps_c:unitree_api__rosidl_typesupport_fastrtps_c;__rosidl_typesupport_fastrtps_cpp:unitree_api__rosidl_typesupport_fastrtps_cpp")
-
-# populate unitree_api_LIBRARIES_<suffix>
-if(NOT _exported_typesupport_libraries STREQUAL "")
-  # loop over typesupport libraries
-  foreach(_tuple ${_exported_typesupport_libraries})
-    string(REPLACE ":" ";" _tuple "${_tuple}")
-    list(GET _tuple 0 _suffix)
-    list(GET _tuple 1 _library)
-
-    if(NOT IS_ABSOLUTE "${_library}")
-      # search for library target relative to this CMake file
-      set(_lib "NOTFOUND")
-      find_library(
-        _lib NAMES "${_library}"
-        PATHS "${unitree_api_DIR}/../../../lib"
-        NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH
-      )
-
-      if(NOT _lib)
-        # the library wasn't found
-        message(FATAL_ERROR "Package 'unitree_api' exports the typesupport library '${_library}' which couldn't be found")
-      elseif(NOT IS_ABSOLUTE "${_lib}")
-        # the found library must be an absolute path
-        message(FATAL_ERROR "Package 'unitree_api' found the typesupport library '${_library}' at '${_lib}' which is not an absolute path")
-      elseif(NOT EXISTS "${_lib}")
-        # the found library must exist
-        message(FATAL_ERROR "Package 'unitree_api' found the typesupport library '${_lib}' which doesn't exist")
-      else()
-        list(APPEND unitree_api_LIBRARIES${_suffix} ${_cfg} "${_lib}")
-      endif()
-
-    else()
-      if(NOT EXISTS "${_library}")
-        # the found library must exist
-        message(WARNING "Package 'unitree_api' exports the typesupport library '${_library}' which doesn't exist")
-      else()
-        list(APPEND unitree_api_LIBRARIES${_suffix} "${_library}")
-      endif()
-    endif()
-  endforeach()
-endif()
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/rosidl_cmake_export_typesupport_targets-extras.cmake b/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/rosidl_cmake_export_typesupport_targets-extras.cmake
deleted file mode 100644
index 3a0327c..0000000
--- a/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/rosidl_cmake_export_typesupport_targets-extras.cmake
+++ /dev/null
@@ -1,23 +0,0 @@
-# generated from
-# rosidl_cmake/cmake/template/rosidl_cmake_export_typesupport_targets.cmake.in
-
-set(_exported_typesupport_targets
-  "__rosidl_typesupport_introspection_c:unitree_api__rosidl_typesupport_introspection_c;__rosidl_typesupport_introspection_cpp:unitree_api__rosidl_typesupport_introspection_cpp")
-
-# populate unitree_api_TARGETS_<suffix>
-if(NOT _exported_typesupport_targets STREQUAL "")
-  # loop over typesupport targets
-  foreach(_tuple ${_exported_typesupport_targets})
-    string(REPLACE ":" ";" _tuple "${_tuple}")
-    list(GET _tuple 0 _suffix)
-    list(GET _tuple 1 _target)
-
-    set(_target "unitree_api::${_target}")
-    if(NOT TARGET "${_target}")
-      # the exported target must exist
-      message(WARNING "Package 'unitree_api' exports the typesupport target '${_target}' which doesn't exist")
-    else()
-      list(APPEND unitree_api_TARGETS${_suffix} "${_target}")
-    endif()
-  endforeach()
-endif()
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/unitree_apiConfig-version.cmake b/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/unitree_apiConfig-version.cmake
deleted file mode 100644
index 7beb732..0000000
--- a/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/unitree_apiConfig-version.cmake
+++ /dev/null
@@ -1,14 +0,0 @@
-# generated from ament/cmake/core/templates/nameConfig-version.cmake.in
-set(PACKAGE_VERSION "0.0.0")
-
-set(PACKAGE_VERSION_EXACT False)
-set(PACKAGE_VERSION_COMPATIBLE False)
-
-if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}")
-  set(PACKAGE_VERSION_EXACT True)
-  set(PACKAGE_VERSION_COMPATIBLE True)
-endif()
-
-if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}")
-  set(PACKAGE_VERSION_COMPATIBLE True)
-endif()
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/unitree_apiConfig.cmake b/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/unitree_apiConfig.cmake
deleted file mode 100644
index bd35a5c..0000000
--- a/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/unitree_apiConfig.cmake
+++ /dev/null
@@ -1,42 +0,0 @@
-# generated from ament/cmake/core/templates/nameConfig.cmake.in
-
-# prevent multiple inclusion
-if(_unitree_api_CONFIG_INCLUDED)
-  # ensure to keep the found flag the same
-  if(NOT DEFINED unitree_api_FOUND)
-    # explicitly set it to FALSE, otherwise CMake will set it to TRUE
-    set(unitree_api_FOUND FALSE)
-  elseif(NOT unitree_api_FOUND)
-    # use separate condition to avoid uninitialized variable warning
-    set(unitree_api_FOUND FALSE)
-  endif()
-  return()
-endif()
-set(_unitree_api_CONFIG_INCLUDED TRUE)
-
-# output package information
-if(NOT unitree_api_FIND_QUIETLY)
-  message(STATUS "Found unitree_api: 0.0.0 (${unitree_api_DIR})")
-endif()
-
-# warn when using a deprecated package
-if(NOT "" STREQUAL "")
-  set(_msg "Package 'unitree_api' is deprecated")
-  # append custom deprecation text if available
-  if(NOT "" STREQUAL "TRUE")
-    set(_msg "${_msg} ()")
-  endif()
-  # optionally quiet the deprecation message
-  if(NOT ${unitree_api_DEPRECATED_QUIET})
-    message(DEPRECATION "${_msg}")
-  endif()
-endif()
-
-# flag package as ament-based to distinguish it after being find_package()-ed
-set(unitree_api_FOUND_AMENT_PACKAGE TRUE)
-
-# include all config extra files
-set(_extras "rosidl_cmake-extras.cmake;ament_cmake_export_dependencies-extras.cmake;ament_cmake_export_libraries-extras.cmake;ament_cmake_export_targets-extras.cmake;ament_cmake_export_include_directories-extras.cmake;rosidl_cmake_export_typesupport_libraries-extras.cmake;rosidl_cmake_export_typesupport_targets-extras.cmake")
-foreach(_extra ${_extras})
-  include("${unitree_api_DIR}/${_extra}")
-endforeach()
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/unitree_api__rosidl_generator_cExport-noconfig.cmake b/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/unitree_api__rosidl_generator_cExport-noconfig.cmake
deleted file mode 100644
index 2e4f4d8..0000000
--- a/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/unitree_api__rosidl_generator_cExport-noconfig.cmake
+++ /dev/null
@@ -1,19 +0,0 @@
-#----------------------------------------------------------------
-# Generated CMake target import file.
-#----------------------------------------------------------------
-
-# Commands may need to know the format version.
-set(CMAKE_IMPORT_FILE_VERSION 1)
-
-# Import target "unitree_api::unitree_api__rosidl_generator_c" for configuration ""
-set_property(TARGET unitree_api::unitree_api__rosidl_generator_c APPEND PROPERTY IMPORTED_CONFIGURATIONS NOCONFIG)
-set_target_properties(unitree_api::unitree_api__rosidl_generator_c PROPERTIES
-  IMPORTED_LOCATION_NOCONFIG "${_IMPORT_PREFIX}/lib/libunitree_api__rosidl_generator_c.so"
-  IMPORTED_SONAME_NOCONFIG "libunitree_api__rosidl_generator_c.so"
-  )
-
-list(APPEND _IMPORT_CHECK_TARGETS unitree_api::unitree_api__rosidl_generator_c )
-list(APPEND _IMPORT_CHECK_FILES_FOR_unitree_api::unitree_api__rosidl_generator_c "${_IMPORT_PREFIX}/lib/libunitree_api__rosidl_generator_c.so" )
-
-# Commands beyond this point should not need to know the version.
-set(CMAKE_IMPORT_FILE_VERSION)
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/unitree_api__rosidl_generator_cExport.cmake b/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/unitree_api__rosidl_generator_cExport.cmake
deleted file mode 100644
index 4f7e95e..0000000
--- a/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/unitree_api__rosidl_generator_cExport.cmake
+++ /dev/null
@@ -1,99 +0,0 @@
-# Generated by CMake
-
-if("${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION}" LESS 2.5)
-   message(FATAL_ERROR "CMake >= 2.6.0 required")
-endif()
-cmake_policy(PUSH)
-cmake_policy(VERSION 2.6)
-#----------------------------------------------------------------
-# Generated CMake target import file.
-#----------------------------------------------------------------
-
-# Commands may need to know the format version.
-set(CMAKE_IMPORT_FILE_VERSION 1)
-
-# Protect against multiple inclusion, which would fail when already imported targets are added once more.
-set(_targetsDefined)
-set(_targetsNotDefined)
-set(_expectedTargets)
-foreach(_expectedTarget unitree_api::unitree_api__rosidl_generator_c)
-  list(APPEND _expectedTargets ${_expectedTarget})
-  if(NOT TARGET ${_expectedTarget})
-    list(APPEND _targetsNotDefined ${_expectedTarget})
-  endif()
-  if(TARGET ${_expectedTarget})
-    list(APPEND _targetsDefined ${_expectedTarget})
-  endif()
-endforeach()
-if("${_targetsDefined}" STREQUAL "${_expectedTargets}")
-  unset(_targetsDefined)
-  unset(_targetsNotDefined)
-  unset(_expectedTargets)
-  set(CMAKE_IMPORT_FILE_VERSION)
-  cmake_policy(POP)
-  return()
-endif()
-if(NOT "${_targetsDefined}" STREQUAL "")
-  message(FATAL_ERROR "Some (but not all) targets in this export set were already defined.\nTargets Defined: ${_targetsDefined}\nTargets not yet defined: ${_targetsNotDefined}\n")
-endif()
-unset(_targetsDefined)
-unset(_targetsNotDefined)
-unset(_expectedTargets)
-
-
-# Compute the installation prefix relative to this file.
-get_filename_component(_IMPORT_PREFIX "${CMAKE_CURRENT_LIST_FILE}" PATH)
-get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
-get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
-get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
-if(_IMPORT_PREFIX STREQUAL "/")
-  set(_IMPORT_PREFIX "")
-endif()
-
-# Create imported target unitree_api::unitree_api__rosidl_generator_c
-add_library(unitree_api::unitree_api__rosidl_generator_c SHARED IMPORTED)
-
-set_target_properties(unitree_api::unitree_api__rosidl_generator_c PROPERTIES
-  INTERFACE_INCLUDE_DIRECTORIES "${_IMPORT_PREFIX}/include"
-  INTERFACE_LINK_LIBRARIES "geometry_msgs::geometry_msgs__rosidl_generator_c;geometry_msgs::geometry_msgs__rosidl_typesupport_introspection_c;geometry_msgs::geometry_msgs__rosidl_typesupport_c;geometry_msgs::geometry_msgs__rosidl_generator_cpp;geometry_msgs::geometry_msgs__rosidl_typesupport_introspection_cpp;geometry_msgs::geometry_msgs__rosidl_typesupport_cpp;std_msgs::std_msgs__rosidl_generator_c;std_msgs::std_msgs__rosidl_typesupport_introspection_c;std_msgs::std_msgs__rosidl_typesupport_c;std_msgs::std_msgs__rosidl_generator_cpp;std_msgs::std_msgs__rosidl_typesupport_introspection_cpp;std_msgs::std_msgs__rosidl_typesupport_cpp;builtin_interfaces::builtin_interfaces__rosidl_generator_c;builtin_interfaces::builtin_interfaces__rosidl_typesupport_introspection_c;builtin_interfaces::builtin_interfaces__rosidl_typesupport_c;builtin_interfaces::builtin_interfaces__rosidl_generator_cpp;builtin_interfaces::builtin_interfaces__rosidl_typesupport_introspection_cpp;builtin_interfaces::builtin_interfaces__rosidl_typesupport_cpp;rosidl_runtime_c::rosidl_runtime_c;rosidl_typesupport_interface::rosidl_typesupport_interface;rcutils::rcutils"
-)
-
-if(CMAKE_VERSION VERSION_LESS 2.8.12)
-  message(FATAL_ERROR "This file relies on consumers using CMake 2.8.12 or greater.")
-endif()
-
-# Load information for each installed configuration.
-get_filename_component(_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH)
-file(GLOB CONFIG_FILES "${_DIR}/unitree_api__rosidl_generator_cExport-*.cmake")
-foreach(f ${CONFIG_FILES})
-  include(${f})
-endforeach()
-
-# Cleanup temporary variables.
-set(_IMPORT_PREFIX)
-
-# Loop over all imported files and verify that they actually exist
-foreach(target ${_IMPORT_CHECK_TARGETS} )
-  foreach(file ${_IMPORT_CHECK_FILES_FOR_${target}} )
-    if(NOT EXISTS "${file}" )
-      message(FATAL_ERROR "The imported target \"${target}\" references the file
-   \"${file}\"
-but this file does not exist.  Possible reasons include:
-* The file was deleted, renamed, or moved to another location.
-* An install or uninstall procedure did not complete successfully.
-* The installation package was faulty and contained
-   \"${CMAKE_CURRENT_LIST_FILE}\"
-but not all the files it references.
-")
-    endif()
-  endforeach()
-  unset(_IMPORT_CHECK_FILES_FOR_${target})
-endforeach()
-unset(_IMPORT_CHECK_TARGETS)
-
-# This file does not depend on other imported targets which have
-# been exported from the same project but in a separate export set.
-
-# Commands beyond this point should not need to know the version.
-set(CMAKE_IMPORT_FILE_VERSION)
-cmake_policy(POP)
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/unitree_api__rosidl_generator_cppExport.cmake b/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/unitree_api__rosidl_generator_cppExport.cmake
deleted file mode 100644
index 9f1900d..0000000
--- a/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/unitree_api__rosidl_generator_cppExport.cmake
+++ /dev/null
@@ -1,99 +0,0 @@
-# Generated by CMake
-
-if("${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION}" LESS 2.5)
-   message(FATAL_ERROR "CMake >= 2.6.0 required")
-endif()
-cmake_policy(PUSH)
-cmake_policy(VERSION 2.6)
-#----------------------------------------------------------------
-# Generated CMake target import file.
-#----------------------------------------------------------------
-
-# Commands may need to know the format version.
-set(CMAKE_IMPORT_FILE_VERSION 1)
-
-# Protect against multiple inclusion, which would fail when already imported targets are added once more.
-set(_targetsDefined)
-set(_targetsNotDefined)
-set(_expectedTargets)
-foreach(_expectedTarget unitree_api::unitree_api__rosidl_generator_cpp)
-  list(APPEND _expectedTargets ${_expectedTarget})
-  if(NOT TARGET ${_expectedTarget})
-    list(APPEND _targetsNotDefined ${_expectedTarget})
-  endif()
-  if(TARGET ${_expectedTarget})
-    list(APPEND _targetsDefined ${_expectedTarget})
-  endif()
-endforeach()
-if("${_targetsDefined}" STREQUAL "${_expectedTargets}")
-  unset(_targetsDefined)
-  unset(_targetsNotDefined)
-  unset(_expectedTargets)
-  set(CMAKE_IMPORT_FILE_VERSION)
-  cmake_policy(POP)
-  return()
-endif()
-if(NOT "${_targetsDefined}" STREQUAL "")
-  message(FATAL_ERROR "Some (but not all) targets in this export set were already defined.\nTargets Defined: ${_targetsDefined}\nTargets not yet defined: ${_targetsNotDefined}\n")
-endif()
-unset(_targetsDefined)
-unset(_targetsNotDefined)
-unset(_expectedTargets)
-
-
-# Compute the installation prefix relative to this file.
-get_filename_component(_IMPORT_PREFIX "${CMAKE_CURRENT_LIST_FILE}" PATH)
-get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
-get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
-get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
-if(_IMPORT_PREFIX STREQUAL "/")
-  set(_IMPORT_PREFIX "")
-endif()
-
-# Create imported target unitree_api::unitree_api__rosidl_generator_cpp
-add_library(unitree_api::unitree_api__rosidl_generator_cpp INTERFACE IMPORTED)
-
-set_target_properties(unitree_api::unitree_api__rosidl_generator_cpp PROPERTIES
-  INTERFACE_INCLUDE_DIRECTORIES "${_IMPORT_PREFIX}/include"
-  INTERFACE_LINK_LIBRARIES "geometry_msgs::geometry_msgs__rosidl_generator_c;geometry_msgs::geometry_msgs__rosidl_typesupport_introspection_c;geometry_msgs::geometry_msgs__rosidl_typesupport_c;geometry_msgs::geometry_msgs__rosidl_generator_cpp;geometry_msgs::geometry_msgs__rosidl_typesupport_introspection_cpp;geometry_msgs::geometry_msgs__rosidl_typesupport_cpp;std_msgs::std_msgs__rosidl_generator_c;std_msgs::std_msgs__rosidl_typesupport_introspection_c;std_msgs::std_msgs__rosidl_typesupport_c;std_msgs::std_msgs__rosidl_generator_cpp;std_msgs::std_msgs__rosidl_typesupport_introspection_cpp;std_msgs::std_msgs__rosidl_typesupport_cpp;builtin_interfaces::builtin_interfaces__rosidl_generator_c;builtin_interfaces::builtin_interfaces__rosidl_typesupport_introspection_c;builtin_interfaces::builtin_interfaces__rosidl_typesupport_c;builtin_interfaces::builtin_interfaces__rosidl_generator_cpp;builtin_interfaces::builtin_interfaces__rosidl_typesupport_introspection_cpp;builtin_interfaces::builtin_interfaces__rosidl_typesupport_cpp;rosidl_runtime_cpp::rosidl_runtime_cpp"
-)
-
-if(CMAKE_VERSION VERSION_LESS 3.0.0)
-  message(FATAL_ERROR "This file relies on consumers using CMake 3.0.0 or greater.")
-endif()
-
-# Load information for each installed configuration.
-get_filename_component(_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH)
-file(GLOB CONFIG_FILES "${_DIR}/unitree_api__rosidl_generator_cppExport-*.cmake")
-foreach(f ${CONFIG_FILES})
-  include(${f})
-endforeach()
-
-# Cleanup temporary variables.
-set(_IMPORT_PREFIX)
-
-# Loop over all imported files and verify that they actually exist
-foreach(target ${_IMPORT_CHECK_TARGETS} )
-  foreach(file ${_IMPORT_CHECK_FILES_FOR_${target}} )
-    if(NOT EXISTS "${file}" )
-      message(FATAL_ERROR "The imported target \"${target}\" references the file
-   \"${file}\"
-but this file does not exist.  Possible reasons include:
-* The file was deleted, renamed, or moved to another location.
-* An install or uninstall procedure did not complete successfully.
-* The installation package was faulty and contained
-   \"${CMAKE_CURRENT_LIST_FILE}\"
-but not all the files it references.
-")
-    endif()
-  endforeach()
-  unset(_IMPORT_CHECK_FILES_FOR_${target})
-endforeach()
-unset(_IMPORT_CHECK_TARGETS)
-
-# This file does not depend on other imported targets which have
-# been exported from the same project but in a separate export set.
-
-# Commands beyond this point should not need to know the version.
-set(CMAKE_IMPORT_FILE_VERSION)
-cmake_policy(POP)
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/unitree_api__rosidl_typesupport_cExport-noconfig.cmake b/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/unitree_api__rosidl_typesupport_cExport-noconfig.cmake
deleted file mode 100644
index 7d8f168..0000000
--- a/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/unitree_api__rosidl_typesupport_cExport-noconfig.cmake
+++ /dev/null
@@ -1,19 +0,0 @@
-#----------------------------------------------------------------
-# Generated CMake target import file.
-#----------------------------------------------------------------
-
-# Commands may need to know the format version.
-set(CMAKE_IMPORT_FILE_VERSION 1)
-
-# Import target "unitree_api::unitree_api__rosidl_typesupport_c" for configuration ""
-set_property(TARGET unitree_api::unitree_api__rosidl_typesupport_c APPEND PROPERTY IMPORTED_CONFIGURATIONS NOCONFIG)
-set_target_properties(unitree_api::unitree_api__rosidl_typesupport_c PROPERTIES
-  IMPORTED_LOCATION_NOCONFIG "${_IMPORT_PREFIX}/lib/libunitree_api__rosidl_typesupport_c.so"
-  IMPORTED_SONAME_NOCONFIG "libunitree_api__rosidl_typesupport_c.so"
-  )
-
-list(APPEND _IMPORT_CHECK_TARGETS unitree_api::unitree_api__rosidl_typesupport_c )
-list(APPEND _IMPORT_CHECK_FILES_FOR_unitree_api::unitree_api__rosidl_typesupport_c "${_IMPORT_PREFIX}/lib/libunitree_api__rosidl_typesupport_c.so" )
-
-# Commands beyond this point should not need to know the version.
-set(CMAKE_IMPORT_FILE_VERSION)
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/unitree_api__rosidl_typesupport_cExport.cmake b/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/unitree_api__rosidl_typesupport_cExport.cmake
deleted file mode 100644
index a51f7a6..0000000
--- a/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/unitree_api__rosidl_typesupport_cExport.cmake
+++ /dev/null
@@ -1,99 +0,0 @@
-# Generated by CMake
-
-if("${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION}" LESS 2.5)
-   message(FATAL_ERROR "CMake >= 2.6.0 required")
-endif()
-cmake_policy(PUSH)
-cmake_policy(VERSION 2.6)
-#----------------------------------------------------------------
-# Generated CMake target import file.
-#----------------------------------------------------------------
-
-# Commands may need to know the format version.
-set(CMAKE_IMPORT_FILE_VERSION 1)
-
-# Protect against multiple inclusion, which would fail when already imported targets are added once more.
-set(_targetsDefined)
-set(_targetsNotDefined)
-set(_expectedTargets)
-foreach(_expectedTarget unitree_api::unitree_api__rosidl_typesupport_c)
-  list(APPEND _expectedTargets ${_expectedTarget})
-  if(NOT TARGET ${_expectedTarget})
-    list(APPEND _targetsNotDefined ${_expectedTarget})
-  endif()
-  if(TARGET ${_expectedTarget})
-    list(APPEND _targetsDefined ${_expectedTarget})
-  endif()
-endforeach()
-if("${_targetsDefined}" STREQUAL "${_expectedTargets}")
-  unset(_targetsDefined)
-  unset(_targetsNotDefined)
-  unset(_expectedTargets)
-  set(CMAKE_IMPORT_FILE_VERSION)
-  cmake_policy(POP)
-  return()
-endif()
-if(NOT "${_targetsDefined}" STREQUAL "")
-  message(FATAL_ERROR "Some (but not all) targets in this export set were already defined.\nTargets Defined: ${_targetsDefined}\nTargets not yet defined: ${_targetsNotDefined}\n")
-endif()
-unset(_targetsDefined)
-unset(_targetsNotDefined)
-unset(_expectedTargets)
-
-
-# Compute the installation prefix relative to this file.
-get_filename_component(_IMPORT_PREFIX "${CMAKE_CURRENT_LIST_FILE}" PATH)
-get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
-get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
-get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
-if(_IMPORT_PREFIX STREQUAL "/")
-  set(_IMPORT_PREFIX "")
-endif()
-
-# Create imported target unitree_api::unitree_api__rosidl_typesupport_c
-add_library(unitree_api::unitree_api__rosidl_typesupport_c SHARED IMPORTED)
-
-set_target_properties(unitree_api::unitree_api__rosidl_typesupport_c PROPERTIES
-  INTERFACE_INCLUDE_DIRECTORIES "${_IMPORT_PREFIX}/include"
-  INTERFACE_LINK_LIBRARIES "rosidl_runtime_c::rosidl_runtime_c;rosidl_typesupport_c::rosidl_typesupport_c;rosidl_typesupport_interface::rosidl_typesupport_interface;geometry_msgs::geometry_msgs__rosidl_generator_c;geometry_msgs::geometry_msgs__rosidl_typesupport_introspection_c;geometry_msgs::geometry_msgs__rosidl_typesupport_c;geometry_msgs::geometry_msgs__rosidl_generator_cpp;geometry_msgs::geometry_msgs__rosidl_typesupport_introspection_cpp;geometry_msgs::geometry_msgs__rosidl_typesupport_cpp;std_msgs::std_msgs__rosidl_generator_c;std_msgs::std_msgs__rosidl_typesupport_introspection_c;std_msgs::std_msgs__rosidl_typesupport_c;std_msgs::std_msgs__rosidl_generator_cpp;std_msgs::std_msgs__rosidl_typesupport_introspection_cpp;std_msgs::std_msgs__rosidl_typesupport_cpp;builtin_interfaces::builtin_interfaces__rosidl_generator_c;builtin_interfaces::builtin_interfaces__rosidl_typesupport_introspection_c;builtin_interfaces::builtin_interfaces__rosidl_typesupport_c;builtin_interfaces::builtin_interfaces__rosidl_generator_cpp;builtin_interfaces::builtin_interfaces__rosidl_typesupport_introspection_cpp;builtin_interfaces::builtin_interfaces__rosidl_typesupport_cpp"
-)
-
-if(CMAKE_VERSION VERSION_LESS 2.8.12)
-  message(FATAL_ERROR "This file relies on consumers using CMake 2.8.12 or greater.")
-endif()
-
-# Load information for each installed configuration.
-get_filename_component(_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH)
-file(GLOB CONFIG_FILES "${_DIR}/unitree_api__rosidl_typesupport_cExport-*.cmake")
-foreach(f ${CONFIG_FILES})
-  include(${f})
-endforeach()
-
-# Cleanup temporary variables.
-set(_IMPORT_PREFIX)
-
-# Loop over all imported files and verify that they actually exist
-foreach(target ${_IMPORT_CHECK_TARGETS} )
-  foreach(file ${_IMPORT_CHECK_FILES_FOR_${target}} )
-    if(NOT EXISTS "${file}" )
-      message(FATAL_ERROR "The imported target \"${target}\" references the file
-   \"${file}\"
-but this file does not exist.  Possible reasons include:
-* The file was deleted, renamed, or moved to another location.
-* An install or uninstall procedure did not complete successfully.
-* The installation package was faulty and contained
-   \"${CMAKE_CURRENT_LIST_FILE}\"
-but not all the files it references.
-")
-    endif()
-  endforeach()
-  unset(_IMPORT_CHECK_FILES_FOR_${target})
-endforeach()
-unset(_IMPORT_CHECK_TARGETS)
-
-# This file does not depend on other imported targets which have
-# been exported from the same project but in a separate export set.
-
-# Commands beyond this point should not need to know the version.
-set(CMAKE_IMPORT_FILE_VERSION)
-cmake_policy(POP)
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/unitree_api__rosidl_typesupport_cppExport-noconfig.cmake b/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/unitree_api__rosidl_typesupport_cppExport-noconfig.cmake
deleted file mode 100644
index f96356e..0000000
--- a/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/unitree_api__rosidl_typesupport_cppExport-noconfig.cmake
+++ /dev/null
@@ -1,19 +0,0 @@
-#----------------------------------------------------------------
-# Generated CMake target import file.
-#----------------------------------------------------------------
-
-# Commands may need to know the format version.
-set(CMAKE_IMPORT_FILE_VERSION 1)
-
-# Import target "unitree_api::unitree_api__rosidl_typesupport_cpp" for configuration ""
-set_property(TARGET unitree_api::unitree_api__rosidl_typesupport_cpp APPEND PROPERTY IMPORTED_CONFIGURATIONS NOCONFIG)
-set_target_properties(unitree_api::unitree_api__rosidl_typesupport_cpp PROPERTIES
-  IMPORTED_LOCATION_NOCONFIG "${_IMPORT_PREFIX}/lib/libunitree_api__rosidl_typesupport_cpp.so"
-  IMPORTED_SONAME_NOCONFIG "libunitree_api__rosidl_typesupport_cpp.so"
-  )
-
-list(APPEND _IMPORT_CHECK_TARGETS unitree_api::unitree_api__rosidl_typesupport_cpp )
-list(APPEND _IMPORT_CHECK_FILES_FOR_unitree_api::unitree_api__rosidl_typesupport_cpp "${_IMPORT_PREFIX}/lib/libunitree_api__rosidl_typesupport_cpp.so" )
-
-# Commands beyond this point should not need to know the version.
-set(CMAKE_IMPORT_FILE_VERSION)
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/unitree_api__rosidl_typesupport_cppExport.cmake b/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/unitree_api__rosidl_typesupport_cppExport.cmake
deleted file mode 100644
index 16c31ac..0000000
--- a/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/unitree_api__rosidl_typesupport_cppExport.cmake
+++ /dev/null
@@ -1,99 +0,0 @@
-# Generated by CMake
-
-if("${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION}" LESS 2.5)
-   message(FATAL_ERROR "CMake >= 2.6.0 required")
-endif()
-cmake_policy(PUSH)
-cmake_policy(VERSION 2.6)
-#----------------------------------------------------------------
-# Generated CMake target import file.
-#----------------------------------------------------------------
-
-# Commands may need to know the format version.
-set(CMAKE_IMPORT_FILE_VERSION 1)
-
-# Protect against multiple inclusion, which would fail when already imported targets are added once more.
-set(_targetsDefined)
-set(_targetsNotDefined)
-set(_expectedTargets)
-foreach(_expectedTarget unitree_api::unitree_api__rosidl_typesupport_cpp)
-  list(APPEND _expectedTargets ${_expectedTarget})
-  if(NOT TARGET ${_expectedTarget})
-    list(APPEND _targetsNotDefined ${_expectedTarget})
-  endif()
-  if(TARGET ${_expectedTarget})
-    list(APPEND _targetsDefined ${_expectedTarget})
-  endif()
-endforeach()
-if("${_targetsDefined}" STREQUAL "${_expectedTargets}")
-  unset(_targetsDefined)
-  unset(_targetsNotDefined)
-  unset(_expectedTargets)
-  set(CMAKE_IMPORT_FILE_VERSION)
-  cmake_policy(POP)
-  return()
-endif()
-if(NOT "${_targetsDefined}" STREQUAL "")
-  message(FATAL_ERROR "Some (but not all) targets in this export set were already defined.\nTargets Defined: ${_targetsDefined}\nTargets not yet defined: ${_targetsNotDefined}\n")
-endif()
-unset(_targetsDefined)
-unset(_targetsNotDefined)
-unset(_expectedTargets)
-
-
-# Compute the installation prefix relative to this file.
-get_filename_component(_IMPORT_PREFIX "${CMAKE_CURRENT_LIST_FILE}" PATH)
-get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
-get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
-get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
-if(_IMPORT_PREFIX STREQUAL "/")
-  set(_IMPORT_PREFIX "")
-endif()
-
-# Create imported target unitree_api::unitree_api__rosidl_typesupport_cpp
-add_library(unitree_api::unitree_api__rosidl_typesupport_cpp SHARED IMPORTED)
-
-set_target_properties(unitree_api::unitree_api__rosidl_typesupport_cpp PROPERTIES
-  INTERFACE_INCLUDE_DIRECTORIES "${_IMPORT_PREFIX}/include"
-  INTERFACE_LINK_LIBRARIES "rosidl_runtime_c::rosidl_runtime_c;rosidl_runtime_cpp::rosidl_runtime_cpp;rosidl_typesupport_cpp::rosidl_typesupport_cpp;rosidl_typesupport_interface::rosidl_typesupport_interface;geometry_msgs::geometry_msgs__rosidl_generator_c;geometry_msgs::geometry_msgs__rosidl_typesupport_introspection_c;geometry_msgs::geometry_msgs__rosidl_typesupport_c;geometry_msgs::geometry_msgs__rosidl_generator_cpp;geometry_msgs::geometry_msgs__rosidl_typesupport_introspection_cpp;geometry_msgs::geometry_msgs__rosidl_typesupport_cpp;std_msgs::std_msgs__rosidl_generator_c;std_msgs::std_msgs__rosidl_typesupport_introspection_c;std_msgs::std_msgs__rosidl_typesupport_c;std_msgs::std_msgs__rosidl_generator_cpp;std_msgs::std_msgs__rosidl_typesupport_introspection_cpp;std_msgs::std_msgs__rosidl_typesupport_cpp;builtin_interfaces::builtin_interfaces__rosidl_generator_c;builtin_interfaces::builtin_interfaces__rosidl_typesupport_introspection_c;builtin_interfaces::builtin_interfaces__rosidl_typesupport_c;builtin_interfaces::builtin_interfaces__rosidl_generator_cpp;builtin_interfaces::builtin_interfaces__rosidl_typesupport_introspection_cpp;builtin_interfaces::builtin_interfaces__rosidl_typesupport_cpp"
-)
-
-if(CMAKE_VERSION VERSION_LESS 2.8.12)
-  message(FATAL_ERROR "This file relies on consumers using CMake 2.8.12 or greater.")
-endif()
-
-# Load information for each installed configuration.
-get_filename_component(_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH)
-file(GLOB CONFIG_FILES "${_DIR}/unitree_api__rosidl_typesupport_cppExport-*.cmake")
-foreach(f ${CONFIG_FILES})
-  include(${f})
-endforeach()
-
-# Cleanup temporary variables.
-set(_IMPORT_PREFIX)
-
-# Loop over all imported files and verify that they actually exist
-foreach(target ${_IMPORT_CHECK_TARGETS} )
-  foreach(file ${_IMPORT_CHECK_FILES_FOR_${target}} )
-    if(NOT EXISTS "${file}" )
-      message(FATAL_ERROR "The imported target \"${target}\" references the file
-   \"${file}\"
-but this file does not exist.  Possible reasons include:
-* The file was deleted, renamed, or moved to another location.
-* An install or uninstall procedure did not complete successfully.
-* The installation package was faulty and contained
-   \"${CMAKE_CURRENT_LIST_FILE}\"
-but not all the files it references.
-")
-    endif()
-  endforeach()
-  unset(_IMPORT_CHECK_FILES_FOR_${target})
-endforeach()
-unset(_IMPORT_CHECK_TARGETS)
-
-# This file does not depend on other imported targets which have
-# been exported from the same project but in a separate export set.
-
-# Commands beyond this point should not need to know the version.
-set(CMAKE_IMPORT_FILE_VERSION)
-cmake_policy(POP)
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/unitree_api__rosidl_typesupport_introspection_cExport-noconfig.cmake b/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/unitree_api__rosidl_typesupport_introspection_cExport-noconfig.cmake
deleted file mode 100644
index 00ce971..0000000
--- a/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/unitree_api__rosidl_typesupport_introspection_cExport-noconfig.cmake
+++ /dev/null
@@ -1,19 +0,0 @@
-#----------------------------------------------------------------
-# Generated CMake target import file.
-#----------------------------------------------------------------
-
-# Commands may need to know the format version.
-set(CMAKE_IMPORT_FILE_VERSION 1)
-
-# Import target "unitree_api::unitree_api__rosidl_typesupport_introspection_c" for configuration ""
-set_property(TARGET unitree_api::unitree_api__rosidl_typesupport_introspection_c APPEND PROPERTY IMPORTED_CONFIGURATIONS NOCONFIG)
-set_target_properties(unitree_api::unitree_api__rosidl_typesupport_introspection_c PROPERTIES
-  IMPORTED_LOCATION_NOCONFIG "${_IMPORT_PREFIX}/lib/libunitree_api__rosidl_typesupport_introspection_c.so"
-  IMPORTED_SONAME_NOCONFIG "libunitree_api__rosidl_typesupport_introspection_c.so"
-  )
-
-list(APPEND _IMPORT_CHECK_TARGETS unitree_api::unitree_api__rosidl_typesupport_introspection_c )
-list(APPEND _IMPORT_CHECK_FILES_FOR_unitree_api::unitree_api__rosidl_typesupport_introspection_c "${_IMPORT_PREFIX}/lib/libunitree_api__rosidl_typesupport_introspection_c.so" )
-
-# Commands beyond this point should not need to know the version.
-set(CMAKE_IMPORT_FILE_VERSION)
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/unitree_api__rosidl_typesupport_introspection_cExport.cmake b/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/unitree_api__rosidl_typesupport_introspection_cExport.cmake
deleted file mode 100644
index 2dde5a4..0000000
--- a/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/unitree_api__rosidl_typesupport_introspection_cExport.cmake
+++ /dev/null
@@ -1,114 +0,0 @@
-# Generated by CMake
-
-if("${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION}" LESS 2.5)
-   message(FATAL_ERROR "CMake >= 2.6.0 required")
-endif()
-cmake_policy(PUSH)
-cmake_policy(VERSION 2.6)
-#----------------------------------------------------------------
-# Generated CMake target import file.
-#----------------------------------------------------------------
-
-# Commands may need to know the format version.
-set(CMAKE_IMPORT_FILE_VERSION 1)
-
-# Protect against multiple inclusion, which would fail when already imported targets are added once more.
-set(_targetsDefined)
-set(_targetsNotDefined)
-set(_expectedTargets)
-foreach(_expectedTarget unitree_api::unitree_api__rosidl_typesupport_introspection_c)
-  list(APPEND _expectedTargets ${_expectedTarget})
-  if(NOT TARGET ${_expectedTarget})
-    list(APPEND _targetsNotDefined ${_expectedTarget})
-  endif()
-  if(TARGET ${_expectedTarget})
-    list(APPEND _targetsDefined ${_expectedTarget})
-  endif()
-endforeach()
-if("${_targetsDefined}" STREQUAL "${_expectedTargets}")
-  unset(_targetsDefined)
-  unset(_targetsNotDefined)
-  unset(_expectedTargets)
-  set(CMAKE_IMPORT_FILE_VERSION)
-  cmake_policy(POP)
-  return()
-endif()
-if(NOT "${_targetsDefined}" STREQUAL "")
-  message(FATAL_ERROR "Some (but not all) targets in this export set were already defined.\nTargets Defined: ${_targetsDefined}\nTargets not yet defined: ${_targetsNotDefined}\n")
-endif()
-unset(_targetsDefined)
-unset(_targetsNotDefined)
-unset(_expectedTargets)
-
-
-# Compute the installation prefix relative to this file.
-get_filename_component(_IMPORT_PREFIX "${CMAKE_CURRENT_LIST_FILE}" PATH)
-get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
-get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
-get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
-if(_IMPORT_PREFIX STREQUAL "/")
-  set(_IMPORT_PREFIX "")
-endif()
-
-# Create imported target unitree_api::unitree_api__rosidl_typesupport_introspection_c
-add_library(unitree_api::unitree_api__rosidl_typesupport_introspection_c SHARED IMPORTED)
-
-set_target_properties(unitree_api::unitree_api__rosidl_typesupport_introspection_c PROPERTIES
-  INTERFACE_LINK_LIBRARIES "unitree_api::unitree_api__rosidl_generator_c;rosidl_typesupport_introspection_c::rosidl_typesupport_introspection_c;geometry_msgs::geometry_msgs__rosidl_generator_c;geometry_msgs::geometry_msgs__rosidl_typesupport_introspection_c;geometry_msgs::geometry_msgs__rosidl_typesupport_c;geometry_msgs::geometry_msgs__rosidl_generator_cpp;geometry_msgs::geometry_msgs__rosidl_typesupport_introspection_cpp;geometry_msgs::geometry_msgs__rosidl_typesupport_cpp;geometry_msgs::geometry_msgs__rosidl_typesupport_introspection_c;std_msgs::std_msgs__rosidl_generator_c;std_msgs::std_msgs__rosidl_typesupport_introspection_c;std_msgs::std_msgs__rosidl_typesupport_c;std_msgs::std_msgs__rosidl_generator_cpp;std_msgs::std_msgs__rosidl_typesupport_introspection_cpp;std_msgs::std_msgs__rosidl_typesupport_cpp;std_msgs::std_msgs__rosidl_typesupport_introspection_c;builtin_interfaces::builtin_interfaces__rosidl_generator_c;builtin_interfaces::builtin_interfaces__rosidl_typesupport_introspection_c;builtin_interfaces::builtin_interfaces__rosidl_typesupport_c;builtin_interfaces::builtin_interfaces__rosidl_generator_cpp;builtin_interfaces::builtin_interfaces__rosidl_typesupport_introspection_cpp;builtin_interfaces::builtin_interfaces__rosidl_typesupport_cpp;builtin_interfaces::builtin_interfaces__rosidl_typesupport_introspection_c"
-)
-
-if(CMAKE_VERSION VERSION_LESS 2.8.12)
-  message(FATAL_ERROR "This file relies on consumers using CMake 2.8.12 or greater.")
-endif()
-
-# Load information for each installed configuration.
-get_filename_component(_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH)
-file(GLOB CONFIG_FILES "${_DIR}/unitree_api__rosidl_typesupport_introspection_cExport-*.cmake")
-foreach(f ${CONFIG_FILES})
-  include(${f})
-endforeach()
-
-# Cleanup temporary variables.
-set(_IMPORT_PREFIX)
-
-# Loop over all imported files and verify that they actually exist
-foreach(target ${_IMPORT_CHECK_TARGETS} )
-  foreach(file ${_IMPORT_CHECK_FILES_FOR_${target}} )
-    if(NOT EXISTS "${file}" )
-      message(FATAL_ERROR "The imported target \"${target}\" references the file
-   \"${file}\"
-but this file does not exist.  Possible reasons include:
-* The file was deleted, renamed, or moved to another location.
-* An install or uninstall procedure did not complete successfully.
-* The installation package was faulty and contained
-   \"${CMAKE_CURRENT_LIST_FILE}\"
-but not all the files it references.
-")
-    endif()
-  endforeach()
-  unset(_IMPORT_CHECK_FILES_FOR_${target})
-endforeach()
-unset(_IMPORT_CHECK_TARGETS)
-
-# Make sure the targets which have been exported in some other 
-# export set exist.
-unset(${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets)
-foreach(_target "unitree_api::unitree_api__rosidl_generator_c" )
-  if(NOT TARGET "${_target}" )
-    set(${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets "${${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets} ${_target}")
-  endif()
-endforeach()
-
-if(DEFINED ${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets)
-  if(CMAKE_FIND_PACKAGE_NAME)
-    set( ${CMAKE_FIND_PACKAGE_NAME}_FOUND FALSE)
-    set( ${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE "The following imported targets are referenced, but are missing: ${${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets}")
-  else()
-    message(FATAL_ERROR "The following imported targets are referenced, but are missing: ${${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets}")
-  endif()
-endif()
-unset(${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets)
-
-# Commands beyond this point should not need to know the version.
-set(CMAKE_IMPORT_FILE_VERSION)
-cmake_policy(POP)
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/unitree_api__rosidl_typesupport_introspection_cppExport-noconfig.cmake b/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/unitree_api__rosidl_typesupport_introspection_cppExport-noconfig.cmake
deleted file mode 100644
index 2500f11..0000000
--- a/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/unitree_api__rosidl_typesupport_introspection_cppExport-noconfig.cmake
+++ /dev/null
@@ -1,19 +0,0 @@
-#----------------------------------------------------------------
-# Generated CMake target import file.
-#----------------------------------------------------------------
-
-# Commands may need to know the format version.
-set(CMAKE_IMPORT_FILE_VERSION 1)
-
-# Import target "unitree_api::unitree_api__rosidl_typesupport_introspection_cpp" for configuration ""
-set_property(TARGET unitree_api::unitree_api__rosidl_typesupport_introspection_cpp APPEND PROPERTY IMPORTED_CONFIGURATIONS NOCONFIG)
-set_target_properties(unitree_api::unitree_api__rosidl_typesupport_introspection_cpp PROPERTIES
-  IMPORTED_LOCATION_NOCONFIG "${_IMPORT_PREFIX}/lib/libunitree_api__rosidl_typesupport_introspection_cpp.so"
-  IMPORTED_SONAME_NOCONFIG "libunitree_api__rosidl_typesupport_introspection_cpp.so"
-  )
-
-list(APPEND _IMPORT_CHECK_TARGETS unitree_api::unitree_api__rosidl_typesupport_introspection_cpp )
-list(APPEND _IMPORT_CHECK_FILES_FOR_unitree_api::unitree_api__rosidl_typesupport_introspection_cpp "${_IMPORT_PREFIX}/lib/libunitree_api__rosidl_typesupport_introspection_cpp.so" )
-
-# Commands beyond this point should not need to know the version.
-set(CMAKE_IMPORT_FILE_VERSION)
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/unitree_api__rosidl_typesupport_introspection_cppExport.cmake b/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/unitree_api__rosidl_typesupport_introspection_cppExport.cmake
deleted file mode 100644
index 657a3e2..0000000
--- a/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/unitree_api__rosidl_typesupport_introspection_cppExport.cmake
+++ /dev/null
@@ -1,98 +0,0 @@
-# Generated by CMake
-
-if("${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION}" LESS 2.5)
-   message(FATAL_ERROR "CMake >= 2.6.0 required")
-endif()
-cmake_policy(PUSH)
-cmake_policy(VERSION 2.6)
-#----------------------------------------------------------------
-# Generated CMake target import file.
-#----------------------------------------------------------------
-
-# Commands may need to know the format version.
-set(CMAKE_IMPORT_FILE_VERSION 1)
-
-# Protect against multiple inclusion, which would fail when already imported targets are added once more.
-set(_targetsDefined)
-set(_targetsNotDefined)
-set(_expectedTargets)
-foreach(_expectedTarget unitree_api::unitree_api__rosidl_typesupport_introspection_cpp)
-  list(APPEND _expectedTargets ${_expectedTarget})
-  if(NOT TARGET ${_expectedTarget})
-    list(APPEND _targetsNotDefined ${_expectedTarget})
-  endif()
-  if(TARGET ${_expectedTarget})
-    list(APPEND _targetsDefined ${_expectedTarget})
-  endif()
-endforeach()
-if("${_targetsDefined}" STREQUAL "${_expectedTargets}")
-  unset(_targetsDefined)
-  unset(_targetsNotDefined)
-  unset(_expectedTargets)
-  set(CMAKE_IMPORT_FILE_VERSION)
-  cmake_policy(POP)
-  return()
-endif()
-if(NOT "${_targetsDefined}" STREQUAL "")
-  message(FATAL_ERROR "Some (but not all) targets in this export set were already defined.\nTargets Defined: ${_targetsDefined}\nTargets not yet defined: ${_targetsNotDefined}\n")
-endif()
-unset(_targetsDefined)
-unset(_targetsNotDefined)
-unset(_expectedTargets)
-
-
-# Compute the installation prefix relative to this file.
-get_filename_component(_IMPORT_PREFIX "${CMAKE_CURRENT_LIST_FILE}" PATH)
-get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
-get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
-get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
-if(_IMPORT_PREFIX STREQUAL "/")
-  set(_IMPORT_PREFIX "")
-endif()
-
-# Create imported target unitree_api::unitree_api__rosidl_typesupport_introspection_cpp
-add_library(unitree_api::unitree_api__rosidl_typesupport_introspection_cpp SHARED IMPORTED)
-
-set_target_properties(unitree_api::unitree_api__rosidl_typesupport_introspection_cpp PROPERTIES
-  INTERFACE_LINK_LIBRARIES "rosidl_runtime_c::rosidl_runtime_c;rosidl_typesupport_interface::rosidl_typesupport_interface;rosidl_typesupport_introspection_cpp::rosidl_typesupport_introspection_cpp;geometry_msgs::geometry_msgs__rosidl_generator_c;geometry_msgs::geometry_msgs__rosidl_typesupport_introspection_c;geometry_msgs::geometry_msgs__rosidl_typesupport_c;geometry_msgs::geometry_msgs__rosidl_generator_cpp;geometry_msgs::geometry_msgs__rosidl_typesupport_introspection_cpp;geometry_msgs::geometry_msgs__rosidl_typesupport_cpp;geometry_msgs::geometry_msgs__rosidl_typesupport_introspection_cpp;std_msgs::std_msgs__rosidl_generator_c;std_msgs::std_msgs__rosidl_typesupport_introspection_c;std_msgs::std_msgs__rosidl_typesupport_c;std_msgs::std_msgs__rosidl_generator_cpp;std_msgs::std_msgs__rosidl_typesupport_introspection_cpp;std_msgs::std_msgs__rosidl_typesupport_cpp;std_msgs::std_msgs__rosidl_typesupport_introspection_cpp;builtin_interfaces::builtin_interfaces__rosidl_generator_c;builtin_interfaces::builtin_interfaces__rosidl_typesupport_introspection_c;builtin_interfaces::builtin_interfaces__rosidl_typesupport_c;builtin_interfaces::builtin_interfaces__rosidl_generator_cpp;builtin_interfaces::builtin_interfaces__rosidl_typesupport_introspection_cpp;builtin_interfaces::builtin_interfaces__rosidl_typesupport_cpp;builtin_interfaces::builtin_interfaces__rosidl_typesupport_introspection_cpp"
-)
-
-if(CMAKE_VERSION VERSION_LESS 2.8.12)
-  message(FATAL_ERROR "This file relies on consumers using CMake 2.8.12 or greater.")
-endif()
-
-# Load information for each installed configuration.
-get_filename_component(_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH)
-file(GLOB CONFIG_FILES "${_DIR}/unitree_api__rosidl_typesupport_introspection_cppExport-*.cmake")
-foreach(f ${CONFIG_FILES})
-  include(${f})
-endforeach()
-
-# Cleanup temporary variables.
-set(_IMPORT_PREFIX)
-
-# Loop over all imported files and verify that they actually exist
-foreach(target ${_IMPORT_CHECK_TARGETS} )
-  foreach(file ${_IMPORT_CHECK_FILES_FOR_${target}} )
-    if(NOT EXISTS "${file}" )
-      message(FATAL_ERROR "The imported target \"${target}\" references the file
-   \"${file}\"
-but this file does not exist.  Possible reasons include:
-* The file was deleted, renamed, or moved to another location.
-* An install or uninstall procedure did not complete successfully.
-* The installation package was faulty and contained
-   \"${CMAKE_CURRENT_LIST_FILE}\"
-but not all the files it references.
-")
-    endif()
-  endforeach()
-  unset(_IMPORT_CHECK_FILES_FOR_${target})
-endforeach()
-unset(_IMPORT_CHECK_TARGETS)
-
-# This file does not depend on other imported targets which have
-# been exported from the same project but in a separate export set.
-
-# Commands beyond this point should not need to know the version.
-set(CMAKE_IMPORT_FILE_VERSION)
-cmake_policy(POP)
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/environment/ament_prefix_path.dsv b/deploy/robot_ws/install/unitree_api/share/unitree_api/environment/ament_prefix_path.dsv
deleted file mode 100644
index 79d4c95..0000000
--- a/deploy/robot_ws/install/unitree_api/share/unitree_api/environment/ament_prefix_path.dsv
+++ /dev/null
@@ -1 +0,0 @@
-prepend-non-duplicate;AMENT_PREFIX_PATH;
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/environment/ament_prefix_path.sh b/deploy/robot_ws/install/unitree_api/share/unitree_api/environment/ament_prefix_path.sh
deleted file mode 100644
index 02e441b..0000000
--- a/deploy/robot_ws/install/unitree_api/share/unitree_api/environment/ament_prefix_path.sh
+++ /dev/null
@@ -1,4 +0,0 @@
-# copied from
-# ament_cmake_core/cmake/environment_hooks/environment/ament_prefix_path.sh
-
-ament_prepend_unique_value AMENT_PREFIX_PATH "$AMENT_CURRENT_PREFIX"
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/environment/library_path.dsv b/deploy/robot_ws/install/unitree_api/share/unitree_api/environment/library_path.dsv
deleted file mode 100644
index 89bec93..0000000
--- a/deploy/robot_ws/install/unitree_api/share/unitree_api/environment/library_path.dsv
+++ /dev/null
@@ -1 +0,0 @@
-prepend-non-duplicate;LD_LIBRARY_PATH;lib
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/environment/library_path.sh b/deploy/robot_ws/install/unitree_api/share/unitree_api/environment/library_path.sh
deleted file mode 100644
index 292e518..0000000
--- a/deploy/robot_ws/install/unitree_api/share/unitree_api/environment/library_path.sh
+++ /dev/null
@@ -1,16 +0,0 @@
-# copied from ament_package/template/environment_hook/library_path.sh
-
-# detect if running on Darwin platform
-_UNAME=`uname -s`
-_IS_DARWIN=0
-if [ "$_UNAME" = "Darwin" ]; then
-  _IS_DARWIN=1
-fi
-unset _UNAME
-
-if [ $_IS_DARWIN -eq 0 ]; then
-  ament_prepend_unique_value LD_LIBRARY_PATH "$AMENT_CURRENT_PREFIX/lib"
-else
-  ament_prepend_unique_value DYLD_LIBRARY_PATH "$AMENT_CURRENT_PREFIX/lib"
-fi
-unset _IS_DARWIN
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/environment/path.dsv b/deploy/robot_ws/install/unitree_api/share/unitree_api/environment/path.dsv
deleted file mode 100644
index b94426a..0000000
--- a/deploy/robot_ws/install/unitree_api/share/unitree_api/environment/path.dsv
+++ /dev/null
@@ -1 +0,0 @@
-prepend-non-duplicate-if-exists;PATH;bin
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/environment/path.sh b/deploy/robot_ws/install/unitree_api/share/unitree_api/environment/path.sh
deleted file mode 100644
index e59b749..0000000
--- a/deploy/robot_ws/install/unitree_api/share/unitree_api/environment/path.sh
+++ /dev/null
@@ -1,5 +0,0 @@
-# copied from ament_cmake_core/cmake/environment_hooks/environment/path.sh
-
-if [ -d "$AMENT_CURRENT_PREFIX/bin" ]; then
-  ament_prepend_unique_value PATH "$AMENT_CURRENT_PREFIX/bin"
-fi
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/environment/pythonpath.dsv b/deploy/robot_ws/install/unitree_api/share/unitree_api/environment/pythonpath.dsv
deleted file mode 100644
index 84dbc4c..0000000
--- a/deploy/robot_ws/install/unitree_api/share/unitree_api/environment/pythonpath.dsv
+++ /dev/null
@@ -1 +0,0 @@
-prepend-non-duplicate;PYTHONPATH;lib/python3.8/site-packages
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/environment/pythonpath.sh b/deploy/robot_ws/install/unitree_api/share/unitree_api/environment/pythonpath.sh
deleted file mode 100644
index 7fe2b2f..0000000
--- a/deploy/robot_ws/install/unitree_api/share/unitree_api/environment/pythonpath.sh
+++ /dev/null
@@ -1,3 +0,0 @@
-# generated from ament_package/template/environment_hook/pythonpath.sh.in
-
-ament_prepend_unique_value PYTHONPATH "$AMENT_CURRENT_PREFIX/lib/python3.8/site-packages"
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/hook/cmake_prefix_path.dsv b/deploy/robot_ws/install/unitree_api/share/unitree_api/hook/cmake_prefix_path.dsv
deleted file mode 100644
index e119f32..0000000
--- a/deploy/robot_ws/install/unitree_api/share/unitree_api/hook/cmake_prefix_path.dsv
+++ /dev/null
@@ -1 +0,0 @@
-prepend-non-duplicate;CMAKE_PREFIX_PATH;
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/hook/cmake_prefix_path.ps1 b/deploy/robot_ws/install/unitree_api/share/unitree_api/hook/cmake_prefix_path.ps1
deleted file mode 100644
index d03facc..0000000
--- a/deploy/robot_ws/install/unitree_api/share/unitree_api/hook/cmake_prefix_path.ps1
+++ /dev/null
@@ -1,3 +0,0 @@
-# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em
-
-colcon_prepend_unique_value CMAKE_PREFIX_PATH "$env:COLCON_CURRENT_PREFIX"
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/hook/cmake_prefix_path.sh b/deploy/robot_ws/install/unitree_api/share/unitree_api/hook/cmake_prefix_path.sh
deleted file mode 100644
index a948e68..0000000
--- a/deploy/robot_ws/install/unitree_api/share/unitree_api/hook/cmake_prefix_path.sh
+++ /dev/null
@@ -1,3 +0,0 @@
-# generated from colcon_core/shell/template/hook_prepend_value.sh.em
-
-_colcon_prepend_unique_value CMAKE_PREFIX_PATH "$COLCON_CURRENT_PREFIX"
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/hook/ld_library_path_lib.dsv b/deploy/robot_ws/install/unitree_api/share/unitree_api/hook/ld_library_path_lib.dsv
deleted file mode 100644
index 89bec93..0000000
--- a/deploy/robot_ws/install/unitree_api/share/unitree_api/hook/ld_library_path_lib.dsv
+++ /dev/null
@@ -1 +0,0 @@
-prepend-non-duplicate;LD_LIBRARY_PATH;lib
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/hook/ld_library_path_lib.ps1 b/deploy/robot_ws/install/unitree_api/share/unitree_api/hook/ld_library_path_lib.ps1
deleted file mode 100644
index f6df601..0000000
--- a/deploy/robot_ws/install/unitree_api/share/unitree_api/hook/ld_library_path_lib.ps1
+++ /dev/null
@@ -1,3 +0,0 @@
-# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em
-
-colcon_prepend_unique_value LD_LIBRARY_PATH "$env:COLCON_CURRENT_PREFIX\lib"
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/hook/ld_library_path_lib.sh b/deploy/robot_ws/install/unitree_api/share/unitree_api/hook/ld_library_path_lib.sh
deleted file mode 100644
index ca3c102..0000000
--- a/deploy/robot_ws/install/unitree_api/share/unitree_api/hook/ld_library_path_lib.sh
+++ /dev/null
@@ -1,3 +0,0 @@
-# generated from colcon_core/shell/template/hook_prepend_value.sh.em
-
-_colcon_prepend_unique_value LD_LIBRARY_PATH "$COLCON_CURRENT_PREFIX/lib"
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/hook/pythonpath.dsv b/deploy/robot_ws/install/unitree_api/share/unitree_api/hook/pythonpath.dsv
deleted file mode 100644
index 84dbc4c..0000000
--- a/deploy/robot_ws/install/unitree_api/share/unitree_api/hook/pythonpath.dsv
+++ /dev/null
@@ -1 +0,0 @@
-prepend-non-duplicate;PYTHONPATH;lib/python3.8/site-packages
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/hook/pythonpath.ps1 b/deploy/robot_ws/install/unitree_api/share/unitree_api/hook/pythonpath.ps1
deleted file mode 100644
index 12877ef..0000000
--- a/deploy/robot_ws/install/unitree_api/share/unitree_api/hook/pythonpath.ps1
+++ /dev/null
@@ -1,3 +0,0 @@
-# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em
-
-colcon_prepend_unique_value PYTHONPATH "$env:COLCON_CURRENT_PREFIX\lib/python3.8/site-packages"
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/hook/pythonpath.sh b/deploy/robot_ws/install/unitree_api/share/unitree_api/hook/pythonpath.sh
deleted file mode 100644
index ed8efd9..0000000
--- a/deploy/robot_ws/install/unitree_api/share/unitree_api/hook/pythonpath.sh
+++ /dev/null
@@ -1,3 +0,0 @@
-# generated from colcon_core/shell/template/hook_prepend_value.sh.em
-
-_colcon_prepend_unique_value PYTHONPATH "$COLCON_CURRENT_PREFIX/lib/python3.8/site-packages"
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/local_setup.bash b/deploy/robot_ws/install/unitree_api/share/unitree_api/local_setup.bash
deleted file mode 100644
index 49782f2..0000000
--- a/deploy/robot_ws/install/unitree_api/share/unitree_api/local_setup.bash
+++ /dev/null
@@ -1,46 +0,0 @@
-# generated from ament_package/template/package_level/local_setup.bash.in
-
-# source local_setup.sh from same directory as this file
-_this_path=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" && pwd)
-# provide AMENT_CURRENT_PREFIX to shell script
-AMENT_CURRENT_PREFIX=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`/../.." && pwd)
-# store AMENT_CURRENT_PREFIX to restore it before each environment hook
-_package_local_setup_AMENT_CURRENT_PREFIX=$AMENT_CURRENT_PREFIX
-
-# trace output
-if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then
-  echo "# . \"$_this_path/local_setup.sh\""
-fi
-. "$_this_path/local_setup.sh"
-unset _this_path
-
-# unset AMENT_ENVIRONMENT_HOOKS
-# if not appending to them for return
-if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
-  unset AMENT_ENVIRONMENT_HOOKS
-fi
-
-# restore AMENT_CURRENT_PREFIX before evaluating the environment hooks
-AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
-# list all environment hooks of this package
-
-# source all shell-specific environment hooks of this package
-# if not returning them
-if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
-  _package_local_setup_IFS=$IFS
-  IFS=":"
-  for _hook in $AMENT_ENVIRONMENT_HOOKS; do
-    # restore AMENT_CURRENT_PREFIX for each environment hook
-    AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
-    # restore IFS before sourcing other files
-    IFS=$_package_local_setup_IFS
-    . "$_hook"
-  done
-  unset _hook
-  IFS=$_package_local_setup_IFS
-  unset _package_local_setup_IFS
-  unset AMENT_ENVIRONMENT_HOOKS
-fi
-
-unset _package_local_setup_AMENT_CURRENT_PREFIX
-unset AMENT_CURRENT_PREFIX
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/local_setup.dsv b/deploy/robot_ws/install/unitree_api/share/unitree_api/local_setup.dsv
deleted file mode 100644
index 3a58b11..0000000
--- a/deploy/robot_ws/install/unitree_api/share/unitree_api/local_setup.dsv
+++ /dev/null
@@ -1,4 +0,0 @@
-source;share/unitree_api/environment/ament_prefix_path.sh
-source;share/unitree_api/environment/library_path.sh
-source;share/unitree_api/environment/path.sh
-source;share/unitree_api/environment/pythonpath.sh
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/local_setup.sh b/deploy/robot_ws/install/unitree_api/share/unitree_api/local_setup.sh
deleted file mode 100644
index 96c9022..0000000
--- a/deploy/robot_ws/install/unitree_api/share/unitree_api/local_setup.sh
+++ /dev/null
@@ -1,135 +0,0 @@
-# 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
-: ${AMENT_CURRENT_PREFIX:="/home/unitree/locomotion/Go2Py/deploy/robot_ws/install/unitree_api"}
-if [ ! -d "$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 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 "$AMENT_CURRENT_PREFIX/share/unitree_api/environment/ament_prefix_path.sh"
-ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/unitree_api/environment/library_path.sh"
-ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/unitree_api/environment/path.sh"
-ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/unitree_api/environment/pythonpath.sh"
-
-# source all shell-specific environment hooks of this package
-# if not returning them
-if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
-  _package_local_setup_IFS=$IFS
-  IFS=":"
-  if [ "$AMENT_SHELL" = "zsh" ]; then
-    ament_zsh_to_array AMENT_ENVIRONMENT_HOOKS
-  fi
-  for _hook in $AMENT_ENVIRONMENT_HOOKS; do
-    if [ -f "$_hook" ]; then
-      # restore IFS before sourcing other files
-      IFS=$_package_local_setup_IFS
-      # trace output
-      if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then
-        echo "# . \"$_hook\""
-      fi
-      . "$_hook"
-    fi
-  done
-  unset _hook
-  IFS=$_package_local_setup_IFS
-  unset _package_local_setup_IFS
-  unset AMENT_ENVIRONMENT_HOOKS
-fi
-
-# reset AMENT_CURRENT_PREFIX after each package
-# allowing to source multiple package-level setup files
-unset AMENT_CURRENT_PREFIX
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/local_setup.zsh b/deploy/robot_ws/install/unitree_api/share/unitree_api/local_setup.zsh
deleted file mode 100644
index fe161be..0000000
--- a/deploy/robot_ws/install/unitree_api/share/unitree_api/local_setup.zsh
+++ /dev/null
@@ -1,59 +0,0 @@
-# generated from ament_package/template/package_level/local_setup.zsh.in
-
-AMENT_SHELL=zsh
-
-# source local_setup.sh from same directory as this file
-_this_path=$(builtin cd -q "`dirname "${(%):-%N}"`" > /dev/null && pwd)
-# provide AMENT_CURRENT_PREFIX to shell script
-AMENT_CURRENT_PREFIX=$(builtin cd -q "`dirname "${(%):-%N}"`/../.." > /dev/null && pwd)
-# store AMENT_CURRENT_PREFIX to restore it before each environment hook
-_package_local_setup_AMENT_CURRENT_PREFIX=$AMENT_CURRENT_PREFIX
-
-# function to convert array-like strings into arrays
-# to wordaround SH_WORD_SPLIT not being set
-ament_zsh_to_array() {
-  local _listname=$1
-  local _dollar="$"
-  local _split="{="
-  local _to_array="(\"$_dollar$_split$_listname}\")"
-  eval $_listname=$_to_array
-}
-
-# trace output
-if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then
-  echo "# . \"$_this_path/local_setup.sh\""
-fi
-# the package-level local_setup file unsets AMENT_CURRENT_PREFIX
-. "$_this_path/local_setup.sh"
-unset _this_path
-
-# unset AMENT_ENVIRONMENT_HOOKS
-# if not appending to them for return
-if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
-  unset AMENT_ENVIRONMENT_HOOKS
-fi
-
-# restore AMENT_CURRENT_PREFIX before evaluating the environment hooks
-AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
-# list all environment hooks of this package
-
-# source all shell-specific environment hooks of this package
-# if not returning them
-if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
-  _package_local_setup_IFS=$IFS
-  IFS=":"
-  for _hook in $AMENT_ENVIRONMENT_HOOKS; do
-    # restore AMENT_CURRENT_PREFIX for each environment hook
-    AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
-    # restore IFS before sourcing other files
-    IFS=$_package_local_setup_IFS
-    . "$_hook"
-  done
-  unset _hook
-  IFS=$_package_local_setup_IFS
-  unset _package_local_setup_IFS
-  unset AMENT_ENVIRONMENT_HOOKS
-fi
-
-unset _package_local_setup_AMENT_CURRENT_PREFIX
-unset AMENT_CURRENT_PREFIX
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/Request.idl b/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/Request.idl
deleted file mode 100644
index 7ffe0f0..0000000
--- a/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/Request.idl
+++ /dev/null
@@ -1,17 +0,0 @@
-// generated from rosidl_adapter/resource/msg.idl.em
-// with input from unitree_api/msg/Request.msg
-// generated code does not contain a copyright notice
-
-#include "unitree_api/msg/RequestHeader.idl"
-
-module unitree_api {
-  module msg {
-    struct Request {
-      unitree_api::msg::RequestHeader header;
-
-      string parameter;
-
-      sequence<uint8> binary;
-    };
-  };
-};
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/Request.msg b/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/Request.msg
deleted file mode 100644
index b1df58a..0000000
--- a/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/Request.msg
+++ /dev/null
@@ -1,3 +0,0 @@
-RequestHeader header
-string parameter
-uint8[] binary
\ No newline at end of file
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/RequestHeader.idl b/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/RequestHeader.idl
deleted file mode 100644
index 97d6987..0000000
--- a/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/RequestHeader.idl
+++ /dev/null
@@ -1,19 +0,0 @@
-// generated from rosidl_adapter/resource/msg.idl.em
-// with input from unitree_api/msg/RequestHeader.msg
-// generated code does not contain a copyright notice
-
-#include "unitree_api/msg/RequestIdentity.idl"
-#include "unitree_api/msg/RequestLease.idl"
-#include "unitree_api/msg/RequestPolicy.idl"
-
-module unitree_api {
-  module msg {
-    struct RequestHeader {
-      unitree_api::msg::RequestIdentity identity;
-
-      unitree_api::msg::RequestLease lease;
-
-      unitree_api::msg::RequestPolicy policy;
-    };
-  };
-};
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/RequestHeader.msg b/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/RequestHeader.msg
deleted file mode 100644
index 022161b..0000000
--- a/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/RequestHeader.msg
+++ /dev/null
@@ -1,3 +0,0 @@
-RequestIdentity identity
-RequestLease lease
-RequestPolicy policy
\ No newline at end of file
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/RequestIdentity.idl b/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/RequestIdentity.idl
deleted file mode 100644
index 2ead946..0000000
--- a/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/RequestIdentity.idl
+++ /dev/null
@@ -1,14 +0,0 @@
-// generated from rosidl_adapter/resource/msg.idl.em
-// with input from unitree_api/msg/RequestIdentity.msg
-// generated code does not contain a copyright notice
-
-
-module unitree_api {
-  module msg {
-    struct RequestIdentity {
-      int64 id;
-
-      int64 api_id;
-    };
-  };
-};
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/RequestIdentity.msg b/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/RequestIdentity.msg
deleted file mode 100644
index 90011ff..0000000
--- a/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/RequestIdentity.msg
+++ /dev/null
@@ -1,2 +0,0 @@
-int64  id
-int64 api_id
\ No newline at end of file
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/RequestLease.idl b/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/RequestLease.idl
deleted file mode 100644
index 698449e..0000000
--- a/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/RequestLease.idl
+++ /dev/null
@@ -1,12 +0,0 @@
-// generated from rosidl_adapter/resource/msg.idl.em
-// with input from unitree_api/msg/RequestLease.msg
-// generated code does not contain a copyright notice
-
-
-module unitree_api {
-  module msg {
-    struct RequestLease {
-      int64 id;
-    };
-  };
-};
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/RequestLease.msg b/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/RequestLease.msg
deleted file mode 100644
index 85f692f..0000000
--- a/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/RequestLease.msg
+++ /dev/null
@@ -1 +0,0 @@
-int64 id
\ No newline at end of file
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/RequestPolicy.idl b/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/RequestPolicy.idl
deleted file mode 100644
index ff73905..0000000
--- a/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/RequestPolicy.idl
+++ /dev/null
@@ -1,14 +0,0 @@
-// generated from rosidl_adapter/resource/msg.idl.em
-// with input from unitree_api/msg/RequestPolicy.msg
-// generated code does not contain a copyright notice
-
-
-module unitree_api {
-  module msg {
-    struct RequestPolicy {
-      int32 priority;
-
-      boolean noreply;
-    };
-  };
-};
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/RequestPolicy.msg b/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/RequestPolicy.msg
deleted file mode 100644
index 89e00c2..0000000
--- a/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/RequestPolicy.msg
+++ /dev/null
@@ -1,2 +0,0 @@
-int32 priority
-bool noreply
\ No newline at end of file
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/Response.idl b/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/Response.idl
deleted file mode 100644
index 59ac745..0000000
--- a/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/Response.idl
+++ /dev/null
@@ -1,17 +0,0 @@
-// generated from rosidl_adapter/resource/msg.idl.em
-// with input from unitree_api/msg/Response.msg
-// generated code does not contain a copyright notice
-
-#include "unitree_api/msg/ResponseHeader.idl"
-
-module unitree_api {
-  module msg {
-    struct Response {
-      unitree_api::msg::ResponseHeader header;
-
-      string data;
-
-      sequence<int8> binary;
-    };
-  };
-};
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/Response.msg b/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/Response.msg
deleted file mode 100644
index 2036630..0000000
--- a/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/Response.msg
+++ /dev/null
@@ -1,3 +0,0 @@
-ResponseHeader header
-string data
-int8[] binary
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/ResponseHeader.idl b/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/ResponseHeader.idl
deleted file mode 100644
index de1dd0c..0000000
--- a/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/ResponseHeader.idl
+++ /dev/null
@@ -1,16 +0,0 @@
-// generated from rosidl_adapter/resource/msg.idl.em
-// with input from unitree_api/msg/ResponseHeader.msg
-// generated code does not contain a copyright notice
-
-#include "unitree_api/msg/RequestIdentity.idl"
-#include "unitree_api/msg/ResponseStatus.idl"
-
-module unitree_api {
-  module msg {
-    struct ResponseHeader {
-      unitree_api::msg::RequestIdentity identity;
-
-      unitree_api::msg::ResponseStatus status;
-    };
-  };
-};
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/ResponseHeader.msg b/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/ResponseHeader.msg
deleted file mode 100644
index 3d51649..0000000
--- a/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/ResponseHeader.msg
+++ /dev/null
@@ -1,2 +0,0 @@
-RequestIdentity identity
-ResponseStatus status
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/ResponseStatus.idl b/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/ResponseStatus.idl
deleted file mode 100644
index 6d6fcad..0000000
--- a/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/ResponseStatus.idl
+++ /dev/null
@@ -1,12 +0,0 @@
-// generated from rosidl_adapter/resource/msg.idl.em
-// with input from unitree_api/msg/ResponseStatus.msg
-// generated code does not contain a copyright notice
-
-
-module unitree_api {
-  module msg {
-    struct ResponseStatus {
-      int32 code;
-    };
-  };
-};
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/ResponseStatus.msg b/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/ResponseStatus.msg
deleted file mode 100644
index 1d379fa..0000000
--- a/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/ResponseStatus.msg
+++ /dev/null
@@ -1 +0,0 @@
-int32 code
\ No newline at end of file
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/dds_connext/RequestHeader_.idl b/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/dds_connext/RequestHeader_.idl
deleted file mode 100644
index 8493ad2..0000000
--- a/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/dds_connext/RequestHeader_.idl
+++ /dev/null
@@ -1,34 +0,0 @@
-// generated from rosidl_generator_dds_idl/resource/idl.idl.em
-// with input from unitree_api:msg/RequestHeader.idl
-// generated code does not contain a copyright notice
-#include "unitree_api/msg/dds_connext/RequestIdentity_.idl"
-#include "unitree_api/msg/dds_connext/RequestLease_.idl"
-#include "unitree_api/msg/dds_connext/RequestPolicy_.idl"
-
-#ifndef __unitree_api__msg__request_header__idl__
-#define __unitree_api__msg__request_header__idl__
-
-
-module unitree_api {
-
-module msg {
-
-module dds_ {
-
-
-struct RequestHeader_ {
-unitree_api::msg::dds_::RequestIdentity_ identity_;
-unitree_api::msg::dds_::RequestLease_ lease_;
-unitree_api::msg::dds_::RequestPolicy_ policy_;
-
-};
-
-
-};  // module dds_
-
-};  // module msg
-
-};  // module unitree_api
-
-
-#endif  // __unitree_api__msg__request_header__idl__
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/dds_connext/RequestIdentity_.idl b/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/dds_connext/RequestIdentity_.idl
deleted file mode 100644
index dc65c91..0000000
--- a/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/dds_connext/RequestIdentity_.idl
+++ /dev/null
@@ -1,30 +0,0 @@
-// generated from rosidl_generator_dds_idl/resource/idl.idl.em
-// with input from unitree_api:msg/RequestIdentity.idl
-// generated code does not contain a copyright notice
-
-#ifndef __unitree_api__msg__request_identity__idl__
-#define __unitree_api__msg__request_identity__idl__
-
-
-module unitree_api {
-
-module msg {
-
-module dds_ {
-
-
-struct RequestIdentity_ {
-long long id_;
-long long api_id_;
-
-};
-
-
-};  // module dds_
-
-};  // module msg
-
-};  // module unitree_api
-
-
-#endif  // __unitree_api__msg__request_identity__idl__
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/dds_connext/RequestLease_.idl b/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/dds_connext/RequestLease_.idl
deleted file mode 100644
index fdb7980..0000000
--- a/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/dds_connext/RequestLease_.idl
+++ /dev/null
@@ -1,29 +0,0 @@
-// generated from rosidl_generator_dds_idl/resource/idl.idl.em
-// with input from unitree_api:msg/RequestLease.idl
-// generated code does not contain a copyright notice
-
-#ifndef __unitree_api__msg__request_lease__idl__
-#define __unitree_api__msg__request_lease__idl__
-
-
-module unitree_api {
-
-module msg {
-
-module dds_ {
-
-
-struct RequestLease_ {
-long long id_;
-
-};
-
-
-};  // module dds_
-
-};  // module msg
-
-};  // module unitree_api
-
-
-#endif  // __unitree_api__msg__request_lease__idl__
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/dds_connext/RequestPolicy_.idl b/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/dds_connext/RequestPolicy_.idl
deleted file mode 100644
index 9181d63..0000000
--- a/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/dds_connext/RequestPolicy_.idl
+++ /dev/null
@@ -1,30 +0,0 @@
-// generated from rosidl_generator_dds_idl/resource/idl.idl.em
-// with input from unitree_api:msg/RequestPolicy.idl
-// generated code does not contain a copyright notice
-
-#ifndef __unitree_api__msg__request_policy__idl__
-#define __unitree_api__msg__request_policy__idl__
-
-
-module unitree_api {
-
-module msg {
-
-module dds_ {
-
-
-struct RequestPolicy_ {
-long priority_;
-boolean noreply_;
-
-};
-
-
-};  // module dds_
-
-};  // module msg
-
-};  // module unitree_api
-
-
-#endif  // __unitree_api__msg__request_policy__idl__
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/dds_connext/Request_.idl b/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/dds_connext/Request_.idl
deleted file mode 100644
index 0a99414..0000000
--- a/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/dds_connext/Request_.idl
+++ /dev/null
@@ -1,33 +0,0 @@
-// generated from rosidl_generator_dds_idl/resource/idl.idl.em
-// with input from unitree_api:msg/Request.idl
-// generated code does not contain a copyright notice
-#include "unitree_api/msg/dds_connext/RequestHeader_.idl"
-
-#ifndef __unitree_api__msg__request__idl__
-#define __unitree_api__msg__request__idl__
-
-
-module unitree_api {
-
-module msg {
-
-module dds_ {
-
-
-struct Request_ {
-unitree_api::msg::dds_::RequestHeader_ header_;
-string parameter_;
-sequence<octet> binary_;
-
-
-};
-
-
-};  // module dds_
-
-};  // module msg
-
-};  // module unitree_api
-
-
-#endif  // __unitree_api__msg__request__idl__
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/dds_connext/ResponseHeader_.idl b/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/dds_connext/ResponseHeader_.idl
deleted file mode 100644
index 4bd3912..0000000
--- a/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/dds_connext/ResponseHeader_.idl
+++ /dev/null
@@ -1,32 +0,0 @@
-// generated from rosidl_generator_dds_idl/resource/idl.idl.em
-// with input from unitree_api:msg/ResponseHeader.idl
-// generated code does not contain a copyright notice
-#include "unitree_api/msg/dds_connext/RequestIdentity_.idl"
-#include "unitree_api/msg/dds_connext/ResponseStatus_.idl"
-
-#ifndef __unitree_api__msg__response_header__idl__
-#define __unitree_api__msg__response_header__idl__
-
-
-module unitree_api {
-
-module msg {
-
-module dds_ {
-
-
-struct ResponseHeader_ {
-unitree_api::msg::dds_::RequestIdentity_ identity_;
-unitree_api::msg::dds_::ResponseStatus_ status_;
-
-};
-
-
-};  // module dds_
-
-};  // module msg
-
-};  // module unitree_api
-
-
-#endif  // __unitree_api__msg__response_header__idl__
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/dds_connext/ResponseStatus_.idl b/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/dds_connext/ResponseStatus_.idl
deleted file mode 100644
index a7e1fea..0000000
--- a/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/dds_connext/ResponseStatus_.idl
+++ /dev/null
@@ -1,29 +0,0 @@
-// generated from rosidl_generator_dds_idl/resource/idl.idl.em
-// with input from unitree_api:msg/ResponseStatus.idl
-// generated code does not contain a copyright notice
-
-#ifndef __unitree_api__msg__response_status__idl__
-#define __unitree_api__msg__response_status__idl__
-
-
-module unitree_api {
-
-module msg {
-
-module dds_ {
-
-
-struct ResponseStatus_ {
-long code_;
-
-};
-
-
-};  // module dds_
-
-};  // module msg
-
-};  // module unitree_api
-
-
-#endif  // __unitree_api__msg__response_status__idl__
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/dds_connext/Response_.idl b/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/dds_connext/Response_.idl
deleted file mode 100644
index 49947ff..0000000
--- a/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/dds_connext/Response_.idl
+++ /dev/null
@@ -1,33 +0,0 @@
-// generated from rosidl_generator_dds_idl/resource/idl.idl.em
-// with input from unitree_api:msg/Response.idl
-// generated code does not contain a copyright notice
-#include "unitree_api/msg/dds_connext/ResponseHeader_.idl"
-
-#ifndef __unitree_api__msg__response__idl__
-#define __unitree_api__msg__response__idl__
-
-
-module unitree_api {
-
-module msg {
-
-module dds_ {
-
-
-struct Response_ {
-unitree_api::msg::dds_::ResponseHeader_ header_;
-string data_;
-sequence<octet> binary_;
-
-
-};
-
-
-};  // module dds_
-
-};  // module msg
-
-};  // module unitree_api
-
-
-#endif  // __unitree_api__msg__response__idl__
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/package.bash b/deploy/robot_ws/install/unitree_api/share/unitree_api/package.bash
deleted file mode 100644
index b8b8f51..0000000
--- a/deploy/robot_ws/install/unitree_api/share/unitree_api/package.bash
+++ /dev/null
@@ -1,39 +0,0 @@
-# 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/unitree_api/package.sh"
-
-# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced scripts
-COLCON_CURRENT_PREFIX="$_colcon_package_bash_COLCON_CURRENT_PREFIX"
-
-# source bash hooks
-_colcon_package_bash_source_script "$COLCON_CURRENT_PREFIX/share/unitree_api/local_setup.bash"
-
-unset COLCON_CURRENT_PREFIX
-
-unset _colcon_package_bash_source_script
-unset _colcon_package_bash_COLCON_CURRENT_PREFIX
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/package.dsv b/deploy/robot_ws/install/unitree_api/share/unitree_api/package.dsv
deleted file mode 100644
index 656bd50..0000000
--- a/deploy/robot_ws/install/unitree_api/share/unitree_api/package.dsv
+++ /dev/null
@@ -1,14 +0,0 @@
-source;share/unitree_api/hook/cmake_prefix_path.ps1
-source;share/unitree_api/hook/cmake_prefix_path.dsv
-source;share/unitree_api/hook/cmake_prefix_path.sh
-source;share/unitree_api/hook/ld_library_path_lib.ps1
-source;share/unitree_api/hook/ld_library_path_lib.dsv
-source;share/unitree_api/hook/ld_library_path_lib.sh
-source;share/unitree_api/hook/pythonpath.ps1
-source;share/unitree_api/hook/pythonpath.dsv
-source;share/unitree_api/hook/pythonpath.sh
-source;share/unitree_api/local_setup.bash
-source;share/unitree_api/local_setup.dsv
-source;share/unitree_api/local_setup.ps1
-source;share/unitree_api/local_setup.sh
-source;share/unitree_api/local_setup.zsh
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/package.ps1 b/deploy/robot_ws/install/unitree_api/share/unitree_api/package.ps1
deleted file mode 100644
index fb211f8..0000000
--- a/deploy/robot_ws/install/unitree_api/share/unitree_api/package.ps1
+++ /dev/null
@@ -1,118 +0,0 @@
-# generated from colcon_powershell/shell/template/package.ps1.em
-
-# function to append a value to a variable
-# which uses colons as separators
-# duplicates as well as leading separators are avoided
-# first argument: the name of the result variable
-# second argument: the value to be prepended
-function colcon_append_unique_value {
-  param (
-    $_listname,
-    $_value
-  )
-
-  # get values from variable
-  if (Test-Path Env:$_listname) {
-    $_values=(Get-Item env:$_listname).Value
-  } else {
-    $_values=""
-  }
-  $_duplicate=""
-  # start with no values
-  $_all_values=""
-  # iterate over existing values in the variable
-  if ($_values) {
-    $_values.Split(";") | ForEach {
-      # not an empty string
-      if ($_) {
-        # not a duplicate of _value
-        if ($_ -eq $_value) {
-          $_duplicate="1"
-        }
-        if ($_all_values) {
-          $_all_values="${_all_values};$_"
-        } else {
-          $_all_values="$_"
-        }
-      }
-    }
-  }
-  # append only non-duplicates
-  if (!$_duplicate) {
-    # avoid leading separator
-    if ($_all_values) {
-      $_all_values="${_all_values};${_value}"
-    } else {
-      $_all_values="${_value}"
-    }
-  }
-
-  # export the updated variable
-  Set-Item env:\$_listname -Value "$_all_values"
-}
-
-# function to prepend a value to a variable
-# which uses colons as separators
-# duplicates as well as trailing separators are avoided
-# first argument: the name of the result variable
-# second argument: the value to be prepended
-function colcon_prepend_unique_value {
-  param (
-    $_listname,
-    $_value
-  )
-
-  # get values from variable
-  if (Test-Path Env:$_listname) {
-    $_values=(Get-Item env:$_listname).Value
-  } else {
-    $_values=""
-  }
-  # start with the new value
-  $_all_values="$_value"
-  # iterate over existing values in the variable
-  if ($_values) {
-    $_values.Split(";") | ForEach {
-      # not an empty string
-      if ($_) {
-        # not a duplicate of _value
-        if ($_ -ne $_value) {
-          # keep non-duplicate values
-          $_all_values="${_all_values};$_"
-        }
-      }
-    }
-  }
-  # export the updated variable
-  Set-Item env:\$_listname -Value "$_all_values"
-}
-
-# function to source another script with conditional trace output
-# first argument: the path of the script
-# additional arguments: arguments to the script
-function colcon_package_source_powershell_script {
-  param (
-    $_colcon_package_source_powershell_script
-  )
-  # source script with conditional trace output
-  if (Test-Path $_colcon_package_source_powershell_script) {
-    if ($env:COLCON_TRACE) {
-      echo ". '$_colcon_package_source_powershell_script'"
-    }
-    . "$_colcon_package_source_powershell_script"
-  } else {
-    Write-Error "not found: '$_colcon_package_source_powershell_script'"
-  }
-}
-
-
-# a powershell script is able to determine its own path
-# the prefix is two levels up from the package specific share directory
-$env:COLCON_CURRENT_PREFIX=(Get-Item $PSCommandPath).Directory.Parent.Parent.FullName
-
-colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX\share/unitree_api/hook/cmake_prefix_path.ps1"
-colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX\share/unitree_api/hook/ld_library_path_lib.ps1"
-colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX\share/unitree_api/hook/pythonpath.ps1"
-colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX\share/unitree_api/local_setup.ps1"
-
-Remove-Item Env:\COLCON_CURRENT_PREFIX
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/package.sh b/deploy/robot_ws/install/unitree_api/share/unitree_api/package.sh
deleted file mode 100644
index 317a8c3..0000000
--- a/deploy/robot_ws/install/unitree_api/share/unitree_api/package.sh
+++ /dev/null
@@ -1,89 +0,0 @@
-# generated from colcon_core/shell/template/package.sh.em
-
-# This script extends the environment for this package.
-
-# function to prepend a value to a variable
-# which uses colons as separators
-# duplicates as well as trailing separators are avoided
-# first argument: the name of the result variable
-# second argument: the value to be prepended
-_colcon_prepend_unique_value() {
-  # arguments
-  _listname="$1"
-  _value="$2"
-
-  # get values from variable
-  eval _values=\"\$$_listname\"
-  # backup the field separator
-  _colcon_prepend_unique_value_IFS=$IFS
-  IFS=":"
-  # start with the new value
-  _all_values="$_value"
-  # workaround SH_WORD_SPLIT not being set in zsh
-  if [ "$(command -v colcon_zsh_convert_to_array)" ]; then
-    colcon_zsh_convert_to_array _values
-  fi
-  # iterate over existing values in the variable
-  for _item in $_values; do
-    # ignore empty strings
-    if [ -z "$_item" ]; then
-      continue
-    fi
-    # ignore duplicates of _value
-    if [ "$_item" = "$_value" ]; then
-      continue
-    fi
-    # keep non-duplicate values
-    _all_values="$_all_values:$_item"
-  done
-  unset _item
-  # restore the field separator
-  IFS=$_colcon_prepend_unique_value_IFS
-  unset _colcon_prepend_unique_value_IFS
-  # export the updated variable
-  eval export $_listname=\"$_all_values\"
-  unset _all_values
-  unset _values
-
-  unset _value
-  unset _listname
-}
-
-# since a plain shell script can't determine its own path when being sourced
-# either use the provided COLCON_CURRENT_PREFIX
-# or fall back to the build time prefix (if it exists)
-_colcon_package_sh_COLCON_CURRENT_PREFIX="/home/unitree/locomotion/Go2Py/deploy/robot_ws/install/unitree_api"
-if [ -z "$COLCON_CURRENT_PREFIX" ]; then
-  if [ ! -d "$_colcon_package_sh_COLCON_CURRENT_PREFIX" ]; then
-    echo "The build time path \"$_colcon_package_sh_COLCON_CURRENT_PREFIX\" doesn't exist. Either source a script for a different shell or set the environment variable \"COLCON_CURRENT_PREFIX\" explicitly." 1>&2
-    unset _colcon_package_sh_COLCON_CURRENT_PREFIX
-    return 1
-  fi
-  COLCON_CURRENT_PREFIX="$_colcon_package_sh_COLCON_CURRENT_PREFIX"
-fi
-unset _colcon_package_sh_COLCON_CURRENT_PREFIX
-
-# function to source another script with conditional trace output
-# first argument: the path of the script
-# additional arguments: arguments to the script
-_colcon_package_sh_source_script() {
-  if [ -f "$1" ]; then
-    if [ -n "$COLCON_TRACE" ]; then
-      echo "# . \"$1\""
-    fi
-    . "$@"
-  else
-    echo "not found: \"$1\"" 1>&2
-  fi
-}
-
-# source sh hooks
-_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/unitree_api/hook/cmake_prefix_path.sh"
-_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/unitree_api/hook/ld_library_path_lib.sh"
-_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/unitree_api/hook/pythonpath.sh"
-_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/unitree_api/local_setup.sh"
-
-unset _colcon_package_sh_source_script
-unset COLCON_CURRENT_PREFIX
-
-# do not unset _colcon_prepend_unique_value since it might be used by non-primary shell hooks
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/package.xml b/deploy/robot_ws/install/unitree_api/share/unitree_api/package.xml
deleted file mode 100644
index 915a946..0000000
--- a/deploy/robot_ws/install/unitree_api/share/unitree_api/package.xml
+++ /dev/null
@@ -1,23 +0,0 @@
-<?xml version="1.0"?>
-<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
-<package format="3">
-  <name>unitree_api</name>
-  <version>0.0.0</version>
-  <description>TODO: Package description</description>
-  <maintainer email="czk@todo.todo">czk</maintainer>
-  <license>TODO: License declaration</license>
-  
-  <build_depend>rosidl_default_generators</build_depend>
-  <exec_depend>rosidl_default_runtime</exec_depend>
-  <member_of_group>rosidl_interface_packages</member_of_group>
-  <buildtool_depend>ament_cmake</buildtool_depend>
-
-  <depend>geometry_msgs</depend>
-
-  <test_depend>ament_lint_auto</test_depend>
-  <test_depend>ament_lint_common</test_depend>
-
-  <export>
-    <build_type>ament_cmake</build_type>
-  </export>
-</package>
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/package.zsh b/deploy/robot_ws/install/unitree_api/share/unitree_api/package.zsh
deleted file mode 100644
index 880fd38..0000000
--- a/deploy/robot_ws/install/unitree_api/share/unitree_api/package.zsh
+++ /dev/null
@@ -1,50 +0,0 @@
-# generated from colcon_zsh/shell/template/package.zsh.em
-
-# This script extends the environment for this package.
-
-# a zsh script is able to determine its own path if necessary
-if [ -z "$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 "$_colcon_package_zsh_COLCON_CURRENT_PREFIX/share/unitree_api/package.sh"
-unset convert_zsh_to_array
-
-# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced scripts
-COLCON_CURRENT_PREFIX="$_colcon_package_zsh_COLCON_CURRENT_PREFIX"
-
-# source zsh hooks
-_colcon_package_zsh_source_script "$COLCON_CURRENT_PREFIX/share/unitree_api/local_setup.zsh"
-
-unset COLCON_CURRENT_PREFIX
-
-unset _colcon_package_zsh_source_script
-unset _colcon_package_zsh_COLCON_CURRENT_PREFIX
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/audio_data.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/audio_data.h
deleted file mode 100644
index 0e53b0c..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/audio_data.h
+++ /dev/null
@@ -1,12 +0,0 @@
-// generated from rosidl_generator_c/resource/idl.h.em
-// with input from unitree_go:msg/AudioData.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__AUDIO_DATA_H_
-#define UNITREE_GO__MSG__AUDIO_DATA_H_
-
-#include "unitree_go/msg/detail/audio_data__struct.h"
-#include "unitree_go/msg/detail/audio_data__functions.h"
-#include "unitree_go/msg/detail/audio_data__type_support.h"
-
-#endif  // UNITREE_GO__MSG__AUDIO_DATA_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/audio_data.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/audio_data.hpp
deleted file mode 100644
index cd0bece..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/audio_data.hpp
+++ /dev/null
@@ -1,12 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl.hpp.em
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__AUDIO_DATA_HPP_
-#define UNITREE_GO__MSG__AUDIO_DATA_HPP_
-
-#include "unitree_go/msg/detail/audio_data__struct.hpp"
-#include "unitree_go/msg/detail/audio_data__builder.hpp"
-#include "unitree_go/msg/detail/audio_data__traits.hpp"
-#include "unitree_go/msg/detail/audio_data__type_support.hpp"
-
-#endif  // UNITREE_GO__MSG__AUDIO_DATA_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/bms_cmd.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/bms_cmd.h
deleted file mode 100644
index f2e734f..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/bms_cmd.h
+++ /dev/null
@@ -1,12 +0,0 @@
-// generated from rosidl_generator_c/resource/idl.h.em
-// with input from unitree_go:msg/BmsCmd.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__BMS_CMD_H_
-#define UNITREE_GO__MSG__BMS_CMD_H_
-
-#include "unitree_go/msg/detail/bms_cmd__struct.h"
-#include "unitree_go/msg/detail/bms_cmd__functions.h"
-#include "unitree_go/msg/detail/bms_cmd__type_support.h"
-
-#endif  // UNITREE_GO__MSG__BMS_CMD_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/bms_cmd.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/bms_cmd.hpp
deleted file mode 100644
index 3dc6de1..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/bms_cmd.hpp
+++ /dev/null
@@ -1,12 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl.hpp.em
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__BMS_CMD_HPP_
-#define UNITREE_GO__MSG__BMS_CMD_HPP_
-
-#include "unitree_go/msg/detail/bms_cmd__struct.hpp"
-#include "unitree_go/msg/detail/bms_cmd__builder.hpp"
-#include "unitree_go/msg/detail/bms_cmd__traits.hpp"
-#include "unitree_go/msg/detail/bms_cmd__type_support.hpp"
-
-#endif  // UNITREE_GO__MSG__BMS_CMD_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/bms_state.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/bms_state.h
deleted file mode 100644
index 02a74a8..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/bms_state.h
+++ /dev/null
@@ -1,12 +0,0 @@
-// generated from rosidl_generator_c/resource/idl.h.em
-// with input from unitree_go:msg/BmsState.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__BMS_STATE_H_
-#define UNITREE_GO__MSG__BMS_STATE_H_
-
-#include "unitree_go/msg/detail/bms_state__struct.h"
-#include "unitree_go/msg/detail/bms_state__functions.h"
-#include "unitree_go/msg/detail/bms_state__type_support.h"
-
-#endif  // UNITREE_GO__MSG__BMS_STATE_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/bms_state.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/bms_state.hpp
deleted file mode 100644
index f22e8aa..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/bms_state.hpp
+++ /dev/null
@@ -1,12 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl.hpp.em
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__BMS_STATE_HPP_
-#define UNITREE_GO__MSG__BMS_STATE_HPP_
-
-#include "unitree_go/msg/detail/bms_state__struct.hpp"
-#include "unitree_go/msg/detail/bms_state__builder.hpp"
-#include "unitree_go/msg/detail/bms_state__traits.hpp"
-#include "unitree_go/msg/detail/bms_state__type_support.hpp"
-
-#endif  // UNITREE_GO__MSG__BMS_STATE_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/audio_data__builder.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/audio_data__builder.hpp
deleted file mode 100644
index 2669aa0..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/audio_data__builder.hpp
+++ /dev/null
@@ -1,71 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__builder.hpp.em
-// with input from unitree_go:msg/AudioData.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__AUDIO_DATA__BUILDER_HPP_
-#define UNITREE_GO__MSG__DETAIL__AUDIO_DATA__BUILDER_HPP_
-
-#include "unitree_go/msg/detail/audio_data__struct.hpp"
-#include <rosidl_runtime_cpp/message_initialization.hpp>
-#include <algorithm>
-#include <utility>
-
-
-namespace unitree_go
-{
-
-namespace msg
-{
-
-namespace builder
-{
-
-class Init_AudioData_data
-{
-public:
-  explicit Init_AudioData_data(::unitree_go::msg::AudioData & msg)
-  : msg_(msg)
-  {}
-  ::unitree_go::msg::AudioData data(::unitree_go::msg::AudioData::_data_type arg)
-  {
-    msg_.data = std::move(arg);
-    return std::move(msg_);
-  }
-
-private:
-  ::unitree_go::msg::AudioData msg_;
-};
-
-class Init_AudioData_time_frame
-{
-public:
-  Init_AudioData_time_frame()
-  : msg_(::rosidl_runtime_cpp::MessageInitialization::SKIP)
-  {}
-  Init_AudioData_data time_frame(::unitree_go::msg::AudioData::_time_frame_type arg)
-  {
-    msg_.time_frame = std::move(arg);
-    return Init_AudioData_data(msg_);
-  }
-
-private:
-  ::unitree_go::msg::AudioData msg_;
-};
-
-}  // namespace builder
-
-}  // namespace msg
-
-template<typename MessageType>
-auto build();
-
-template<>
-inline
-auto build<::unitree_go::msg::AudioData>()
-{
-  return unitree_go::msg::builder::Init_AudioData_time_frame();
-}
-
-}  // namespace unitree_go
-
-#endif  // UNITREE_GO__MSG__DETAIL__AUDIO_DATA__BUILDER_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/audio_data__functions.c b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/audio_data__functions.c
deleted file mode 100644
index a7609a8..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/audio_data__functions.c
+++ /dev/null
@@ -1,254 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__functions.c.em
-// with input from unitree_go:msg/AudioData.idl
-// generated code does not contain a copyright notice
-#include "unitree_go/msg/detail/audio_data__functions.h"
-
-#include <assert.h>
-#include <stdbool.h>
-#include <stdlib.h>
-#include <string.h>
-
-#include "rcutils/allocator.h"
-
-
-// Include directives for member types
-// Member `data`
-#include "rosidl_runtime_c/primitives_sequence_functions.h"
-
-bool
-unitree_go__msg__AudioData__init(unitree_go__msg__AudioData * msg)
-{
-  if (!msg) {
-    return false;
-  }
-  // time_frame
-  // data
-  if (!rosidl_runtime_c__uint8__Sequence__init(&msg->data, 0)) {
-    unitree_go__msg__AudioData__fini(msg);
-    return false;
-  }
-  return true;
-}
-
-void
-unitree_go__msg__AudioData__fini(unitree_go__msg__AudioData * msg)
-{
-  if (!msg) {
-    return;
-  }
-  // time_frame
-  // data
-  rosidl_runtime_c__uint8__Sequence__fini(&msg->data);
-}
-
-bool
-unitree_go__msg__AudioData__are_equal(const unitree_go__msg__AudioData * lhs, const unitree_go__msg__AudioData * rhs)
-{
-  if (!lhs || !rhs) {
-    return false;
-  }
-  // time_frame
-  if (lhs->time_frame != rhs->time_frame) {
-    return false;
-  }
-  // data
-  if (!rosidl_runtime_c__uint8__Sequence__are_equal(
-      &(lhs->data), &(rhs->data)))
-  {
-    return false;
-  }
-  return true;
-}
-
-bool
-unitree_go__msg__AudioData__copy(
-  const unitree_go__msg__AudioData * input,
-  unitree_go__msg__AudioData * output)
-{
-  if (!input || !output) {
-    return false;
-  }
-  // time_frame
-  output->time_frame = input->time_frame;
-  // data
-  if (!rosidl_runtime_c__uint8__Sequence__copy(
-      &(input->data), &(output->data)))
-  {
-    return false;
-  }
-  return true;
-}
-
-unitree_go__msg__AudioData *
-unitree_go__msg__AudioData__create()
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  unitree_go__msg__AudioData * msg = (unitree_go__msg__AudioData *)allocator.allocate(sizeof(unitree_go__msg__AudioData), allocator.state);
-  if (!msg) {
-    return NULL;
-  }
-  memset(msg, 0, sizeof(unitree_go__msg__AudioData));
-  bool success = unitree_go__msg__AudioData__init(msg);
-  if (!success) {
-    allocator.deallocate(msg, allocator.state);
-    return NULL;
-  }
-  return msg;
-}
-
-void
-unitree_go__msg__AudioData__destroy(unitree_go__msg__AudioData * msg)
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  if (msg) {
-    unitree_go__msg__AudioData__fini(msg);
-  }
-  allocator.deallocate(msg, allocator.state);
-}
-
-
-bool
-unitree_go__msg__AudioData__Sequence__init(unitree_go__msg__AudioData__Sequence * array, size_t size)
-{
-  if (!array) {
-    return false;
-  }
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  unitree_go__msg__AudioData * data = NULL;
-
-  if (size) {
-    data = (unitree_go__msg__AudioData *)allocator.zero_allocate(size, sizeof(unitree_go__msg__AudioData), allocator.state);
-    if (!data) {
-      return false;
-    }
-    // initialize all array elements
-    size_t i;
-    for (i = 0; i < size; ++i) {
-      bool success = unitree_go__msg__AudioData__init(&data[i]);
-      if (!success) {
-        break;
-      }
-    }
-    if (i < size) {
-      // if initialization failed finalize the already initialized array elements
-      for (; i > 0; --i) {
-        unitree_go__msg__AudioData__fini(&data[i - 1]);
-      }
-      allocator.deallocate(data, allocator.state);
-      return false;
-    }
-  }
-  array->data = data;
-  array->size = size;
-  array->capacity = size;
-  return true;
-}
-
-void
-unitree_go__msg__AudioData__Sequence__fini(unitree_go__msg__AudioData__Sequence * array)
-{
-  if (!array) {
-    return;
-  }
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-
-  if (array->data) {
-    // ensure that data and capacity values are consistent
-    assert(array->capacity > 0);
-    // finalize all array elements
-    for (size_t i = 0; i < array->capacity; ++i) {
-      unitree_go__msg__AudioData__fini(&array->data[i]);
-    }
-    allocator.deallocate(array->data, allocator.state);
-    array->data = NULL;
-    array->size = 0;
-    array->capacity = 0;
-  } else {
-    // ensure that data, size, and capacity values are consistent
-    assert(0 == array->size);
-    assert(0 == array->capacity);
-  }
-}
-
-unitree_go__msg__AudioData__Sequence *
-unitree_go__msg__AudioData__Sequence__create(size_t size)
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  unitree_go__msg__AudioData__Sequence * array = (unitree_go__msg__AudioData__Sequence *)allocator.allocate(sizeof(unitree_go__msg__AudioData__Sequence), allocator.state);
-  if (!array) {
-    return NULL;
-  }
-  bool success = unitree_go__msg__AudioData__Sequence__init(array, size);
-  if (!success) {
-    allocator.deallocate(array, allocator.state);
-    return NULL;
-  }
-  return array;
-}
-
-void
-unitree_go__msg__AudioData__Sequence__destroy(unitree_go__msg__AudioData__Sequence * array)
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  if (array) {
-    unitree_go__msg__AudioData__Sequence__fini(array);
-  }
-  allocator.deallocate(array, allocator.state);
-}
-
-bool
-unitree_go__msg__AudioData__Sequence__are_equal(const unitree_go__msg__AudioData__Sequence * lhs, const unitree_go__msg__AudioData__Sequence * rhs)
-{
-  if (!lhs || !rhs) {
-    return false;
-  }
-  if (lhs->size != rhs->size) {
-    return false;
-  }
-  for (size_t i = 0; i < lhs->size; ++i) {
-    if (!unitree_go__msg__AudioData__are_equal(&(lhs->data[i]), &(rhs->data[i]))) {
-      return false;
-    }
-  }
-  return true;
-}
-
-bool
-unitree_go__msg__AudioData__Sequence__copy(
-  const unitree_go__msg__AudioData__Sequence * input,
-  unitree_go__msg__AudioData__Sequence * output)
-{
-  if (!input || !output) {
-    return false;
-  }
-  if (output->capacity < input->size) {
-    const size_t allocation_size =
-      input->size * sizeof(unitree_go__msg__AudioData);
-    unitree_go__msg__AudioData * data =
-      (unitree_go__msg__AudioData *)realloc(output->data, allocation_size);
-    if (!data) {
-      return false;
-    }
-    for (size_t i = output->capacity; i < input->size; ++i) {
-      if (!unitree_go__msg__AudioData__init(&data[i])) {
-        /* free currently allocated and return false */
-        for (; i-- > output->capacity; ) {
-          unitree_go__msg__AudioData__fini(&data[i]);
-        }
-        free(data);
-        return false;
-      }
-    }
-    output->data = data;
-    output->capacity = input->size;
-  }
-  output->size = input->size;
-  for (size_t i = 0; i < input->size; ++i) {
-    if (!unitree_go__msg__AudioData__copy(
-        &(input->data[i]), &(output->data[i])))
-    {
-      return false;
-    }
-  }
-  return true;
-}
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/audio_data__functions.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/audio_data__functions.h
deleted file mode 100644
index 08f4495..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/audio_data__functions.h
+++ /dev/null
@@ -1,177 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__functions.h.em
-// with input from unitree_go:msg/AudioData.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__AUDIO_DATA__FUNCTIONS_H_
-#define UNITREE_GO__MSG__DETAIL__AUDIO_DATA__FUNCTIONS_H_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include <stdbool.h>
-#include <stdlib.h>
-
-#include "rosidl_runtime_c/visibility_control.h"
-#include "unitree_go/msg/rosidl_generator_c__visibility_control.h"
-
-#include "unitree_go/msg/detail/audio_data__struct.h"
-
-/// Initialize msg/AudioData message.
-/**
- * If the init function is called twice for the same message without
- * calling fini inbetween previously allocated memory will be leaked.
- * \param[in,out] msg The previously allocated message pointer.
- * Fields without a default value will not be initialized by this function.
- * You might want to call memset(msg, 0, sizeof(
- * unitree_go__msg__AudioData
- * )) before or use
- * unitree_go__msg__AudioData__create()
- * to allocate and initialize the message.
- * \return true if initialization was successful, otherwise false
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__AudioData__init(unitree_go__msg__AudioData * msg);
-
-/// Finalize msg/AudioData message.
-/**
- * \param[in,out] msg The allocated message pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-void
-unitree_go__msg__AudioData__fini(unitree_go__msg__AudioData * msg);
-
-/// Create msg/AudioData message.
-/**
- * It allocates the memory for the message, sets the memory to zero, and
- * calls
- * unitree_go__msg__AudioData__init().
- * \return The pointer to the initialized message if successful,
- * otherwise NULL
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-unitree_go__msg__AudioData *
-unitree_go__msg__AudioData__create();
-
-/// Destroy msg/AudioData message.
-/**
- * It calls
- * unitree_go__msg__AudioData__fini()
- * and frees the memory of the message.
- * \param[in,out] msg The allocated message pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-void
-unitree_go__msg__AudioData__destroy(unitree_go__msg__AudioData * msg);
-
-/// Check for msg/AudioData message equality.
-/**
- * \param[in] lhs The message on the left hand size of the equality operator.
- * \param[in] rhs The message on the right hand size of the equality operator.
- * \return true if messages are equal, otherwise false.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__AudioData__are_equal(const unitree_go__msg__AudioData * lhs, const unitree_go__msg__AudioData * rhs);
-
-/// Copy a msg/AudioData message.
-/**
- * This functions performs a deep copy, as opposed to the shallow copy that
- * plain assignment yields.
- *
- * \param[in] input The source message pointer.
- * \param[out] output The target message pointer, which must
- *   have been initialized before calling this function.
- * \return true if successful, or false if either pointer is null
- *   or memory allocation fails.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__AudioData__copy(
-  const unitree_go__msg__AudioData * input,
-  unitree_go__msg__AudioData * output);
-
-/// Initialize array of msg/AudioData messages.
-/**
- * It allocates the memory for the number of elements and calls
- * unitree_go__msg__AudioData__init()
- * for each element of the array.
- * \param[in,out] array The allocated array pointer.
- * \param[in] size The size / capacity of the array.
- * \return true if initialization was successful, otherwise false
- * If the array pointer is valid and the size is zero it is guaranteed
- # to return true.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__AudioData__Sequence__init(unitree_go__msg__AudioData__Sequence * array, size_t size);
-
-/// Finalize array of msg/AudioData messages.
-/**
- * It calls
- * unitree_go__msg__AudioData__fini()
- * for each element of the array and frees the memory for the number of
- * elements.
- * \param[in,out] array The initialized array pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-void
-unitree_go__msg__AudioData__Sequence__fini(unitree_go__msg__AudioData__Sequence * array);
-
-/// Create array of msg/AudioData messages.
-/**
- * It allocates the memory for the array and calls
- * unitree_go__msg__AudioData__Sequence__init().
- * \param[in] size The size / capacity of the array.
- * \return The pointer to the initialized array if successful, otherwise NULL
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-unitree_go__msg__AudioData__Sequence *
-unitree_go__msg__AudioData__Sequence__create(size_t size);
-
-/// Destroy array of msg/AudioData messages.
-/**
- * It calls
- * unitree_go__msg__AudioData__Sequence__fini()
- * on the array,
- * and frees the memory of the array.
- * \param[in,out] array The initialized array pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-void
-unitree_go__msg__AudioData__Sequence__destroy(unitree_go__msg__AudioData__Sequence * array);
-
-/// Check for msg/AudioData message array equality.
-/**
- * \param[in] lhs The message array on the left hand size of the equality operator.
- * \param[in] rhs The message array on the right hand size of the equality operator.
- * \return true if message arrays are equal in size and content, otherwise false.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__AudioData__Sequence__are_equal(const unitree_go__msg__AudioData__Sequence * lhs, const unitree_go__msg__AudioData__Sequence * rhs);
-
-/// Copy an array of msg/AudioData messages.
-/**
- * This functions performs a deep copy, as opposed to the shallow copy that
- * plain assignment yields.
- *
- * \param[in] input The source array pointer.
- * \param[out] output The target array pointer, which must
- *   have been initialized before calling this function.
- * \return true if successful, or false if either pointer
- *   is null or memory allocation fails.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__AudioData__Sequence__copy(
-  const unitree_go__msg__AudioData__Sequence * input,
-  unitree_go__msg__AudioData__Sequence * output);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__AUDIO_DATA__FUNCTIONS_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/audio_data__rosidl_typesupport_fastrtps_c.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/audio_data__rosidl_typesupport_fastrtps_c.h
deleted file mode 100644
index 1e0c84d..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/audio_data__rosidl_typesupport_fastrtps_c.h
+++ /dev/null
@@ -1,36 +0,0 @@
-// generated from rosidl_typesupport_fastrtps_c/resource/idl__rosidl_typesupport_fastrtps_c.h.em
-// with input from unitree_go:msg/AudioData.idl
-// generated code does not contain a copyright notice
-#ifndef UNITREE_GO__MSG__DETAIL__AUDIO_DATA__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_
-#define UNITREE_GO__MSG__DETAIL__AUDIO_DATA__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_
-
-
-#include <stddef.h>
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_go/msg/rosidl_typesupport_fastrtps_c__visibility_control.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_go
-size_t get_serialized_size_unitree_go__msg__AudioData(
-  const void * untyped_ros_message,
-  size_t current_alignment);
-
-ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_go
-size_t max_serialized_size_unitree_go__msg__AudioData(
-  bool & full_bounded,
-  size_t current_alignment);
-
-ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_fastrtps_c, unitree_go, msg, AudioData)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__AUDIO_DATA__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/audio_data__rosidl_typesupport_fastrtps_cpp.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/audio_data__rosidl_typesupport_fastrtps_cpp.hpp
deleted file mode 100644
index 81ae2e9..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/audio_data__rosidl_typesupport_fastrtps_cpp.hpp
+++ /dev/null
@@ -1,79 +0,0 @@
-// generated from rosidl_typesupport_fastrtps_cpp/resource/idl__rosidl_typesupport_fastrtps_cpp.hpp.em
-// with input from unitree_go:msg/AudioData.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__AUDIO_DATA__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_
-#define UNITREE_GO__MSG__DETAIL__AUDIO_DATA__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_go/msg/rosidl_typesupport_fastrtps_cpp__visibility_control.h"
-#include "unitree_go/msg/detail/audio_data__struct.hpp"
-
-#ifndef _WIN32
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wunused-parameter"
-# ifdef __clang__
-#  pragma clang diagnostic ignored "-Wdeprecated-register"
-#  pragma clang diagnostic ignored "-Wreturn-type-c-linkage"
-# endif
-#endif
-#ifndef _WIN32
-# pragma GCC diagnostic pop
-#endif
-
-#include "fastcdr/Cdr.h"
-
-namespace unitree_go
-{
-
-namespace msg
-{
-
-namespace typesupport_fastrtps_cpp
-{
-
-bool
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-cdr_serialize(
-  const unitree_go::msg::AudioData & ros_message,
-  eprosima::fastcdr::Cdr & cdr);
-
-bool
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-cdr_deserialize(
-  eprosima::fastcdr::Cdr & cdr,
-  unitree_go::msg::AudioData & ros_message);
-
-size_t
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-get_serialized_size(
-  const unitree_go::msg::AudioData & ros_message,
-  size_t current_alignment);
-
-size_t
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-max_serialized_size_AudioData(
-  bool & full_bounded,
-  size_t current_alignment);
-
-}  // namespace typesupport_fastrtps_cpp
-
-}  // namespace msg
-
-}  // namespace unitree_go
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_fastrtps_cpp, unitree_go, msg, AudioData)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__AUDIO_DATA__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/audio_data__rosidl_typesupport_introspection_c.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/audio_data__rosidl_typesupport_introspection_c.h
deleted file mode 100644
index 7e4fc10..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/audio_data__rosidl_typesupport_introspection_c.h
+++ /dev/null
@@ -1,26 +0,0 @@
-// generated from rosidl_typesupport_introspection_c/resource/idl__rosidl_typesupport_introspection_c.h.em
-// with input from unitree_go:msg/AudioData.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__AUDIO_DATA__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
-#define UNITREE_GO__MSG__DETAIL__AUDIO_DATA__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_go/msg/rosidl_typesupport_introspection_c__visibility_control.h"
-
-ROSIDL_TYPESUPPORT_INTROSPECTION_C_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, unitree_go, msg, AudioData)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__AUDIO_DATA__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/audio_data__rosidl_typesupport_introspection_cpp.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/audio_data__rosidl_typesupport_introspection_cpp.hpp
deleted file mode 100644
index 26a305c..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/audio_data__rosidl_typesupport_introspection_cpp.hpp
+++ /dev/null
@@ -1,27 +0,0 @@
-// generated from rosidl_typesupport_introspection_cpp/resource/idl__rosidl_typesupport_introspection_cpp.h.em
-// with input from unitree_go:msg/AudioData.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__AUDIO_DATA__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_
-#define UNITREE_GO__MSG__DETAIL__AUDIO_DATA__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_
-
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "rosidl_typesupport_introspection_cpp/visibility_control.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-// TODO(dirk-thomas) these visibility macros should be message package specific
-ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
-const rosidl_message_type_support_t *
-  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_cpp, unitree_go, msg, AudioData)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__AUDIO_DATA__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/audio_data__struct.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/audio_data__struct.h
deleted file mode 100644
index 02840c3..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/audio_data__struct.h
+++ /dev/null
@@ -1,45 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__struct.h.em
-// with input from unitree_go:msg/AudioData.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__AUDIO_DATA__STRUCT_H_
-#define UNITREE_GO__MSG__DETAIL__AUDIO_DATA__STRUCT_H_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include <stdbool.h>
-#include <stddef.h>
-#include <stdint.h>
-
-
-// Constants defined in the message
-
-// Include directives for member types
-// Member 'data'
-#include "rosidl_runtime_c/primitives_sequence.h"
-
-// Struct defined in msg/AudioData in the package unitree_go.
-typedef struct unitree_go__msg__AudioData
-{
-  uint64_t time_frame;
-  rosidl_runtime_c__uint8__Sequence data;
-} unitree_go__msg__AudioData;
-
-// Struct for a sequence of unitree_go__msg__AudioData.
-typedef struct unitree_go__msg__AudioData__Sequence
-{
-  unitree_go__msg__AudioData * data;
-  /// The number of valid items in data
-  size_t size;
-  /// The number of allocated items in data
-  size_t capacity;
-} unitree_go__msg__AudioData__Sequence;
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__AUDIO_DATA__STRUCT_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/audio_data__struct.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/audio_data__struct.hpp
deleted file mode 100644
index 4a403d8..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/audio_data__struct.hpp
+++ /dev/null
@@ -1,142 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__struct.hpp.em
-// with input from unitree_go:msg/AudioData.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__AUDIO_DATA__STRUCT_HPP_
-#define UNITREE_GO__MSG__DETAIL__AUDIO_DATA__STRUCT_HPP_
-
-#include <rosidl_runtime_cpp/bounded_vector.hpp>
-#include <rosidl_runtime_cpp/message_initialization.hpp>
-#include <algorithm>
-#include <array>
-#include <memory>
-#include <string>
-#include <vector>
-
-
-#ifndef _WIN32
-# define DEPRECATED__unitree_go__msg__AudioData __attribute__((deprecated))
-#else
-# define DEPRECATED__unitree_go__msg__AudioData __declspec(deprecated)
-#endif
-
-namespace unitree_go
-{
-
-namespace msg
-{
-
-// message struct
-template<class ContainerAllocator>
-struct AudioData_
-{
-  using Type = AudioData_<ContainerAllocator>;
-
-  explicit AudioData_(rosidl_runtime_cpp::MessageInitialization _init = rosidl_runtime_cpp::MessageInitialization::ALL)
-  {
-    if (rosidl_runtime_cpp::MessageInitialization::ALL == _init ||
-      rosidl_runtime_cpp::MessageInitialization::ZERO == _init)
-    {
-      this->time_frame = 0ull;
-    }
-  }
-
-  explicit AudioData_(const ContainerAllocator & _alloc, rosidl_runtime_cpp::MessageInitialization _init = rosidl_runtime_cpp::MessageInitialization::ALL)
-  {
-    (void)_alloc;
-    if (rosidl_runtime_cpp::MessageInitialization::ALL == _init ||
-      rosidl_runtime_cpp::MessageInitialization::ZERO == _init)
-    {
-      this->time_frame = 0ull;
-    }
-  }
-
-  // field types and members
-  using _time_frame_type =
-    uint64_t;
-  _time_frame_type time_frame;
-  using _data_type =
-    std::vector<uint8_t, typename ContainerAllocator::template rebind<uint8_t>::other>;
-  _data_type data;
-
-  // setters for named parameter idiom
-  Type & set__time_frame(
-    const uint64_t & _arg)
-  {
-    this->time_frame = _arg;
-    return *this;
-  }
-  Type & set__data(
-    const std::vector<uint8_t, typename ContainerAllocator::template rebind<uint8_t>::other> & _arg)
-  {
-    this->data = _arg;
-    return *this;
-  }
-
-  // constant declarations
-
-  // pointer types
-  using RawPtr =
-    unitree_go::msg::AudioData_<ContainerAllocator> *;
-  using ConstRawPtr =
-    const unitree_go::msg::AudioData_<ContainerAllocator> *;
-  using SharedPtr =
-    std::shared_ptr<unitree_go::msg::AudioData_<ContainerAllocator>>;
-  using ConstSharedPtr =
-    std::shared_ptr<unitree_go::msg::AudioData_<ContainerAllocator> const>;
-
-  template<typename Deleter = std::default_delete<
-      unitree_go::msg::AudioData_<ContainerAllocator>>>
-  using UniquePtrWithDeleter =
-    std::unique_ptr<unitree_go::msg::AudioData_<ContainerAllocator>, Deleter>;
-
-  using UniquePtr = UniquePtrWithDeleter<>;
-
-  template<typename Deleter = std::default_delete<
-      unitree_go::msg::AudioData_<ContainerAllocator>>>
-  using ConstUniquePtrWithDeleter =
-    std::unique_ptr<unitree_go::msg::AudioData_<ContainerAllocator> const, Deleter>;
-  using ConstUniquePtr = ConstUniquePtrWithDeleter<>;
-
-  using WeakPtr =
-    std::weak_ptr<unitree_go::msg::AudioData_<ContainerAllocator>>;
-  using ConstWeakPtr =
-    std::weak_ptr<unitree_go::msg::AudioData_<ContainerAllocator> const>;
-
-  // pointer types similar to ROS 1, use SharedPtr / ConstSharedPtr instead
-  // NOTE: Can't use 'using' here because GNU C++ can't parse attributes properly
-  typedef DEPRECATED__unitree_go__msg__AudioData
-    std::shared_ptr<unitree_go::msg::AudioData_<ContainerAllocator>>
-    Ptr;
-  typedef DEPRECATED__unitree_go__msg__AudioData
-    std::shared_ptr<unitree_go::msg::AudioData_<ContainerAllocator> const>
-    ConstPtr;
-
-  // comparison operators
-  bool operator==(const AudioData_ & other) const
-  {
-    if (this->time_frame != other.time_frame) {
-      return false;
-    }
-    if (this->data != other.data) {
-      return false;
-    }
-    return true;
-  }
-  bool operator!=(const AudioData_ & other) const
-  {
-    return !this->operator==(other);
-  }
-};  // struct AudioData_
-
-// alias to use template instance with default allocator
-using AudioData =
-  unitree_go::msg::AudioData_<std::allocator<void>>;
-
-// constant definitions
-
-}  // namespace msg
-
-}  // namespace unitree_go
-
-#endif  // UNITREE_GO__MSG__DETAIL__AUDIO_DATA__STRUCT_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/audio_data__traits.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/audio_data__traits.hpp
deleted file mode 100644
index 84b9b36..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/audio_data__traits.hpp
+++ /dev/null
@@ -1,42 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__traits.hpp.em
-// with input from unitree_go:msg/AudioData.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__AUDIO_DATA__TRAITS_HPP_
-#define UNITREE_GO__MSG__DETAIL__AUDIO_DATA__TRAITS_HPP_
-
-#include "unitree_go/msg/detail/audio_data__struct.hpp"
-#include <rosidl_runtime_cpp/traits.hpp>
-#include <stdint.h>
-#include <type_traits>
-
-namespace rosidl_generator_traits
-{
-
-template<>
-inline const char * data_type<unitree_go::msg::AudioData>()
-{
-  return "unitree_go::msg::AudioData";
-}
-
-template<>
-inline const char * name<unitree_go::msg::AudioData>()
-{
-  return "unitree_go/msg/AudioData";
-}
-
-template<>
-struct has_fixed_size<unitree_go::msg::AudioData>
-  : std::integral_constant<bool, false> {};
-
-template<>
-struct has_bounded_size<unitree_go::msg::AudioData>
-  : std::integral_constant<bool, false> {};
-
-template<>
-struct is_message<unitree_go::msg::AudioData>
-  : std::true_type {};
-
-}  // namespace rosidl_generator_traits
-
-#endif  // UNITREE_GO__MSG__DETAIL__AUDIO_DATA__TRAITS_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/audio_data__type_support.c b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/audio_data__type_support.c
deleted file mode 100644
index 5adade8..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/audio_data__type_support.c
+++ /dev/null
@@ -1,100 +0,0 @@
-// generated from rosidl_typesupport_introspection_c/resource/idl__type_support.c.em
-// with input from unitree_go:msg/AudioData.idl
-// generated code does not contain a copyright notice
-
-#include <stddef.h>
-#include "unitree_go/msg/detail/audio_data__rosidl_typesupport_introspection_c.h"
-#include "unitree_go/msg/rosidl_typesupport_introspection_c__visibility_control.h"
-#include "rosidl_typesupport_introspection_c/field_types.h"
-#include "rosidl_typesupport_introspection_c/identifier.h"
-#include "rosidl_typesupport_introspection_c/message_introspection.h"
-#include "unitree_go/msg/detail/audio_data__functions.h"
-#include "unitree_go/msg/detail/audio_data__struct.h"
-
-
-// Include directives for member types
-// Member `data`
-#include "rosidl_runtime_c/primitives_sequence_functions.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-void AudioData__rosidl_typesupport_introspection_c__AudioData_init_function(
-  void * message_memory, enum rosidl_runtime_c__message_initialization _init)
-{
-  // TODO(karsten1987): initializers are not yet implemented for typesupport c
-  // see https://github.com/ros2/ros2/issues/397
-  (void) _init;
-  unitree_go__msg__AudioData__init(message_memory);
-}
-
-void AudioData__rosidl_typesupport_introspection_c__AudioData_fini_function(void * message_memory)
-{
-  unitree_go__msg__AudioData__fini(message_memory);
-}
-
-static rosidl_typesupport_introspection_c__MessageMember AudioData__rosidl_typesupport_introspection_c__AudioData_message_member_array[2] = {
-  {
-    "time_frame",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_UINT64,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__AudioData, time_frame),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "data",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_UINT8,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    true,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__AudioData, data),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  }
-};
-
-static const rosidl_typesupport_introspection_c__MessageMembers AudioData__rosidl_typesupport_introspection_c__AudioData_message_members = {
-  "unitree_go__msg",  // message namespace
-  "AudioData",  // message name
-  2,  // number of fields
-  sizeof(unitree_go__msg__AudioData),
-  AudioData__rosidl_typesupport_introspection_c__AudioData_message_member_array,  // message members
-  AudioData__rosidl_typesupport_introspection_c__AudioData_init_function,  // function to initialize message memory (memory has to be allocated)
-  AudioData__rosidl_typesupport_introspection_c__AudioData_fini_function  // function to terminate message instance (will not free memory)
-};
-
-// this is not const since it must be initialized on first access
-// since C does not allow non-integral compile-time constants
-static rosidl_message_type_support_t AudioData__rosidl_typesupport_introspection_c__AudioData_message_type_support_handle = {
-  0,
-  &AudioData__rosidl_typesupport_introspection_c__AudioData_message_members,
-  get_message_typesupport_handle_function,
-};
-
-ROSIDL_TYPESUPPORT_INTROSPECTION_C_EXPORT_unitree_go
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, unitree_go, msg, AudioData)() {
-  if (!AudioData__rosidl_typesupport_introspection_c__AudioData_message_type_support_handle.typesupport_identifier) {
-    AudioData__rosidl_typesupport_introspection_c__AudioData_message_type_support_handle.typesupport_identifier =
-      rosidl_typesupport_introspection_c__identifier;
-  }
-  return &AudioData__rosidl_typesupport_introspection_c__AudioData_message_type_support_handle;
-}
-#ifdef __cplusplus
-}
-#endif
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/audio_data__type_support.cpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/audio_data__type_support.cpp
deleted file mode 100644
index fbc0cb3..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/audio_data__type_support.cpp
+++ /dev/null
@@ -1,149 +0,0 @@
-// generated from rosidl_typesupport_introspection_cpp/resource/idl__type_support.cpp.em
-// with input from unitree_go:msg/AudioData.idl
-// generated code does not contain a copyright notice
-
-#include "array"
-#include "cstddef"
-#include "string"
-#include "vector"
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_cpp/message_type_support.hpp"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_go/msg/detail/audio_data__struct.hpp"
-#include "rosidl_typesupport_introspection_cpp/field_types.hpp"
-#include "rosidl_typesupport_introspection_cpp/identifier.hpp"
-#include "rosidl_typesupport_introspection_cpp/message_introspection.hpp"
-#include "rosidl_typesupport_introspection_cpp/message_type_support_decl.hpp"
-#include "rosidl_typesupport_introspection_cpp/visibility_control.h"
-
-namespace unitree_go
-{
-
-namespace msg
-{
-
-namespace rosidl_typesupport_introspection_cpp
-{
-
-void AudioData_init_function(
-  void * message_memory, rosidl_runtime_cpp::MessageInitialization _init)
-{
-  new (message_memory) unitree_go::msg::AudioData(_init);
-}
-
-void AudioData_fini_function(void * message_memory)
-{
-  auto typed_message = static_cast<unitree_go::msg::AudioData *>(message_memory);
-  typed_message->~AudioData();
-}
-
-size_t size_function__AudioData__data(const void * untyped_member)
-{
-  const auto * member = reinterpret_cast<const std::vector<uint8_t> *>(untyped_member);
-  return member->size();
-}
-
-const void * get_const_function__AudioData__data(const void * untyped_member, size_t index)
-{
-  const auto & member =
-    *reinterpret_cast<const std::vector<uint8_t> *>(untyped_member);
-  return &member[index];
-}
-
-void * get_function__AudioData__data(void * untyped_member, size_t index)
-{
-  auto & member =
-    *reinterpret_cast<std::vector<uint8_t> *>(untyped_member);
-  return &member[index];
-}
-
-void resize_function__AudioData__data(void * untyped_member, size_t size)
-{
-  auto * member =
-    reinterpret_cast<std::vector<uint8_t> *>(untyped_member);
-  member->resize(size);
-}
-
-static const ::rosidl_typesupport_introspection_cpp::MessageMember AudioData_message_member_array[2] = {
-  {
-    "time_frame",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT64,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::AudioData, time_frame),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "data",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT8,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    true,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::AudioData, data),  // bytes offset in struct
-    nullptr,  // default value
-    size_function__AudioData__data,  // size() function pointer
-    get_const_function__AudioData__data,  // get_const(index) function pointer
-    get_function__AudioData__data,  // get(index) function pointer
-    resize_function__AudioData__data  // resize(index) function pointer
-  }
-};
-
-static const ::rosidl_typesupport_introspection_cpp::MessageMembers AudioData_message_members = {
-  "unitree_go::msg",  // message namespace
-  "AudioData",  // message name
-  2,  // number of fields
-  sizeof(unitree_go::msg::AudioData),
-  AudioData_message_member_array,  // message members
-  AudioData_init_function,  // function to initialize message memory (memory has to be allocated)
-  AudioData_fini_function  // function to terminate message instance (will not free memory)
-};
-
-static const rosidl_message_type_support_t AudioData_message_type_support_handle = {
-  ::rosidl_typesupport_introspection_cpp::typesupport_identifier,
-  &AudioData_message_members,
-  get_message_typesupport_handle_function,
-};
-
-}  // namespace rosidl_typesupport_introspection_cpp
-
-}  // namespace msg
-
-}  // namespace unitree_go
-
-
-namespace rosidl_typesupport_introspection_cpp
-{
-
-template<>
-ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
-const rosidl_message_type_support_t *
-get_message_type_support_handle<unitree_go::msg::AudioData>()
-{
-  return &::unitree_go::msg::rosidl_typesupport_introspection_cpp::AudioData_message_type_support_handle;
-}
-
-}  // namespace rosidl_typesupport_introspection_cpp
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_cpp, unitree_go, msg, AudioData)() {
-  return &::unitree_go::msg::rosidl_typesupport_introspection_cpp::AudioData_message_type_support_handle;
-}
-
-#ifdef __cplusplus
-}
-#endif
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/audio_data__type_support.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/audio_data__type_support.h
deleted file mode 100644
index 1a9e388..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/audio_data__type_support.h
+++ /dev/null
@@ -1,33 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__type_support.h.em
-// with input from unitree_go:msg/AudioData.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__AUDIO_DATA__TYPE_SUPPORT_H_
-#define UNITREE_GO__MSG__DETAIL__AUDIO_DATA__TYPE_SUPPORT_H_
-
-#include "rosidl_typesupport_interface/macros.h"
-
-#include "unitree_go/msg/rosidl_generator_c__visibility_control.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-
-// Forward declare the get type support functions for this type.
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
-  rosidl_typesupport_c,
-  unitree_go,
-  msg,
-  AudioData
-)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__AUDIO_DATA__TYPE_SUPPORT_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/audio_data__type_support.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/audio_data__type_support.hpp
deleted file mode 100644
index 0a55289..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/audio_data__type_support.hpp
+++ /dev/null
@@ -1,31 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__type_support.hpp.em
-// with input from unitree_go:msg/AudioData.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__AUDIO_DATA__TYPE_SUPPORT_HPP_
-#define UNITREE_GO__MSG__DETAIL__AUDIO_DATA__TYPE_SUPPORT_HPP_
-
-#include "rosidl_typesupport_interface/macros.h"
-
-#include "unitree_go/msg/rosidl_generator_cpp__visibility_control.hpp"
-
-#include "rosidl_typesupport_cpp/message_type_support.hpp"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-// Forward declare the get type support functions for this type.
-ROSIDL_GENERATOR_CPP_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
-  rosidl_typesupport_cpp,
-  unitree_go,
-  msg,
-  AudioData
-)();
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__AUDIO_DATA__TYPE_SUPPORT_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_cmd__builder.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_cmd__builder.hpp
deleted file mode 100644
index ed95748..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_cmd__builder.hpp
+++ /dev/null
@@ -1,71 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__builder.hpp.em
-// with input from unitree_go:msg/BmsCmd.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__BMS_CMD__BUILDER_HPP_
-#define UNITREE_GO__MSG__DETAIL__BMS_CMD__BUILDER_HPP_
-
-#include "unitree_go/msg/detail/bms_cmd__struct.hpp"
-#include <rosidl_runtime_cpp/message_initialization.hpp>
-#include <algorithm>
-#include <utility>
-
-
-namespace unitree_go
-{
-
-namespace msg
-{
-
-namespace builder
-{
-
-class Init_BmsCmd_reserve
-{
-public:
-  explicit Init_BmsCmd_reserve(::unitree_go::msg::BmsCmd & msg)
-  : msg_(msg)
-  {}
-  ::unitree_go::msg::BmsCmd reserve(::unitree_go::msg::BmsCmd::_reserve_type arg)
-  {
-    msg_.reserve = std::move(arg);
-    return std::move(msg_);
-  }
-
-private:
-  ::unitree_go::msg::BmsCmd msg_;
-};
-
-class Init_BmsCmd_off
-{
-public:
-  Init_BmsCmd_off()
-  : msg_(::rosidl_runtime_cpp::MessageInitialization::SKIP)
-  {}
-  Init_BmsCmd_reserve off(::unitree_go::msg::BmsCmd::_off_type arg)
-  {
-    msg_.off = std::move(arg);
-    return Init_BmsCmd_reserve(msg_);
-  }
-
-private:
-  ::unitree_go::msg::BmsCmd msg_;
-};
-
-}  // namespace builder
-
-}  // namespace msg
-
-template<typename MessageType>
-auto build();
-
-template<>
-inline
-auto build<::unitree_go::msg::BmsCmd>()
-{
-  return unitree_go::msg::builder::Init_BmsCmd_off();
-}
-
-}  // namespace unitree_go
-
-#endif  // UNITREE_GO__MSG__DETAIL__BMS_CMD__BUILDER_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_cmd__functions.c b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_cmd__functions.c
deleted file mode 100644
index db520cd..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_cmd__functions.c
+++ /dev/null
@@ -1,243 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__functions.c.em
-// with input from unitree_go:msg/BmsCmd.idl
-// generated code does not contain a copyright notice
-#include "unitree_go/msg/detail/bms_cmd__functions.h"
-
-#include <assert.h>
-#include <stdbool.h>
-#include <stdlib.h>
-#include <string.h>
-
-#include "rcutils/allocator.h"
-
-
-bool
-unitree_go__msg__BmsCmd__init(unitree_go__msg__BmsCmd * msg)
-{
-  if (!msg) {
-    return false;
-  }
-  // off
-  // reserve
-  return true;
-}
-
-void
-unitree_go__msg__BmsCmd__fini(unitree_go__msg__BmsCmd * msg)
-{
-  if (!msg) {
-    return;
-  }
-  // off
-  // reserve
-}
-
-bool
-unitree_go__msg__BmsCmd__are_equal(const unitree_go__msg__BmsCmd * lhs, const unitree_go__msg__BmsCmd * rhs)
-{
-  if (!lhs || !rhs) {
-    return false;
-  }
-  // off
-  if (lhs->off != rhs->off) {
-    return false;
-  }
-  // reserve
-  for (size_t i = 0; i < 3; ++i) {
-    if (lhs->reserve[i] != rhs->reserve[i]) {
-      return false;
-    }
-  }
-  return true;
-}
-
-bool
-unitree_go__msg__BmsCmd__copy(
-  const unitree_go__msg__BmsCmd * input,
-  unitree_go__msg__BmsCmd * output)
-{
-  if (!input || !output) {
-    return false;
-  }
-  // off
-  output->off = input->off;
-  // reserve
-  for (size_t i = 0; i < 3; ++i) {
-    output->reserve[i] = input->reserve[i];
-  }
-  return true;
-}
-
-unitree_go__msg__BmsCmd *
-unitree_go__msg__BmsCmd__create()
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  unitree_go__msg__BmsCmd * msg = (unitree_go__msg__BmsCmd *)allocator.allocate(sizeof(unitree_go__msg__BmsCmd), allocator.state);
-  if (!msg) {
-    return NULL;
-  }
-  memset(msg, 0, sizeof(unitree_go__msg__BmsCmd));
-  bool success = unitree_go__msg__BmsCmd__init(msg);
-  if (!success) {
-    allocator.deallocate(msg, allocator.state);
-    return NULL;
-  }
-  return msg;
-}
-
-void
-unitree_go__msg__BmsCmd__destroy(unitree_go__msg__BmsCmd * msg)
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  if (msg) {
-    unitree_go__msg__BmsCmd__fini(msg);
-  }
-  allocator.deallocate(msg, allocator.state);
-}
-
-
-bool
-unitree_go__msg__BmsCmd__Sequence__init(unitree_go__msg__BmsCmd__Sequence * array, size_t size)
-{
-  if (!array) {
-    return false;
-  }
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  unitree_go__msg__BmsCmd * data = NULL;
-
-  if (size) {
-    data = (unitree_go__msg__BmsCmd *)allocator.zero_allocate(size, sizeof(unitree_go__msg__BmsCmd), allocator.state);
-    if (!data) {
-      return false;
-    }
-    // initialize all array elements
-    size_t i;
-    for (i = 0; i < size; ++i) {
-      bool success = unitree_go__msg__BmsCmd__init(&data[i]);
-      if (!success) {
-        break;
-      }
-    }
-    if (i < size) {
-      // if initialization failed finalize the already initialized array elements
-      for (; i > 0; --i) {
-        unitree_go__msg__BmsCmd__fini(&data[i - 1]);
-      }
-      allocator.deallocate(data, allocator.state);
-      return false;
-    }
-  }
-  array->data = data;
-  array->size = size;
-  array->capacity = size;
-  return true;
-}
-
-void
-unitree_go__msg__BmsCmd__Sequence__fini(unitree_go__msg__BmsCmd__Sequence * array)
-{
-  if (!array) {
-    return;
-  }
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-
-  if (array->data) {
-    // ensure that data and capacity values are consistent
-    assert(array->capacity > 0);
-    // finalize all array elements
-    for (size_t i = 0; i < array->capacity; ++i) {
-      unitree_go__msg__BmsCmd__fini(&array->data[i]);
-    }
-    allocator.deallocate(array->data, allocator.state);
-    array->data = NULL;
-    array->size = 0;
-    array->capacity = 0;
-  } else {
-    // ensure that data, size, and capacity values are consistent
-    assert(0 == array->size);
-    assert(0 == array->capacity);
-  }
-}
-
-unitree_go__msg__BmsCmd__Sequence *
-unitree_go__msg__BmsCmd__Sequence__create(size_t size)
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  unitree_go__msg__BmsCmd__Sequence * array = (unitree_go__msg__BmsCmd__Sequence *)allocator.allocate(sizeof(unitree_go__msg__BmsCmd__Sequence), allocator.state);
-  if (!array) {
-    return NULL;
-  }
-  bool success = unitree_go__msg__BmsCmd__Sequence__init(array, size);
-  if (!success) {
-    allocator.deallocate(array, allocator.state);
-    return NULL;
-  }
-  return array;
-}
-
-void
-unitree_go__msg__BmsCmd__Sequence__destroy(unitree_go__msg__BmsCmd__Sequence * array)
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  if (array) {
-    unitree_go__msg__BmsCmd__Sequence__fini(array);
-  }
-  allocator.deallocate(array, allocator.state);
-}
-
-bool
-unitree_go__msg__BmsCmd__Sequence__are_equal(const unitree_go__msg__BmsCmd__Sequence * lhs, const unitree_go__msg__BmsCmd__Sequence * rhs)
-{
-  if (!lhs || !rhs) {
-    return false;
-  }
-  if (lhs->size != rhs->size) {
-    return false;
-  }
-  for (size_t i = 0; i < lhs->size; ++i) {
-    if (!unitree_go__msg__BmsCmd__are_equal(&(lhs->data[i]), &(rhs->data[i]))) {
-      return false;
-    }
-  }
-  return true;
-}
-
-bool
-unitree_go__msg__BmsCmd__Sequence__copy(
-  const unitree_go__msg__BmsCmd__Sequence * input,
-  unitree_go__msg__BmsCmd__Sequence * output)
-{
-  if (!input || !output) {
-    return false;
-  }
-  if (output->capacity < input->size) {
-    const size_t allocation_size =
-      input->size * sizeof(unitree_go__msg__BmsCmd);
-    unitree_go__msg__BmsCmd * data =
-      (unitree_go__msg__BmsCmd *)realloc(output->data, allocation_size);
-    if (!data) {
-      return false;
-    }
-    for (size_t i = output->capacity; i < input->size; ++i) {
-      if (!unitree_go__msg__BmsCmd__init(&data[i])) {
-        /* free currently allocated and return false */
-        for (; i-- > output->capacity; ) {
-          unitree_go__msg__BmsCmd__fini(&data[i]);
-        }
-        free(data);
-        return false;
-      }
-    }
-    output->data = data;
-    output->capacity = input->size;
-  }
-  output->size = input->size;
-  for (size_t i = 0; i < input->size; ++i) {
-    if (!unitree_go__msg__BmsCmd__copy(
-        &(input->data[i]), &(output->data[i])))
-    {
-      return false;
-    }
-  }
-  return true;
-}
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_cmd__functions.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_cmd__functions.h
deleted file mode 100644
index f9d18a5..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_cmd__functions.h
+++ /dev/null
@@ -1,177 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__functions.h.em
-// with input from unitree_go:msg/BmsCmd.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__BMS_CMD__FUNCTIONS_H_
-#define UNITREE_GO__MSG__DETAIL__BMS_CMD__FUNCTIONS_H_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include <stdbool.h>
-#include <stdlib.h>
-
-#include "rosidl_runtime_c/visibility_control.h"
-#include "unitree_go/msg/rosidl_generator_c__visibility_control.h"
-
-#include "unitree_go/msg/detail/bms_cmd__struct.h"
-
-/// Initialize msg/BmsCmd message.
-/**
- * If the init function is called twice for the same message without
- * calling fini inbetween previously allocated memory will be leaked.
- * \param[in,out] msg The previously allocated message pointer.
- * Fields without a default value will not be initialized by this function.
- * You might want to call memset(msg, 0, sizeof(
- * unitree_go__msg__BmsCmd
- * )) before or use
- * unitree_go__msg__BmsCmd__create()
- * to allocate and initialize the message.
- * \return true if initialization was successful, otherwise false
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__BmsCmd__init(unitree_go__msg__BmsCmd * msg);
-
-/// Finalize msg/BmsCmd message.
-/**
- * \param[in,out] msg The allocated message pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-void
-unitree_go__msg__BmsCmd__fini(unitree_go__msg__BmsCmd * msg);
-
-/// Create msg/BmsCmd message.
-/**
- * It allocates the memory for the message, sets the memory to zero, and
- * calls
- * unitree_go__msg__BmsCmd__init().
- * \return The pointer to the initialized message if successful,
- * otherwise NULL
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-unitree_go__msg__BmsCmd *
-unitree_go__msg__BmsCmd__create();
-
-/// Destroy msg/BmsCmd message.
-/**
- * It calls
- * unitree_go__msg__BmsCmd__fini()
- * and frees the memory of the message.
- * \param[in,out] msg The allocated message pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-void
-unitree_go__msg__BmsCmd__destroy(unitree_go__msg__BmsCmd * msg);
-
-/// Check for msg/BmsCmd message equality.
-/**
- * \param[in] lhs The message on the left hand size of the equality operator.
- * \param[in] rhs The message on the right hand size of the equality operator.
- * \return true if messages are equal, otherwise false.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__BmsCmd__are_equal(const unitree_go__msg__BmsCmd * lhs, const unitree_go__msg__BmsCmd * rhs);
-
-/// Copy a msg/BmsCmd message.
-/**
- * This functions performs a deep copy, as opposed to the shallow copy that
- * plain assignment yields.
- *
- * \param[in] input The source message pointer.
- * \param[out] output The target message pointer, which must
- *   have been initialized before calling this function.
- * \return true if successful, or false if either pointer is null
- *   or memory allocation fails.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__BmsCmd__copy(
-  const unitree_go__msg__BmsCmd * input,
-  unitree_go__msg__BmsCmd * output);
-
-/// Initialize array of msg/BmsCmd messages.
-/**
- * It allocates the memory for the number of elements and calls
- * unitree_go__msg__BmsCmd__init()
- * for each element of the array.
- * \param[in,out] array The allocated array pointer.
- * \param[in] size The size / capacity of the array.
- * \return true if initialization was successful, otherwise false
- * If the array pointer is valid and the size is zero it is guaranteed
- # to return true.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__BmsCmd__Sequence__init(unitree_go__msg__BmsCmd__Sequence * array, size_t size);
-
-/// Finalize array of msg/BmsCmd messages.
-/**
- * It calls
- * unitree_go__msg__BmsCmd__fini()
- * for each element of the array and frees the memory for the number of
- * elements.
- * \param[in,out] array The initialized array pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-void
-unitree_go__msg__BmsCmd__Sequence__fini(unitree_go__msg__BmsCmd__Sequence * array);
-
-/// Create array of msg/BmsCmd messages.
-/**
- * It allocates the memory for the array and calls
- * unitree_go__msg__BmsCmd__Sequence__init().
- * \param[in] size The size / capacity of the array.
- * \return The pointer to the initialized array if successful, otherwise NULL
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-unitree_go__msg__BmsCmd__Sequence *
-unitree_go__msg__BmsCmd__Sequence__create(size_t size);
-
-/// Destroy array of msg/BmsCmd messages.
-/**
- * It calls
- * unitree_go__msg__BmsCmd__Sequence__fini()
- * on the array,
- * and frees the memory of the array.
- * \param[in,out] array The initialized array pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-void
-unitree_go__msg__BmsCmd__Sequence__destroy(unitree_go__msg__BmsCmd__Sequence * array);
-
-/// Check for msg/BmsCmd message array equality.
-/**
- * \param[in] lhs The message array on the left hand size of the equality operator.
- * \param[in] rhs The message array on the right hand size of the equality operator.
- * \return true if message arrays are equal in size and content, otherwise false.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__BmsCmd__Sequence__are_equal(const unitree_go__msg__BmsCmd__Sequence * lhs, const unitree_go__msg__BmsCmd__Sequence * rhs);
-
-/// Copy an array of msg/BmsCmd messages.
-/**
- * This functions performs a deep copy, as opposed to the shallow copy that
- * plain assignment yields.
- *
- * \param[in] input The source array pointer.
- * \param[out] output The target array pointer, which must
- *   have been initialized before calling this function.
- * \return true if successful, or false if either pointer
- *   is null or memory allocation fails.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__BmsCmd__Sequence__copy(
-  const unitree_go__msg__BmsCmd__Sequence * input,
-  unitree_go__msg__BmsCmd__Sequence * output);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__BMS_CMD__FUNCTIONS_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_cmd__rosidl_typesupport_fastrtps_c.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_cmd__rosidl_typesupport_fastrtps_c.h
deleted file mode 100644
index b7a7c3e..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_cmd__rosidl_typesupport_fastrtps_c.h
+++ /dev/null
@@ -1,36 +0,0 @@
-// generated from rosidl_typesupport_fastrtps_c/resource/idl__rosidl_typesupport_fastrtps_c.h.em
-// with input from unitree_go:msg/BmsCmd.idl
-// generated code does not contain a copyright notice
-#ifndef UNITREE_GO__MSG__DETAIL__BMS_CMD__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_
-#define UNITREE_GO__MSG__DETAIL__BMS_CMD__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_
-
-
-#include <stddef.h>
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_go/msg/rosidl_typesupport_fastrtps_c__visibility_control.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_go
-size_t get_serialized_size_unitree_go__msg__BmsCmd(
-  const void * untyped_ros_message,
-  size_t current_alignment);
-
-ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_go
-size_t max_serialized_size_unitree_go__msg__BmsCmd(
-  bool & full_bounded,
-  size_t current_alignment);
-
-ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_fastrtps_c, unitree_go, msg, BmsCmd)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__BMS_CMD__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_cmd__rosidl_typesupport_fastrtps_cpp.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_cmd__rosidl_typesupport_fastrtps_cpp.hpp
deleted file mode 100644
index 3237daf..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_cmd__rosidl_typesupport_fastrtps_cpp.hpp
+++ /dev/null
@@ -1,79 +0,0 @@
-// generated from rosidl_typesupport_fastrtps_cpp/resource/idl__rosidl_typesupport_fastrtps_cpp.hpp.em
-// with input from unitree_go:msg/BmsCmd.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__BMS_CMD__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_
-#define UNITREE_GO__MSG__DETAIL__BMS_CMD__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_go/msg/rosidl_typesupport_fastrtps_cpp__visibility_control.h"
-#include "unitree_go/msg/detail/bms_cmd__struct.hpp"
-
-#ifndef _WIN32
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wunused-parameter"
-# ifdef __clang__
-#  pragma clang diagnostic ignored "-Wdeprecated-register"
-#  pragma clang diagnostic ignored "-Wreturn-type-c-linkage"
-# endif
-#endif
-#ifndef _WIN32
-# pragma GCC diagnostic pop
-#endif
-
-#include "fastcdr/Cdr.h"
-
-namespace unitree_go
-{
-
-namespace msg
-{
-
-namespace typesupport_fastrtps_cpp
-{
-
-bool
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-cdr_serialize(
-  const unitree_go::msg::BmsCmd & ros_message,
-  eprosima::fastcdr::Cdr & cdr);
-
-bool
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-cdr_deserialize(
-  eprosima::fastcdr::Cdr & cdr,
-  unitree_go::msg::BmsCmd & ros_message);
-
-size_t
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-get_serialized_size(
-  const unitree_go::msg::BmsCmd & ros_message,
-  size_t current_alignment);
-
-size_t
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-max_serialized_size_BmsCmd(
-  bool & full_bounded,
-  size_t current_alignment);
-
-}  // namespace typesupport_fastrtps_cpp
-
-}  // namespace msg
-
-}  // namespace unitree_go
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_fastrtps_cpp, unitree_go, msg, BmsCmd)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__BMS_CMD__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_cmd__rosidl_typesupport_introspection_c.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_cmd__rosidl_typesupport_introspection_c.h
deleted file mode 100644
index 62a41f3..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_cmd__rosidl_typesupport_introspection_c.h
+++ /dev/null
@@ -1,26 +0,0 @@
-// generated from rosidl_typesupport_introspection_c/resource/idl__rosidl_typesupport_introspection_c.h.em
-// with input from unitree_go:msg/BmsCmd.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__BMS_CMD__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
-#define UNITREE_GO__MSG__DETAIL__BMS_CMD__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_go/msg/rosidl_typesupport_introspection_c__visibility_control.h"
-
-ROSIDL_TYPESUPPORT_INTROSPECTION_C_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, unitree_go, msg, BmsCmd)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__BMS_CMD__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_cmd__rosidl_typesupport_introspection_cpp.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_cmd__rosidl_typesupport_introspection_cpp.hpp
deleted file mode 100644
index fcaff2b..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_cmd__rosidl_typesupport_introspection_cpp.hpp
+++ /dev/null
@@ -1,27 +0,0 @@
-// generated from rosidl_typesupport_introspection_cpp/resource/idl__rosidl_typesupport_introspection_cpp.h.em
-// with input from unitree_go:msg/BmsCmd.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__BMS_CMD__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_
-#define UNITREE_GO__MSG__DETAIL__BMS_CMD__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_
-
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "rosidl_typesupport_introspection_cpp/visibility_control.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-// TODO(dirk-thomas) these visibility macros should be message package specific
-ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
-const rosidl_message_type_support_t *
-  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_cpp, unitree_go, msg, BmsCmd)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__BMS_CMD__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_cmd__struct.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_cmd__struct.h
deleted file mode 100644
index 56eb65e..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_cmd__struct.h
+++ /dev/null
@@ -1,41 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__struct.h.em
-// with input from unitree_go:msg/BmsCmd.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__BMS_CMD__STRUCT_H_
-#define UNITREE_GO__MSG__DETAIL__BMS_CMD__STRUCT_H_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include <stdbool.h>
-#include <stddef.h>
-#include <stdint.h>
-
-
-// Constants defined in the message
-
-// Struct defined in msg/BmsCmd in the package unitree_go.
-typedef struct unitree_go__msg__BmsCmd
-{
-  uint8_t off;
-  uint8_t reserve[3];
-} unitree_go__msg__BmsCmd;
-
-// Struct for a sequence of unitree_go__msg__BmsCmd.
-typedef struct unitree_go__msg__BmsCmd__Sequence
-{
-  unitree_go__msg__BmsCmd * data;
-  /// The number of valid items in data
-  size_t size;
-  /// The number of allocated items in data
-  size_t capacity;
-} unitree_go__msg__BmsCmd__Sequence;
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__BMS_CMD__STRUCT_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_cmd__struct.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_cmd__struct.hpp
deleted file mode 100644
index d5e6812..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_cmd__struct.hpp
+++ /dev/null
@@ -1,144 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__struct.hpp.em
-// with input from unitree_go:msg/BmsCmd.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__BMS_CMD__STRUCT_HPP_
-#define UNITREE_GO__MSG__DETAIL__BMS_CMD__STRUCT_HPP_
-
-#include <rosidl_runtime_cpp/bounded_vector.hpp>
-#include <rosidl_runtime_cpp/message_initialization.hpp>
-#include <algorithm>
-#include <array>
-#include <memory>
-#include <string>
-#include <vector>
-
-
-#ifndef _WIN32
-# define DEPRECATED__unitree_go__msg__BmsCmd __attribute__((deprecated))
-#else
-# define DEPRECATED__unitree_go__msg__BmsCmd __declspec(deprecated)
-#endif
-
-namespace unitree_go
-{
-
-namespace msg
-{
-
-// message struct
-template<class ContainerAllocator>
-struct BmsCmd_
-{
-  using Type = BmsCmd_<ContainerAllocator>;
-
-  explicit BmsCmd_(rosidl_runtime_cpp::MessageInitialization _init = rosidl_runtime_cpp::MessageInitialization::ALL)
-  {
-    if (rosidl_runtime_cpp::MessageInitialization::ALL == _init ||
-      rosidl_runtime_cpp::MessageInitialization::ZERO == _init)
-    {
-      this->off = 0;
-      std::fill<typename std::array<uint8_t, 3>::iterator, uint8_t>(this->reserve.begin(), this->reserve.end(), 0);
-    }
-  }
-
-  explicit BmsCmd_(const ContainerAllocator & _alloc, rosidl_runtime_cpp::MessageInitialization _init = rosidl_runtime_cpp::MessageInitialization::ALL)
-  : reserve(_alloc)
-  {
-    if (rosidl_runtime_cpp::MessageInitialization::ALL == _init ||
-      rosidl_runtime_cpp::MessageInitialization::ZERO == _init)
-    {
-      this->off = 0;
-      std::fill<typename std::array<uint8_t, 3>::iterator, uint8_t>(this->reserve.begin(), this->reserve.end(), 0);
-    }
-  }
-
-  // field types and members
-  using _off_type =
-    uint8_t;
-  _off_type off;
-  using _reserve_type =
-    std::array<uint8_t, 3>;
-  _reserve_type reserve;
-
-  // setters for named parameter idiom
-  Type & set__off(
-    const uint8_t & _arg)
-  {
-    this->off = _arg;
-    return *this;
-  }
-  Type & set__reserve(
-    const std::array<uint8_t, 3> & _arg)
-  {
-    this->reserve = _arg;
-    return *this;
-  }
-
-  // constant declarations
-
-  // pointer types
-  using RawPtr =
-    unitree_go::msg::BmsCmd_<ContainerAllocator> *;
-  using ConstRawPtr =
-    const unitree_go::msg::BmsCmd_<ContainerAllocator> *;
-  using SharedPtr =
-    std::shared_ptr<unitree_go::msg::BmsCmd_<ContainerAllocator>>;
-  using ConstSharedPtr =
-    std::shared_ptr<unitree_go::msg::BmsCmd_<ContainerAllocator> const>;
-
-  template<typename Deleter = std::default_delete<
-      unitree_go::msg::BmsCmd_<ContainerAllocator>>>
-  using UniquePtrWithDeleter =
-    std::unique_ptr<unitree_go::msg::BmsCmd_<ContainerAllocator>, Deleter>;
-
-  using UniquePtr = UniquePtrWithDeleter<>;
-
-  template<typename Deleter = std::default_delete<
-      unitree_go::msg::BmsCmd_<ContainerAllocator>>>
-  using ConstUniquePtrWithDeleter =
-    std::unique_ptr<unitree_go::msg::BmsCmd_<ContainerAllocator> const, Deleter>;
-  using ConstUniquePtr = ConstUniquePtrWithDeleter<>;
-
-  using WeakPtr =
-    std::weak_ptr<unitree_go::msg::BmsCmd_<ContainerAllocator>>;
-  using ConstWeakPtr =
-    std::weak_ptr<unitree_go::msg::BmsCmd_<ContainerAllocator> const>;
-
-  // pointer types similar to ROS 1, use SharedPtr / ConstSharedPtr instead
-  // NOTE: Can't use 'using' here because GNU C++ can't parse attributes properly
-  typedef DEPRECATED__unitree_go__msg__BmsCmd
-    std::shared_ptr<unitree_go::msg::BmsCmd_<ContainerAllocator>>
-    Ptr;
-  typedef DEPRECATED__unitree_go__msg__BmsCmd
-    std::shared_ptr<unitree_go::msg::BmsCmd_<ContainerAllocator> const>
-    ConstPtr;
-
-  // comparison operators
-  bool operator==(const BmsCmd_ & other) const
-  {
-    if (this->off != other.off) {
-      return false;
-    }
-    if (this->reserve != other.reserve) {
-      return false;
-    }
-    return true;
-  }
-  bool operator!=(const BmsCmd_ & other) const
-  {
-    return !this->operator==(other);
-  }
-};  // struct BmsCmd_
-
-// alias to use template instance with default allocator
-using BmsCmd =
-  unitree_go::msg::BmsCmd_<std::allocator<void>>;
-
-// constant definitions
-
-}  // namespace msg
-
-}  // namespace unitree_go
-
-#endif  // UNITREE_GO__MSG__DETAIL__BMS_CMD__STRUCT_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_cmd__traits.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_cmd__traits.hpp
deleted file mode 100644
index b46b48c..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_cmd__traits.hpp
+++ /dev/null
@@ -1,42 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__traits.hpp.em
-// with input from unitree_go:msg/BmsCmd.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__BMS_CMD__TRAITS_HPP_
-#define UNITREE_GO__MSG__DETAIL__BMS_CMD__TRAITS_HPP_
-
-#include "unitree_go/msg/detail/bms_cmd__struct.hpp"
-#include <rosidl_runtime_cpp/traits.hpp>
-#include <stdint.h>
-#include <type_traits>
-
-namespace rosidl_generator_traits
-{
-
-template<>
-inline const char * data_type<unitree_go::msg::BmsCmd>()
-{
-  return "unitree_go::msg::BmsCmd";
-}
-
-template<>
-inline const char * name<unitree_go::msg::BmsCmd>()
-{
-  return "unitree_go/msg/BmsCmd";
-}
-
-template<>
-struct has_fixed_size<unitree_go::msg::BmsCmd>
-  : std::integral_constant<bool, true> {};
-
-template<>
-struct has_bounded_size<unitree_go::msg::BmsCmd>
-  : std::integral_constant<bool, true> {};
-
-template<>
-struct is_message<unitree_go::msg::BmsCmd>
-  : std::true_type {};
-
-}  // namespace rosidl_generator_traits
-
-#endif  // UNITREE_GO__MSG__DETAIL__BMS_CMD__TRAITS_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_cmd__type_support.c b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_cmd__type_support.c
deleted file mode 100644
index 488909f..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_cmd__type_support.c
+++ /dev/null
@@ -1,96 +0,0 @@
-// generated from rosidl_typesupport_introspection_c/resource/idl__type_support.c.em
-// with input from unitree_go:msg/BmsCmd.idl
-// generated code does not contain a copyright notice
-
-#include <stddef.h>
-#include "unitree_go/msg/detail/bms_cmd__rosidl_typesupport_introspection_c.h"
-#include "unitree_go/msg/rosidl_typesupport_introspection_c__visibility_control.h"
-#include "rosidl_typesupport_introspection_c/field_types.h"
-#include "rosidl_typesupport_introspection_c/identifier.h"
-#include "rosidl_typesupport_introspection_c/message_introspection.h"
-#include "unitree_go/msg/detail/bms_cmd__functions.h"
-#include "unitree_go/msg/detail/bms_cmd__struct.h"
-
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-void BmsCmd__rosidl_typesupport_introspection_c__BmsCmd_init_function(
-  void * message_memory, enum rosidl_runtime_c__message_initialization _init)
-{
-  // TODO(karsten1987): initializers are not yet implemented for typesupport c
-  // see https://github.com/ros2/ros2/issues/397
-  (void) _init;
-  unitree_go__msg__BmsCmd__init(message_memory);
-}
-
-void BmsCmd__rosidl_typesupport_introspection_c__BmsCmd_fini_function(void * message_memory)
-{
-  unitree_go__msg__BmsCmd__fini(message_memory);
-}
-
-static rosidl_typesupport_introspection_c__MessageMember BmsCmd__rosidl_typesupport_introspection_c__BmsCmd_message_member_array[2] = {
-  {
-    "off",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_UINT8,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__BmsCmd, off),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "reserve",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_UINT8,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    true,  // is array
-    3,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__BmsCmd, reserve),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  }
-};
-
-static const rosidl_typesupport_introspection_c__MessageMembers BmsCmd__rosidl_typesupport_introspection_c__BmsCmd_message_members = {
-  "unitree_go__msg",  // message namespace
-  "BmsCmd",  // message name
-  2,  // number of fields
-  sizeof(unitree_go__msg__BmsCmd),
-  BmsCmd__rosidl_typesupport_introspection_c__BmsCmd_message_member_array,  // message members
-  BmsCmd__rosidl_typesupport_introspection_c__BmsCmd_init_function,  // function to initialize message memory (memory has to be allocated)
-  BmsCmd__rosidl_typesupport_introspection_c__BmsCmd_fini_function  // function to terminate message instance (will not free memory)
-};
-
-// this is not const since it must be initialized on first access
-// since C does not allow non-integral compile-time constants
-static rosidl_message_type_support_t BmsCmd__rosidl_typesupport_introspection_c__BmsCmd_message_type_support_handle = {
-  0,
-  &BmsCmd__rosidl_typesupport_introspection_c__BmsCmd_message_members,
-  get_message_typesupport_handle_function,
-};
-
-ROSIDL_TYPESUPPORT_INTROSPECTION_C_EXPORT_unitree_go
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, unitree_go, msg, BmsCmd)() {
-  if (!BmsCmd__rosidl_typesupport_introspection_c__BmsCmd_message_type_support_handle.typesupport_identifier) {
-    BmsCmd__rosidl_typesupport_introspection_c__BmsCmd_message_type_support_handle.typesupport_identifier =
-      rosidl_typesupport_introspection_c__identifier;
-  }
-  return &BmsCmd__rosidl_typesupport_introspection_c__BmsCmd_message_type_support_handle;
-}
-#ifdef __cplusplus
-}
-#endif
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_cmd__type_support.cpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_cmd__type_support.cpp
deleted file mode 100644
index f893d64..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_cmd__type_support.cpp
+++ /dev/null
@@ -1,142 +0,0 @@
-// generated from rosidl_typesupport_introspection_cpp/resource/idl__type_support.cpp.em
-// with input from unitree_go:msg/BmsCmd.idl
-// generated code does not contain a copyright notice
-
-#include "array"
-#include "cstddef"
-#include "string"
-#include "vector"
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_cpp/message_type_support.hpp"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_go/msg/detail/bms_cmd__struct.hpp"
-#include "rosidl_typesupport_introspection_cpp/field_types.hpp"
-#include "rosidl_typesupport_introspection_cpp/identifier.hpp"
-#include "rosidl_typesupport_introspection_cpp/message_introspection.hpp"
-#include "rosidl_typesupport_introspection_cpp/message_type_support_decl.hpp"
-#include "rosidl_typesupport_introspection_cpp/visibility_control.h"
-
-namespace unitree_go
-{
-
-namespace msg
-{
-
-namespace rosidl_typesupport_introspection_cpp
-{
-
-void BmsCmd_init_function(
-  void * message_memory, rosidl_runtime_cpp::MessageInitialization _init)
-{
-  new (message_memory) unitree_go::msg::BmsCmd(_init);
-}
-
-void BmsCmd_fini_function(void * message_memory)
-{
-  auto typed_message = static_cast<unitree_go::msg::BmsCmd *>(message_memory);
-  typed_message->~BmsCmd();
-}
-
-size_t size_function__BmsCmd__reserve(const void * untyped_member)
-{
-  (void)untyped_member;
-  return 3;
-}
-
-const void * get_const_function__BmsCmd__reserve(const void * untyped_member, size_t index)
-{
-  const auto & member =
-    *reinterpret_cast<const std::array<uint8_t, 3> *>(untyped_member);
-  return &member[index];
-}
-
-void * get_function__BmsCmd__reserve(void * untyped_member, size_t index)
-{
-  auto & member =
-    *reinterpret_cast<std::array<uint8_t, 3> *>(untyped_member);
-  return &member[index];
-}
-
-static const ::rosidl_typesupport_introspection_cpp::MessageMember BmsCmd_message_member_array[2] = {
-  {
-    "off",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT8,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::BmsCmd, off),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "reserve",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT8,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    true,  // is array
-    3,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::BmsCmd, reserve),  // bytes offset in struct
-    nullptr,  // default value
-    size_function__BmsCmd__reserve,  // size() function pointer
-    get_const_function__BmsCmd__reserve,  // get_const(index) function pointer
-    get_function__BmsCmd__reserve,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  }
-};
-
-static const ::rosidl_typesupport_introspection_cpp::MessageMembers BmsCmd_message_members = {
-  "unitree_go::msg",  // message namespace
-  "BmsCmd",  // message name
-  2,  // number of fields
-  sizeof(unitree_go::msg::BmsCmd),
-  BmsCmd_message_member_array,  // message members
-  BmsCmd_init_function,  // function to initialize message memory (memory has to be allocated)
-  BmsCmd_fini_function  // function to terminate message instance (will not free memory)
-};
-
-static const rosidl_message_type_support_t BmsCmd_message_type_support_handle = {
-  ::rosidl_typesupport_introspection_cpp::typesupport_identifier,
-  &BmsCmd_message_members,
-  get_message_typesupport_handle_function,
-};
-
-}  // namespace rosidl_typesupport_introspection_cpp
-
-}  // namespace msg
-
-}  // namespace unitree_go
-
-
-namespace rosidl_typesupport_introspection_cpp
-{
-
-template<>
-ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
-const rosidl_message_type_support_t *
-get_message_type_support_handle<unitree_go::msg::BmsCmd>()
-{
-  return &::unitree_go::msg::rosidl_typesupport_introspection_cpp::BmsCmd_message_type_support_handle;
-}
-
-}  // namespace rosidl_typesupport_introspection_cpp
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_cpp, unitree_go, msg, BmsCmd)() {
-  return &::unitree_go::msg::rosidl_typesupport_introspection_cpp::BmsCmd_message_type_support_handle;
-}
-
-#ifdef __cplusplus
-}
-#endif
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_cmd__type_support.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_cmd__type_support.h
deleted file mode 100644
index 56bc7a8..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_cmd__type_support.h
+++ /dev/null
@@ -1,33 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__type_support.h.em
-// with input from unitree_go:msg/BmsCmd.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__BMS_CMD__TYPE_SUPPORT_H_
-#define UNITREE_GO__MSG__DETAIL__BMS_CMD__TYPE_SUPPORT_H_
-
-#include "rosidl_typesupport_interface/macros.h"
-
-#include "unitree_go/msg/rosidl_generator_c__visibility_control.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-
-// Forward declare the get type support functions for this type.
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
-  rosidl_typesupport_c,
-  unitree_go,
-  msg,
-  BmsCmd
-)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__BMS_CMD__TYPE_SUPPORT_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_cmd__type_support.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_cmd__type_support.hpp
deleted file mode 100644
index 79bb6ba..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_cmd__type_support.hpp
+++ /dev/null
@@ -1,31 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__type_support.hpp.em
-// with input from unitree_go:msg/BmsCmd.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__BMS_CMD__TYPE_SUPPORT_HPP_
-#define UNITREE_GO__MSG__DETAIL__BMS_CMD__TYPE_SUPPORT_HPP_
-
-#include "rosidl_typesupport_interface/macros.h"
-
-#include "unitree_go/msg/rosidl_generator_cpp__visibility_control.hpp"
-
-#include "rosidl_typesupport_cpp/message_type_support.hpp"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-// Forward declare the get type support functions for this type.
-ROSIDL_GENERATOR_CPP_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
-  rosidl_typesupport_cpp,
-  unitree_go,
-  msg,
-  BmsCmd
-)();
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__BMS_CMD__TYPE_SUPPORT_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_state__builder.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_state__builder.hpp
deleted file mode 100644
index 0f747d6..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_state__builder.hpp
+++ /dev/null
@@ -1,183 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__builder.hpp.em
-// with input from unitree_go:msg/BmsState.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__BMS_STATE__BUILDER_HPP_
-#define UNITREE_GO__MSG__DETAIL__BMS_STATE__BUILDER_HPP_
-
-#include "unitree_go/msg/detail/bms_state__struct.hpp"
-#include <rosidl_runtime_cpp/message_initialization.hpp>
-#include <algorithm>
-#include <utility>
-
-
-namespace unitree_go
-{
-
-namespace msg
-{
-
-namespace builder
-{
-
-class Init_BmsState_cell_vol
-{
-public:
-  explicit Init_BmsState_cell_vol(::unitree_go::msg::BmsState & msg)
-  : msg_(msg)
-  {}
-  ::unitree_go::msg::BmsState cell_vol(::unitree_go::msg::BmsState::_cell_vol_type arg)
-  {
-    msg_.cell_vol = std::move(arg);
-    return std::move(msg_);
-  }
-
-private:
-  ::unitree_go::msg::BmsState msg_;
-};
-
-class Init_BmsState_mcu_ntc
-{
-public:
-  explicit Init_BmsState_mcu_ntc(::unitree_go::msg::BmsState & msg)
-  : msg_(msg)
-  {}
-  Init_BmsState_cell_vol mcu_ntc(::unitree_go::msg::BmsState::_mcu_ntc_type arg)
-  {
-    msg_.mcu_ntc = std::move(arg);
-    return Init_BmsState_cell_vol(msg_);
-  }
-
-private:
-  ::unitree_go::msg::BmsState msg_;
-};
-
-class Init_BmsState_bq_ntc
-{
-public:
-  explicit Init_BmsState_bq_ntc(::unitree_go::msg::BmsState & msg)
-  : msg_(msg)
-  {}
-  Init_BmsState_mcu_ntc bq_ntc(::unitree_go::msg::BmsState::_bq_ntc_type arg)
-  {
-    msg_.bq_ntc = std::move(arg);
-    return Init_BmsState_mcu_ntc(msg_);
-  }
-
-private:
-  ::unitree_go::msg::BmsState msg_;
-};
-
-class Init_BmsState_cycle
-{
-public:
-  explicit Init_BmsState_cycle(::unitree_go::msg::BmsState & msg)
-  : msg_(msg)
-  {}
-  Init_BmsState_bq_ntc cycle(::unitree_go::msg::BmsState::_cycle_type arg)
-  {
-    msg_.cycle = std::move(arg);
-    return Init_BmsState_bq_ntc(msg_);
-  }
-
-private:
-  ::unitree_go::msg::BmsState msg_;
-};
-
-class Init_BmsState_current
-{
-public:
-  explicit Init_BmsState_current(::unitree_go::msg::BmsState & msg)
-  : msg_(msg)
-  {}
-  Init_BmsState_cycle current(::unitree_go::msg::BmsState::_current_type arg)
-  {
-    msg_.current = std::move(arg);
-    return Init_BmsState_cycle(msg_);
-  }
-
-private:
-  ::unitree_go::msg::BmsState msg_;
-};
-
-class Init_BmsState_soc
-{
-public:
-  explicit Init_BmsState_soc(::unitree_go::msg::BmsState & msg)
-  : msg_(msg)
-  {}
-  Init_BmsState_current soc(::unitree_go::msg::BmsState::_soc_type arg)
-  {
-    msg_.soc = std::move(arg);
-    return Init_BmsState_current(msg_);
-  }
-
-private:
-  ::unitree_go::msg::BmsState msg_;
-};
-
-class Init_BmsState_status
-{
-public:
-  explicit Init_BmsState_status(::unitree_go::msg::BmsState & msg)
-  : msg_(msg)
-  {}
-  Init_BmsState_soc status(::unitree_go::msg::BmsState::_status_type arg)
-  {
-    msg_.status = std::move(arg);
-    return Init_BmsState_soc(msg_);
-  }
-
-private:
-  ::unitree_go::msg::BmsState msg_;
-};
-
-class Init_BmsState_version_low
-{
-public:
-  explicit Init_BmsState_version_low(::unitree_go::msg::BmsState & msg)
-  : msg_(msg)
-  {}
-  Init_BmsState_status version_low(::unitree_go::msg::BmsState::_version_low_type arg)
-  {
-    msg_.version_low = std::move(arg);
-    return Init_BmsState_status(msg_);
-  }
-
-private:
-  ::unitree_go::msg::BmsState msg_;
-};
-
-class Init_BmsState_version_high
-{
-public:
-  Init_BmsState_version_high()
-  : msg_(::rosidl_runtime_cpp::MessageInitialization::SKIP)
-  {}
-  Init_BmsState_version_low version_high(::unitree_go::msg::BmsState::_version_high_type arg)
-  {
-    msg_.version_high = std::move(arg);
-    return Init_BmsState_version_low(msg_);
-  }
-
-private:
-  ::unitree_go::msg::BmsState msg_;
-};
-
-}  // namespace builder
-
-}  // namespace msg
-
-template<typename MessageType>
-auto build();
-
-template<>
-inline
-auto build<::unitree_go::msg::BmsState>()
-{
-  return unitree_go::msg::builder::Init_BmsState_version_high();
-}
-
-}  // namespace unitree_go
-
-#endif  // UNITREE_GO__MSG__DETAIL__BMS_STATE__BUILDER_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_state__functions.c b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_state__functions.c
deleted file mode 100644
index 1f0a0ec..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_state__functions.c
+++ /dev/null
@@ -1,307 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__functions.c.em
-// with input from unitree_go:msg/BmsState.idl
-// generated code does not contain a copyright notice
-#include "unitree_go/msg/detail/bms_state__functions.h"
-
-#include <assert.h>
-#include <stdbool.h>
-#include <stdlib.h>
-#include <string.h>
-
-#include "rcutils/allocator.h"
-
-
-bool
-unitree_go__msg__BmsState__init(unitree_go__msg__BmsState * msg)
-{
-  if (!msg) {
-    return false;
-  }
-  // version_high
-  // version_low
-  // status
-  // soc
-  // current
-  // cycle
-  // bq_ntc
-  // mcu_ntc
-  // cell_vol
-  return true;
-}
-
-void
-unitree_go__msg__BmsState__fini(unitree_go__msg__BmsState * msg)
-{
-  if (!msg) {
-    return;
-  }
-  // version_high
-  // version_low
-  // status
-  // soc
-  // current
-  // cycle
-  // bq_ntc
-  // mcu_ntc
-  // cell_vol
-}
-
-bool
-unitree_go__msg__BmsState__are_equal(const unitree_go__msg__BmsState * lhs, const unitree_go__msg__BmsState * rhs)
-{
-  if (!lhs || !rhs) {
-    return false;
-  }
-  // version_high
-  if (lhs->version_high != rhs->version_high) {
-    return false;
-  }
-  // version_low
-  if (lhs->version_low != rhs->version_low) {
-    return false;
-  }
-  // status
-  if (lhs->status != rhs->status) {
-    return false;
-  }
-  // soc
-  if (lhs->soc != rhs->soc) {
-    return false;
-  }
-  // current
-  if (lhs->current != rhs->current) {
-    return false;
-  }
-  // cycle
-  if (lhs->cycle != rhs->cycle) {
-    return false;
-  }
-  // bq_ntc
-  for (size_t i = 0; i < 2; ++i) {
-    if (lhs->bq_ntc[i] != rhs->bq_ntc[i]) {
-      return false;
-    }
-  }
-  // mcu_ntc
-  for (size_t i = 0; i < 2; ++i) {
-    if (lhs->mcu_ntc[i] != rhs->mcu_ntc[i]) {
-      return false;
-    }
-  }
-  // cell_vol
-  for (size_t i = 0; i < 15; ++i) {
-    if (lhs->cell_vol[i] != rhs->cell_vol[i]) {
-      return false;
-    }
-  }
-  return true;
-}
-
-bool
-unitree_go__msg__BmsState__copy(
-  const unitree_go__msg__BmsState * input,
-  unitree_go__msg__BmsState * output)
-{
-  if (!input || !output) {
-    return false;
-  }
-  // version_high
-  output->version_high = input->version_high;
-  // version_low
-  output->version_low = input->version_low;
-  // status
-  output->status = input->status;
-  // soc
-  output->soc = input->soc;
-  // current
-  output->current = input->current;
-  // cycle
-  output->cycle = input->cycle;
-  // bq_ntc
-  for (size_t i = 0; i < 2; ++i) {
-    output->bq_ntc[i] = input->bq_ntc[i];
-  }
-  // mcu_ntc
-  for (size_t i = 0; i < 2; ++i) {
-    output->mcu_ntc[i] = input->mcu_ntc[i];
-  }
-  // cell_vol
-  for (size_t i = 0; i < 15; ++i) {
-    output->cell_vol[i] = input->cell_vol[i];
-  }
-  return true;
-}
-
-unitree_go__msg__BmsState *
-unitree_go__msg__BmsState__create()
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  unitree_go__msg__BmsState * msg = (unitree_go__msg__BmsState *)allocator.allocate(sizeof(unitree_go__msg__BmsState), allocator.state);
-  if (!msg) {
-    return NULL;
-  }
-  memset(msg, 0, sizeof(unitree_go__msg__BmsState));
-  bool success = unitree_go__msg__BmsState__init(msg);
-  if (!success) {
-    allocator.deallocate(msg, allocator.state);
-    return NULL;
-  }
-  return msg;
-}
-
-void
-unitree_go__msg__BmsState__destroy(unitree_go__msg__BmsState * msg)
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  if (msg) {
-    unitree_go__msg__BmsState__fini(msg);
-  }
-  allocator.deallocate(msg, allocator.state);
-}
-
-
-bool
-unitree_go__msg__BmsState__Sequence__init(unitree_go__msg__BmsState__Sequence * array, size_t size)
-{
-  if (!array) {
-    return false;
-  }
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  unitree_go__msg__BmsState * data = NULL;
-
-  if (size) {
-    data = (unitree_go__msg__BmsState *)allocator.zero_allocate(size, sizeof(unitree_go__msg__BmsState), allocator.state);
-    if (!data) {
-      return false;
-    }
-    // initialize all array elements
-    size_t i;
-    for (i = 0; i < size; ++i) {
-      bool success = unitree_go__msg__BmsState__init(&data[i]);
-      if (!success) {
-        break;
-      }
-    }
-    if (i < size) {
-      // if initialization failed finalize the already initialized array elements
-      for (; i > 0; --i) {
-        unitree_go__msg__BmsState__fini(&data[i - 1]);
-      }
-      allocator.deallocate(data, allocator.state);
-      return false;
-    }
-  }
-  array->data = data;
-  array->size = size;
-  array->capacity = size;
-  return true;
-}
-
-void
-unitree_go__msg__BmsState__Sequence__fini(unitree_go__msg__BmsState__Sequence * array)
-{
-  if (!array) {
-    return;
-  }
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-
-  if (array->data) {
-    // ensure that data and capacity values are consistent
-    assert(array->capacity > 0);
-    // finalize all array elements
-    for (size_t i = 0; i < array->capacity; ++i) {
-      unitree_go__msg__BmsState__fini(&array->data[i]);
-    }
-    allocator.deallocate(array->data, allocator.state);
-    array->data = NULL;
-    array->size = 0;
-    array->capacity = 0;
-  } else {
-    // ensure that data, size, and capacity values are consistent
-    assert(0 == array->size);
-    assert(0 == array->capacity);
-  }
-}
-
-unitree_go__msg__BmsState__Sequence *
-unitree_go__msg__BmsState__Sequence__create(size_t size)
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  unitree_go__msg__BmsState__Sequence * array = (unitree_go__msg__BmsState__Sequence *)allocator.allocate(sizeof(unitree_go__msg__BmsState__Sequence), allocator.state);
-  if (!array) {
-    return NULL;
-  }
-  bool success = unitree_go__msg__BmsState__Sequence__init(array, size);
-  if (!success) {
-    allocator.deallocate(array, allocator.state);
-    return NULL;
-  }
-  return array;
-}
-
-void
-unitree_go__msg__BmsState__Sequence__destroy(unitree_go__msg__BmsState__Sequence * array)
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  if (array) {
-    unitree_go__msg__BmsState__Sequence__fini(array);
-  }
-  allocator.deallocate(array, allocator.state);
-}
-
-bool
-unitree_go__msg__BmsState__Sequence__are_equal(const unitree_go__msg__BmsState__Sequence * lhs, const unitree_go__msg__BmsState__Sequence * rhs)
-{
-  if (!lhs || !rhs) {
-    return false;
-  }
-  if (lhs->size != rhs->size) {
-    return false;
-  }
-  for (size_t i = 0; i < lhs->size; ++i) {
-    if (!unitree_go__msg__BmsState__are_equal(&(lhs->data[i]), &(rhs->data[i]))) {
-      return false;
-    }
-  }
-  return true;
-}
-
-bool
-unitree_go__msg__BmsState__Sequence__copy(
-  const unitree_go__msg__BmsState__Sequence * input,
-  unitree_go__msg__BmsState__Sequence * output)
-{
-  if (!input || !output) {
-    return false;
-  }
-  if (output->capacity < input->size) {
-    const size_t allocation_size =
-      input->size * sizeof(unitree_go__msg__BmsState);
-    unitree_go__msg__BmsState * data =
-      (unitree_go__msg__BmsState *)realloc(output->data, allocation_size);
-    if (!data) {
-      return false;
-    }
-    for (size_t i = output->capacity; i < input->size; ++i) {
-      if (!unitree_go__msg__BmsState__init(&data[i])) {
-        /* free currently allocated and return false */
-        for (; i-- > output->capacity; ) {
-          unitree_go__msg__BmsState__fini(&data[i]);
-        }
-        free(data);
-        return false;
-      }
-    }
-    output->data = data;
-    output->capacity = input->size;
-  }
-  output->size = input->size;
-  for (size_t i = 0; i < input->size; ++i) {
-    if (!unitree_go__msg__BmsState__copy(
-        &(input->data[i]), &(output->data[i])))
-    {
-      return false;
-    }
-  }
-  return true;
-}
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_state__functions.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_state__functions.h
deleted file mode 100644
index 0e3dc72..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_state__functions.h
+++ /dev/null
@@ -1,177 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__functions.h.em
-// with input from unitree_go:msg/BmsState.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__BMS_STATE__FUNCTIONS_H_
-#define UNITREE_GO__MSG__DETAIL__BMS_STATE__FUNCTIONS_H_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include <stdbool.h>
-#include <stdlib.h>
-
-#include "rosidl_runtime_c/visibility_control.h"
-#include "unitree_go/msg/rosidl_generator_c__visibility_control.h"
-
-#include "unitree_go/msg/detail/bms_state__struct.h"
-
-/// Initialize msg/BmsState message.
-/**
- * If the init function is called twice for the same message without
- * calling fini inbetween previously allocated memory will be leaked.
- * \param[in,out] msg The previously allocated message pointer.
- * Fields without a default value will not be initialized by this function.
- * You might want to call memset(msg, 0, sizeof(
- * unitree_go__msg__BmsState
- * )) before or use
- * unitree_go__msg__BmsState__create()
- * to allocate and initialize the message.
- * \return true if initialization was successful, otherwise false
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__BmsState__init(unitree_go__msg__BmsState * msg);
-
-/// Finalize msg/BmsState message.
-/**
- * \param[in,out] msg The allocated message pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-void
-unitree_go__msg__BmsState__fini(unitree_go__msg__BmsState * msg);
-
-/// Create msg/BmsState message.
-/**
- * It allocates the memory for the message, sets the memory to zero, and
- * calls
- * unitree_go__msg__BmsState__init().
- * \return The pointer to the initialized message if successful,
- * otherwise NULL
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-unitree_go__msg__BmsState *
-unitree_go__msg__BmsState__create();
-
-/// Destroy msg/BmsState message.
-/**
- * It calls
- * unitree_go__msg__BmsState__fini()
- * and frees the memory of the message.
- * \param[in,out] msg The allocated message pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-void
-unitree_go__msg__BmsState__destroy(unitree_go__msg__BmsState * msg);
-
-/// Check for msg/BmsState message equality.
-/**
- * \param[in] lhs The message on the left hand size of the equality operator.
- * \param[in] rhs The message on the right hand size of the equality operator.
- * \return true if messages are equal, otherwise false.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__BmsState__are_equal(const unitree_go__msg__BmsState * lhs, const unitree_go__msg__BmsState * rhs);
-
-/// Copy a msg/BmsState message.
-/**
- * This functions performs a deep copy, as opposed to the shallow copy that
- * plain assignment yields.
- *
- * \param[in] input The source message pointer.
- * \param[out] output The target message pointer, which must
- *   have been initialized before calling this function.
- * \return true if successful, or false if either pointer is null
- *   or memory allocation fails.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__BmsState__copy(
-  const unitree_go__msg__BmsState * input,
-  unitree_go__msg__BmsState * output);
-
-/// Initialize array of msg/BmsState messages.
-/**
- * It allocates the memory for the number of elements and calls
- * unitree_go__msg__BmsState__init()
- * for each element of the array.
- * \param[in,out] array The allocated array pointer.
- * \param[in] size The size / capacity of the array.
- * \return true if initialization was successful, otherwise false
- * If the array pointer is valid and the size is zero it is guaranteed
- # to return true.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__BmsState__Sequence__init(unitree_go__msg__BmsState__Sequence * array, size_t size);
-
-/// Finalize array of msg/BmsState messages.
-/**
- * It calls
- * unitree_go__msg__BmsState__fini()
- * for each element of the array and frees the memory for the number of
- * elements.
- * \param[in,out] array The initialized array pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-void
-unitree_go__msg__BmsState__Sequence__fini(unitree_go__msg__BmsState__Sequence * array);
-
-/// Create array of msg/BmsState messages.
-/**
- * It allocates the memory for the array and calls
- * unitree_go__msg__BmsState__Sequence__init().
- * \param[in] size The size / capacity of the array.
- * \return The pointer to the initialized array if successful, otherwise NULL
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-unitree_go__msg__BmsState__Sequence *
-unitree_go__msg__BmsState__Sequence__create(size_t size);
-
-/// Destroy array of msg/BmsState messages.
-/**
- * It calls
- * unitree_go__msg__BmsState__Sequence__fini()
- * on the array,
- * and frees the memory of the array.
- * \param[in,out] array The initialized array pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-void
-unitree_go__msg__BmsState__Sequence__destroy(unitree_go__msg__BmsState__Sequence * array);
-
-/// Check for msg/BmsState message array equality.
-/**
- * \param[in] lhs The message array on the left hand size of the equality operator.
- * \param[in] rhs The message array on the right hand size of the equality operator.
- * \return true if message arrays are equal in size and content, otherwise false.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__BmsState__Sequence__are_equal(const unitree_go__msg__BmsState__Sequence * lhs, const unitree_go__msg__BmsState__Sequence * rhs);
-
-/// Copy an array of msg/BmsState messages.
-/**
- * This functions performs a deep copy, as opposed to the shallow copy that
- * plain assignment yields.
- *
- * \param[in] input The source array pointer.
- * \param[out] output The target array pointer, which must
- *   have been initialized before calling this function.
- * \return true if successful, or false if either pointer
- *   is null or memory allocation fails.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__BmsState__Sequence__copy(
-  const unitree_go__msg__BmsState__Sequence * input,
-  unitree_go__msg__BmsState__Sequence * output);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__BMS_STATE__FUNCTIONS_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_state__rosidl_typesupport_fastrtps_c.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_state__rosidl_typesupport_fastrtps_c.h
deleted file mode 100644
index 3de157d..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_state__rosidl_typesupport_fastrtps_c.h
+++ /dev/null
@@ -1,36 +0,0 @@
-// generated from rosidl_typesupport_fastrtps_c/resource/idl__rosidl_typesupport_fastrtps_c.h.em
-// with input from unitree_go:msg/BmsState.idl
-// generated code does not contain a copyright notice
-#ifndef UNITREE_GO__MSG__DETAIL__BMS_STATE__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_
-#define UNITREE_GO__MSG__DETAIL__BMS_STATE__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_
-
-
-#include <stddef.h>
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_go/msg/rosidl_typesupport_fastrtps_c__visibility_control.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_go
-size_t get_serialized_size_unitree_go__msg__BmsState(
-  const void * untyped_ros_message,
-  size_t current_alignment);
-
-ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_go
-size_t max_serialized_size_unitree_go__msg__BmsState(
-  bool & full_bounded,
-  size_t current_alignment);
-
-ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_fastrtps_c, unitree_go, msg, BmsState)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__BMS_STATE__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_state__rosidl_typesupport_fastrtps_cpp.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_state__rosidl_typesupport_fastrtps_cpp.hpp
deleted file mode 100644
index eede409..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_state__rosidl_typesupport_fastrtps_cpp.hpp
+++ /dev/null
@@ -1,79 +0,0 @@
-// generated from rosidl_typesupport_fastrtps_cpp/resource/idl__rosidl_typesupport_fastrtps_cpp.hpp.em
-// with input from unitree_go:msg/BmsState.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__BMS_STATE__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_
-#define UNITREE_GO__MSG__DETAIL__BMS_STATE__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_go/msg/rosidl_typesupport_fastrtps_cpp__visibility_control.h"
-#include "unitree_go/msg/detail/bms_state__struct.hpp"
-
-#ifndef _WIN32
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wunused-parameter"
-# ifdef __clang__
-#  pragma clang diagnostic ignored "-Wdeprecated-register"
-#  pragma clang diagnostic ignored "-Wreturn-type-c-linkage"
-# endif
-#endif
-#ifndef _WIN32
-# pragma GCC diagnostic pop
-#endif
-
-#include "fastcdr/Cdr.h"
-
-namespace unitree_go
-{
-
-namespace msg
-{
-
-namespace typesupport_fastrtps_cpp
-{
-
-bool
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-cdr_serialize(
-  const unitree_go::msg::BmsState & ros_message,
-  eprosima::fastcdr::Cdr & cdr);
-
-bool
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-cdr_deserialize(
-  eprosima::fastcdr::Cdr & cdr,
-  unitree_go::msg::BmsState & ros_message);
-
-size_t
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-get_serialized_size(
-  const unitree_go::msg::BmsState & ros_message,
-  size_t current_alignment);
-
-size_t
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-max_serialized_size_BmsState(
-  bool & full_bounded,
-  size_t current_alignment);
-
-}  // namespace typesupport_fastrtps_cpp
-
-}  // namespace msg
-
-}  // namespace unitree_go
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_fastrtps_cpp, unitree_go, msg, BmsState)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__BMS_STATE__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_state__rosidl_typesupport_introspection_c.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_state__rosidl_typesupport_introspection_c.h
deleted file mode 100644
index c18b944..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_state__rosidl_typesupport_introspection_c.h
+++ /dev/null
@@ -1,26 +0,0 @@
-// generated from rosidl_typesupport_introspection_c/resource/idl__rosidl_typesupport_introspection_c.h.em
-// with input from unitree_go:msg/BmsState.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__BMS_STATE__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
-#define UNITREE_GO__MSG__DETAIL__BMS_STATE__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_go/msg/rosidl_typesupport_introspection_c__visibility_control.h"
-
-ROSIDL_TYPESUPPORT_INTROSPECTION_C_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, unitree_go, msg, BmsState)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__BMS_STATE__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_state__rosidl_typesupport_introspection_cpp.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_state__rosidl_typesupport_introspection_cpp.hpp
deleted file mode 100644
index 05d7362..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_state__rosidl_typesupport_introspection_cpp.hpp
+++ /dev/null
@@ -1,27 +0,0 @@
-// generated from rosidl_typesupport_introspection_cpp/resource/idl__rosidl_typesupport_introspection_cpp.h.em
-// with input from unitree_go:msg/BmsState.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__BMS_STATE__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_
-#define UNITREE_GO__MSG__DETAIL__BMS_STATE__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_
-
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "rosidl_typesupport_introspection_cpp/visibility_control.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-// TODO(dirk-thomas) these visibility macros should be message package specific
-ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
-const rosidl_message_type_support_t *
-  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_cpp, unitree_go, msg, BmsState)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__BMS_STATE__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_state__struct.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_state__struct.h
deleted file mode 100644
index 871e4bd..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_state__struct.h
+++ /dev/null
@@ -1,48 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__struct.h.em
-// with input from unitree_go:msg/BmsState.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__BMS_STATE__STRUCT_H_
-#define UNITREE_GO__MSG__DETAIL__BMS_STATE__STRUCT_H_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include <stdbool.h>
-#include <stddef.h>
-#include <stdint.h>
-
-
-// Constants defined in the message
-
-// Struct defined in msg/BmsState in the package unitree_go.
-typedef struct unitree_go__msg__BmsState
-{
-  uint8_t version_high;
-  uint8_t version_low;
-  uint8_t status;
-  uint8_t soc;
-  int32_t current;
-  uint16_t cycle;
-  int8_t bq_ntc[2];
-  int8_t mcu_ntc[2];
-  uint16_t cell_vol[15];
-} unitree_go__msg__BmsState;
-
-// Struct for a sequence of unitree_go__msg__BmsState.
-typedef struct unitree_go__msg__BmsState__Sequence
-{
-  unitree_go__msg__BmsState * data;
-  /// The number of valid items in data
-  size_t size;
-  /// The number of allocated items in data
-  size_t capacity;
-} unitree_go__msg__BmsState__Sequence;
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__BMS_STATE__STRUCT_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_state__struct.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_state__struct.hpp
deleted file mode 100644
index ebf76be..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_state__struct.hpp
+++ /dev/null
@@ -1,244 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__struct.hpp.em
-// with input from unitree_go:msg/BmsState.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__BMS_STATE__STRUCT_HPP_
-#define UNITREE_GO__MSG__DETAIL__BMS_STATE__STRUCT_HPP_
-
-#include <rosidl_runtime_cpp/bounded_vector.hpp>
-#include <rosidl_runtime_cpp/message_initialization.hpp>
-#include <algorithm>
-#include <array>
-#include <memory>
-#include <string>
-#include <vector>
-
-
-#ifndef _WIN32
-# define DEPRECATED__unitree_go__msg__BmsState __attribute__((deprecated))
-#else
-# define DEPRECATED__unitree_go__msg__BmsState __declspec(deprecated)
-#endif
-
-namespace unitree_go
-{
-
-namespace msg
-{
-
-// message struct
-template<class ContainerAllocator>
-struct BmsState_
-{
-  using Type = BmsState_<ContainerAllocator>;
-
-  explicit BmsState_(rosidl_runtime_cpp::MessageInitialization _init = rosidl_runtime_cpp::MessageInitialization::ALL)
-  {
-    if (rosidl_runtime_cpp::MessageInitialization::ALL == _init ||
-      rosidl_runtime_cpp::MessageInitialization::ZERO == _init)
-    {
-      this->version_high = 0;
-      this->version_low = 0;
-      this->status = 0;
-      this->soc = 0;
-      this->current = 0l;
-      this->cycle = 0;
-      std::fill<typename std::array<int8_t, 2>::iterator, int8_t>(this->bq_ntc.begin(), this->bq_ntc.end(), 0);
-      std::fill<typename std::array<int8_t, 2>::iterator, int8_t>(this->mcu_ntc.begin(), this->mcu_ntc.end(), 0);
-      std::fill<typename std::array<uint16_t, 15>::iterator, uint16_t>(this->cell_vol.begin(), this->cell_vol.end(), 0);
-    }
-  }
-
-  explicit BmsState_(const ContainerAllocator & _alloc, rosidl_runtime_cpp::MessageInitialization _init = rosidl_runtime_cpp::MessageInitialization::ALL)
-  : bq_ntc(_alloc),
-    mcu_ntc(_alloc),
-    cell_vol(_alloc)
-  {
-    if (rosidl_runtime_cpp::MessageInitialization::ALL == _init ||
-      rosidl_runtime_cpp::MessageInitialization::ZERO == _init)
-    {
-      this->version_high = 0;
-      this->version_low = 0;
-      this->status = 0;
-      this->soc = 0;
-      this->current = 0l;
-      this->cycle = 0;
-      std::fill<typename std::array<int8_t, 2>::iterator, int8_t>(this->bq_ntc.begin(), this->bq_ntc.end(), 0);
-      std::fill<typename std::array<int8_t, 2>::iterator, int8_t>(this->mcu_ntc.begin(), this->mcu_ntc.end(), 0);
-      std::fill<typename std::array<uint16_t, 15>::iterator, uint16_t>(this->cell_vol.begin(), this->cell_vol.end(), 0);
-    }
-  }
-
-  // field types and members
-  using _version_high_type =
-    uint8_t;
-  _version_high_type version_high;
-  using _version_low_type =
-    uint8_t;
-  _version_low_type version_low;
-  using _status_type =
-    uint8_t;
-  _status_type status;
-  using _soc_type =
-    uint8_t;
-  _soc_type soc;
-  using _current_type =
-    int32_t;
-  _current_type current;
-  using _cycle_type =
-    uint16_t;
-  _cycle_type cycle;
-  using _bq_ntc_type =
-    std::array<int8_t, 2>;
-  _bq_ntc_type bq_ntc;
-  using _mcu_ntc_type =
-    std::array<int8_t, 2>;
-  _mcu_ntc_type mcu_ntc;
-  using _cell_vol_type =
-    std::array<uint16_t, 15>;
-  _cell_vol_type cell_vol;
-
-  // setters for named parameter idiom
-  Type & set__version_high(
-    const uint8_t & _arg)
-  {
-    this->version_high = _arg;
-    return *this;
-  }
-  Type & set__version_low(
-    const uint8_t & _arg)
-  {
-    this->version_low = _arg;
-    return *this;
-  }
-  Type & set__status(
-    const uint8_t & _arg)
-  {
-    this->status = _arg;
-    return *this;
-  }
-  Type & set__soc(
-    const uint8_t & _arg)
-  {
-    this->soc = _arg;
-    return *this;
-  }
-  Type & set__current(
-    const int32_t & _arg)
-  {
-    this->current = _arg;
-    return *this;
-  }
-  Type & set__cycle(
-    const uint16_t & _arg)
-  {
-    this->cycle = _arg;
-    return *this;
-  }
-  Type & set__bq_ntc(
-    const std::array<int8_t, 2> & _arg)
-  {
-    this->bq_ntc = _arg;
-    return *this;
-  }
-  Type & set__mcu_ntc(
-    const std::array<int8_t, 2> & _arg)
-  {
-    this->mcu_ntc = _arg;
-    return *this;
-  }
-  Type & set__cell_vol(
-    const std::array<uint16_t, 15> & _arg)
-  {
-    this->cell_vol = _arg;
-    return *this;
-  }
-
-  // constant declarations
-
-  // pointer types
-  using RawPtr =
-    unitree_go::msg::BmsState_<ContainerAllocator> *;
-  using ConstRawPtr =
-    const unitree_go::msg::BmsState_<ContainerAllocator> *;
-  using SharedPtr =
-    std::shared_ptr<unitree_go::msg::BmsState_<ContainerAllocator>>;
-  using ConstSharedPtr =
-    std::shared_ptr<unitree_go::msg::BmsState_<ContainerAllocator> const>;
-
-  template<typename Deleter = std::default_delete<
-      unitree_go::msg::BmsState_<ContainerAllocator>>>
-  using UniquePtrWithDeleter =
-    std::unique_ptr<unitree_go::msg::BmsState_<ContainerAllocator>, Deleter>;
-
-  using UniquePtr = UniquePtrWithDeleter<>;
-
-  template<typename Deleter = std::default_delete<
-      unitree_go::msg::BmsState_<ContainerAllocator>>>
-  using ConstUniquePtrWithDeleter =
-    std::unique_ptr<unitree_go::msg::BmsState_<ContainerAllocator> const, Deleter>;
-  using ConstUniquePtr = ConstUniquePtrWithDeleter<>;
-
-  using WeakPtr =
-    std::weak_ptr<unitree_go::msg::BmsState_<ContainerAllocator>>;
-  using ConstWeakPtr =
-    std::weak_ptr<unitree_go::msg::BmsState_<ContainerAllocator> const>;
-
-  // pointer types similar to ROS 1, use SharedPtr / ConstSharedPtr instead
-  // NOTE: Can't use 'using' here because GNU C++ can't parse attributes properly
-  typedef DEPRECATED__unitree_go__msg__BmsState
-    std::shared_ptr<unitree_go::msg::BmsState_<ContainerAllocator>>
-    Ptr;
-  typedef DEPRECATED__unitree_go__msg__BmsState
-    std::shared_ptr<unitree_go::msg::BmsState_<ContainerAllocator> const>
-    ConstPtr;
-
-  // comparison operators
-  bool operator==(const BmsState_ & other) const
-  {
-    if (this->version_high != other.version_high) {
-      return false;
-    }
-    if (this->version_low != other.version_low) {
-      return false;
-    }
-    if (this->status != other.status) {
-      return false;
-    }
-    if (this->soc != other.soc) {
-      return false;
-    }
-    if (this->current != other.current) {
-      return false;
-    }
-    if (this->cycle != other.cycle) {
-      return false;
-    }
-    if (this->bq_ntc != other.bq_ntc) {
-      return false;
-    }
-    if (this->mcu_ntc != other.mcu_ntc) {
-      return false;
-    }
-    if (this->cell_vol != other.cell_vol) {
-      return false;
-    }
-    return true;
-  }
-  bool operator!=(const BmsState_ & other) const
-  {
-    return !this->operator==(other);
-  }
-};  // struct BmsState_
-
-// alias to use template instance with default allocator
-using BmsState =
-  unitree_go::msg::BmsState_<std::allocator<void>>;
-
-// constant definitions
-
-}  // namespace msg
-
-}  // namespace unitree_go
-
-#endif  // UNITREE_GO__MSG__DETAIL__BMS_STATE__STRUCT_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_state__traits.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_state__traits.hpp
deleted file mode 100644
index 1622215..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_state__traits.hpp
+++ /dev/null
@@ -1,42 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__traits.hpp.em
-// with input from unitree_go:msg/BmsState.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__BMS_STATE__TRAITS_HPP_
-#define UNITREE_GO__MSG__DETAIL__BMS_STATE__TRAITS_HPP_
-
-#include "unitree_go/msg/detail/bms_state__struct.hpp"
-#include <rosidl_runtime_cpp/traits.hpp>
-#include <stdint.h>
-#include <type_traits>
-
-namespace rosidl_generator_traits
-{
-
-template<>
-inline const char * data_type<unitree_go::msg::BmsState>()
-{
-  return "unitree_go::msg::BmsState";
-}
-
-template<>
-inline const char * name<unitree_go::msg::BmsState>()
-{
-  return "unitree_go/msg/BmsState";
-}
-
-template<>
-struct has_fixed_size<unitree_go::msg::BmsState>
-  : std::integral_constant<bool, true> {};
-
-template<>
-struct has_bounded_size<unitree_go::msg::BmsState>
-  : std::integral_constant<bool, true> {};
-
-template<>
-struct is_message<unitree_go::msg::BmsState>
-  : std::true_type {};
-
-}  // namespace rosidl_generator_traits
-
-#endif  // UNITREE_GO__MSG__DETAIL__BMS_STATE__TRAITS_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_state__type_support.c b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_state__type_support.c
deleted file mode 100644
index 1884c9d..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_state__type_support.c
+++ /dev/null
@@ -1,201 +0,0 @@
-// generated from rosidl_typesupport_introspection_c/resource/idl__type_support.c.em
-// with input from unitree_go:msg/BmsState.idl
-// generated code does not contain a copyright notice
-
-#include <stddef.h>
-#include "unitree_go/msg/detail/bms_state__rosidl_typesupport_introspection_c.h"
-#include "unitree_go/msg/rosidl_typesupport_introspection_c__visibility_control.h"
-#include "rosidl_typesupport_introspection_c/field_types.h"
-#include "rosidl_typesupport_introspection_c/identifier.h"
-#include "rosidl_typesupport_introspection_c/message_introspection.h"
-#include "unitree_go/msg/detail/bms_state__functions.h"
-#include "unitree_go/msg/detail/bms_state__struct.h"
-
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-void BmsState__rosidl_typesupport_introspection_c__BmsState_init_function(
-  void * message_memory, enum rosidl_runtime_c__message_initialization _init)
-{
-  // TODO(karsten1987): initializers are not yet implemented for typesupport c
-  // see https://github.com/ros2/ros2/issues/397
-  (void) _init;
-  unitree_go__msg__BmsState__init(message_memory);
-}
-
-void BmsState__rosidl_typesupport_introspection_c__BmsState_fini_function(void * message_memory)
-{
-  unitree_go__msg__BmsState__fini(message_memory);
-}
-
-static rosidl_typesupport_introspection_c__MessageMember BmsState__rosidl_typesupport_introspection_c__BmsState_message_member_array[9] = {
-  {
-    "version_high",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_UINT8,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__BmsState, version_high),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "version_low",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_UINT8,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__BmsState, version_low),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "status",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_UINT8,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__BmsState, status),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "soc",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_UINT8,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__BmsState, soc),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "current",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_INT32,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__BmsState, current),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "cycle",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_UINT16,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__BmsState, cycle),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "bq_ntc",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_INT8,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    true,  // is array
-    2,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__BmsState, bq_ntc),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "mcu_ntc",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_INT8,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    true,  // is array
-    2,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__BmsState, mcu_ntc),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "cell_vol",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_UINT16,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    true,  // is array
-    15,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__BmsState, cell_vol),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  }
-};
-
-static const rosidl_typesupport_introspection_c__MessageMembers BmsState__rosidl_typesupport_introspection_c__BmsState_message_members = {
-  "unitree_go__msg",  // message namespace
-  "BmsState",  // message name
-  9,  // number of fields
-  sizeof(unitree_go__msg__BmsState),
-  BmsState__rosidl_typesupport_introspection_c__BmsState_message_member_array,  // message members
-  BmsState__rosidl_typesupport_introspection_c__BmsState_init_function,  // function to initialize message memory (memory has to be allocated)
-  BmsState__rosidl_typesupport_introspection_c__BmsState_fini_function  // function to terminate message instance (will not free memory)
-};
-
-// this is not const since it must be initialized on first access
-// since C does not allow non-integral compile-time constants
-static rosidl_message_type_support_t BmsState__rosidl_typesupport_introspection_c__BmsState_message_type_support_handle = {
-  0,
-  &BmsState__rosidl_typesupport_introspection_c__BmsState_message_members,
-  get_message_typesupport_handle_function,
-};
-
-ROSIDL_TYPESUPPORT_INTROSPECTION_C_EXPORT_unitree_go
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, unitree_go, msg, BmsState)() {
-  if (!BmsState__rosidl_typesupport_introspection_c__BmsState_message_type_support_handle.typesupport_identifier) {
-    BmsState__rosidl_typesupport_introspection_c__BmsState_message_type_support_handle.typesupport_identifier =
-      rosidl_typesupport_introspection_c__identifier;
-  }
-  return &BmsState__rosidl_typesupport_introspection_c__BmsState_message_type_support_handle;
-}
-#ifdef __cplusplus
-}
-#endif
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_state__type_support.cpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_state__type_support.cpp
deleted file mode 100644
index 36d016c..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_state__type_support.cpp
+++ /dev/null
@@ -1,287 +0,0 @@
-// generated from rosidl_typesupport_introspection_cpp/resource/idl__type_support.cpp.em
-// with input from unitree_go:msg/BmsState.idl
-// generated code does not contain a copyright notice
-
-#include "array"
-#include "cstddef"
-#include "string"
-#include "vector"
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_cpp/message_type_support.hpp"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_go/msg/detail/bms_state__struct.hpp"
-#include "rosidl_typesupport_introspection_cpp/field_types.hpp"
-#include "rosidl_typesupport_introspection_cpp/identifier.hpp"
-#include "rosidl_typesupport_introspection_cpp/message_introspection.hpp"
-#include "rosidl_typesupport_introspection_cpp/message_type_support_decl.hpp"
-#include "rosidl_typesupport_introspection_cpp/visibility_control.h"
-
-namespace unitree_go
-{
-
-namespace msg
-{
-
-namespace rosidl_typesupport_introspection_cpp
-{
-
-void BmsState_init_function(
-  void * message_memory, rosidl_runtime_cpp::MessageInitialization _init)
-{
-  new (message_memory) unitree_go::msg::BmsState(_init);
-}
-
-void BmsState_fini_function(void * message_memory)
-{
-  auto typed_message = static_cast<unitree_go::msg::BmsState *>(message_memory);
-  typed_message->~BmsState();
-}
-
-size_t size_function__BmsState__bq_ntc(const void * untyped_member)
-{
-  (void)untyped_member;
-  return 2;
-}
-
-const void * get_const_function__BmsState__bq_ntc(const void * untyped_member, size_t index)
-{
-  const auto & member =
-    *reinterpret_cast<const std::array<int8_t, 2> *>(untyped_member);
-  return &member[index];
-}
-
-void * get_function__BmsState__bq_ntc(void * untyped_member, size_t index)
-{
-  auto & member =
-    *reinterpret_cast<std::array<int8_t, 2> *>(untyped_member);
-  return &member[index];
-}
-
-size_t size_function__BmsState__mcu_ntc(const void * untyped_member)
-{
-  (void)untyped_member;
-  return 2;
-}
-
-const void * get_const_function__BmsState__mcu_ntc(const void * untyped_member, size_t index)
-{
-  const auto & member =
-    *reinterpret_cast<const std::array<int8_t, 2> *>(untyped_member);
-  return &member[index];
-}
-
-void * get_function__BmsState__mcu_ntc(void * untyped_member, size_t index)
-{
-  auto & member =
-    *reinterpret_cast<std::array<int8_t, 2> *>(untyped_member);
-  return &member[index];
-}
-
-size_t size_function__BmsState__cell_vol(const void * untyped_member)
-{
-  (void)untyped_member;
-  return 15;
-}
-
-const void * get_const_function__BmsState__cell_vol(const void * untyped_member, size_t index)
-{
-  const auto & member =
-    *reinterpret_cast<const std::array<uint16_t, 15> *>(untyped_member);
-  return &member[index];
-}
-
-void * get_function__BmsState__cell_vol(void * untyped_member, size_t index)
-{
-  auto & member =
-    *reinterpret_cast<std::array<uint16_t, 15> *>(untyped_member);
-  return &member[index];
-}
-
-static const ::rosidl_typesupport_introspection_cpp::MessageMember BmsState_message_member_array[9] = {
-  {
-    "version_high",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT8,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::BmsState, version_high),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "version_low",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT8,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::BmsState, version_low),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "status",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT8,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::BmsState, status),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "soc",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT8,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::BmsState, soc),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "current",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_INT32,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::BmsState, current),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "cycle",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT16,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::BmsState, cycle),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "bq_ntc",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_INT8,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    true,  // is array
-    2,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::BmsState, bq_ntc),  // bytes offset in struct
-    nullptr,  // default value
-    size_function__BmsState__bq_ntc,  // size() function pointer
-    get_const_function__BmsState__bq_ntc,  // get_const(index) function pointer
-    get_function__BmsState__bq_ntc,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "mcu_ntc",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_INT8,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    true,  // is array
-    2,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::BmsState, mcu_ntc),  // bytes offset in struct
-    nullptr,  // default value
-    size_function__BmsState__mcu_ntc,  // size() function pointer
-    get_const_function__BmsState__mcu_ntc,  // get_const(index) function pointer
-    get_function__BmsState__mcu_ntc,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "cell_vol",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT16,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    true,  // is array
-    15,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::BmsState, cell_vol),  // bytes offset in struct
-    nullptr,  // default value
-    size_function__BmsState__cell_vol,  // size() function pointer
-    get_const_function__BmsState__cell_vol,  // get_const(index) function pointer
-    get_function__BmsState__cell_vol,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  }
-};
-
-static const ::rosidl_typesupport_introspection_cpp::MessageMembers BmsState_message_members = {
-  "unitree_go::msg",  // message namespace
-  "BmsState",  // message name
-  9,  // number of fields
-  sizeof(unitree_go::msg::BmsState),
-  BmsState_message_member_array,  // message members
-  BmsState_init_function,  // function to initialize message memory (memory has to be allocated)
-  BmsState_fini_function  // function to terminate message instance (will not free memory)
-};
-
-static const rosidl_message_type_support_t BmsState_message_type_support_handle = {
-  ::rosidl_typesupport_introspection_cpp::typesupport_identifier,
-  &BmsState_message_members,
-  get_message_typesupport_handle_function,
-};
-
-}  // namespace rosidl_typesupport_introspection_cpp
-
-}  // namespace msg
-
-}  // namespace unitree_go
-
-
-namespace rosidl_typesupport_introspection_cpp
-{
-
-template<>
-ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
-const rosidl_message_type_support_t *
-get_message_type_support_handle<unitree_go::msg::BmsState>()
-{
-  return &::unitree_go::msg::rosidl_typesupport_introspection_cpp::BmsState_message_type_support_handle;
-}
-
-}  // namespace rosidl_typesupport_introspection_cpp
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_cpp, unitree_go, msg, BmsState)() {
-  return &::unitree_go::msg::rosidl_typesupport_introspection_cpp::BmsState_message_type_support_handle;
-}
-
-#ifdef __cplusplus
-}
-#endif
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_state__type_support.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_state__type_support.h
deleted file mode 100644
index 73d2256..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_state__type_support.h
+++ /dev/null
@@ -1,33 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__type_support.h.em
-// with input from unitree_go:msg/BmsState.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__BMS_STATE__TYPE_SUPPORT_H_
-#define UNITREE_GO__MSG__DETAIL__BMS_STATE__TYPE_SUPPORT_H_
-
-#include "rosidl_typesupport_interface/macros.h"
-
-#include "unitree_go/msg/rosidl_generator_c__visibility_control.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-
-// Forward declare the get type support functions for this type.
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
-  rosidl_typesupport_c,
-  unitree_go,
-  msg,
-  BmsState
-)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__BMS_STATE__TYPE_SUPPORT_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_state__type_support.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_state__type_support.hpp
deleted file mode 100644
index 6cc54fd..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_state__type_support.hpp
+++ /dev/null
@@ -1,31 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__type_support.hpp.em
-// with input from unitree_go:msg/BmsState.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__BMS_STATE__TYPE_SUPPORT_HPP_
-#define UNITREE_GO__MSG__DETAIL__BMS_STATE__TYPE_SUPPORT_HPP_
-
-#include "rosidl_typesupport_interface/macros.h"
-
-#include "unitree_go/msg/rosidl_generator_cpp__visibility_control.hpp"
-
-#include "rosidl_typesupport_cpp/message_type_support.hpp"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-// Forward declare the get type support functions for this type.
-ROSIDL_GENERATOR_CPP_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
-  rosidl_typesupport_cpp,
-  unitree_go,
-  msg,
-  BmsState
-)();
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__BMS_STATE__TYPE_SUPPORT_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/error__builder.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/error__builder.hpp
deleted file mode 100644
index e05b854..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/error__builder.hpp
+++ /dev/null
@@ -1,71 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__builder.hpp.em
-// with input from unitree_go:msg/Error.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__ERROR__BUILDER_HPP_
-#define UNITREE_GO__MSG__DETAIL__ERROR__BUILDER_HPP_
-
-#include "unitree_go/msg/detail/error__struct.hpp"
-#include <rosidl_runtime_cpp/message_initialization.hpp>
-#include <algorithm>
-#include <utility>
-
-
-namespace unitree_go
-{
-
-namespace msg
-{
-
-namespace builder
-{
-
-class Init_Error_state
-{
-public:
-  explicit Init_Error_state(::unitree_go::msg::Error & msg)
-  : msg_(msg)
-  {}
-  ::unitree_go::msg::Error state(::unitree_go::msg::Error::_state_type arg)
-  {
-    msg_.state = std::move(arg);
-    return std::move(msg_);
-  }
-
-private:
-  ::unitree_go::msg::Error msg_;
-};
-
-class Init_Error_source
-{
-public:
-  Init_Error_source()
-  : msg_(::rosidl_runtime_cpp::MessageInitialization::SKIP)
-  {}
-  Init_Error_state source(::unitree_go::msg::Error::_source_type arg)
-  {
-    msg_.source = std::move(arg);
-    return Init_Error_state(msg_);
-  }
-
-private:
-  ::unitree_go::msg::Error msg_;
-};
-
-}  // namespace builder
-
-}  // namespace msg
-
-template<typename MessageType>
-auto build();
-
-template<>
-inline
-auto build<::unitree_go::msg::Error>()
-{
-  return unitree_go::msg::builder::Init_Error_source();
-}
-
-}  // namespace unitree_go
-
-#endif  // UNITREE_GO__MSG__DETAIL__ERROR__BUILDER_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/error__functions.c b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/error__functions.c
deleted file mode 100644
index 3cc186a..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/error__functions.c
+++ /dev/null
@@ -1,239 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__functions.c.em
-// with input from unitree_go:msg/Error.idl
-// generated code does not contain a copyright notice
-#include "unitree_go/msg/detail/error__functions.h"
-
-#include <assert.h>
-#include <stdbool.h>
-#include <stdlib.h>
-#include <string.h>
-
-#include "rcutils/allocator.h"
-
-
-bool
-unitree_go__msg__Error__init(unitree_go__msg__Error * msg)
-{
-  if (!msg) {
-    return false;
-  }
-  // source
-  // state
-  return true;
-}
-
-void
-unitree_go__msg__Error__fini(unitree_go__msg__Error * msg)
-{
-  if (!msg) {
-    return;
-  }
-  // source
-  // state
-}
-
-bool
-unitree_go__msg__Error__are_equal(const unitree_go__msg__Error * lhs, const unitree_go__msg__Error * rhs)
-{
-  if (!lhs || !rhs) {
-    return false;
-  }
-  // source
-  if (lhs->source != rhs->source) {
-    return false;
-  }
-  // state
-  if (lhs->state != rhs->state) {
-    return false;
-  }
-  return true;
-}
-
-bool
-unitree_go__msg__Error__copy(
-  const unitree_go__msg__Error * input,
-  unitree_go__msg__Error * output)
-{
-  if (!input || !output) {
-    return false;
-  }
-  // source
-  output->source = input->source;
-  // state
-  output->state = input->state;
-  return true;
-}
-
-unitree_go__msg__Error *
-unitree_go__msg__Error__create()
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  unitree_go__msg__Error * msg = (unitree_go__msg__Error *)allocator.allocate(sizeof(unitree_go__msg__Error), allocator.state);
-  if (!msg) {
-    return NULL;
-  }
-  memset(msg, 0, sizeof(unitree_go__msg__Error));
-  bool success = unitree_go__msg__Error__init(msg);
-  if (!success) {
-    allocator.deallocate(msg, allocator.state);
-    return NULL;
-  }
-  return msg;
-}
-
-void
-unitree_go__msg__Error__destroy(unitree_go__msg__Error * msg)
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  if (msg) {
-    unitree_go__msg__Error__fini(msg);
-  }
-  allocator.deallocate(msg, allocator.state);
-}
-
-
-bool
-unitree_go__msg__Error__Sequence__init(unitree_go__msg__Error__Sequence * array, size_t size)
-{
-  if (!array) {
-    return false;
-  }
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  unitree_go__msg__Error * data = NULL;
-
-  if (size) {
-    data = (unitree_go__msg__Error *)allocator.zero_allocate(size, sizeof(unitree_go__msg__Error), allocator.state);
-    if (!data) {
-      return false;
-    }
-    // initialize all array elements
-    size_t i;
-    for (i = 0; i < size; ++i) {
-      bool success = unitree_go__msg__Error__init(&data[i]);
-      if (!success) {
-        break;
-      }
-    }
-    if (i < size) {
-      // if initialization failed finalize the already initialized array elements
-      for (; i > 0; --i) {
-        unitree_go__msg__Error__fini(&data[i - 1]);
-      }
-      allocator.deallocate(data, allocator.state);
-      return false;
-    }
-  }
-  array->data = data;
-  array->size = size;
-  array->capacity = size;
-  return true;
-}
-
-void
-unitree_go__msg__Error__Sequence__fini(unitree_go__msg__Error__Sequence * array)
-{
-  if (!array) {
-    return;
-  }
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-
-  if (array->data) {
-    // ensure that data and capacity values are consistent
-    assert(array->capacity > 0);
-    // finalize all array elements
-    for (size_t i = 0; i < array->capacity; ++i) {
-      unitree_go__msg__Error__fini(&array->data[i]);
-    }
-    allocator.deallocate(array->data, allocator.state);
-    array->data = NULL;
-    array->size = 0;
-    array->capacity = 0;
-  } else {
-    // ensure that data, size, and capacity values are consistent
-    assert(0 == array->size);
-    assert(0 == array->capacity);
-  }
-}
-
-unitree_go__msg__Error__Sequence *
-unitree_go__msg__Error__Sequence__create(size_t size)
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  unitree_go__msg__Error__Sequence * array = (unitree_go__msg__Error__Sequence *)allocator.allocate(sizeof(unitree_go__msg__Error__Sequence), allocator.state);
-  if (!array) {
-    return NULL;
-  }
-  bool success = unitree_go__msg__Error__Sequence__init(array, size);
-  if (!success) {
-    allocator.deallocate(array, allocator.state);
-    return NULL;
-  }
-  return array;
-}
-
-void
-unitree_go__msg__Error__Sequence__destroy(unitree_go__msg__Error__Sequence * array)
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  if (array) {
-    unitree_go__msg__Error__Sequence__fini(array);
-  }
-  allocator.deallocate(array, allocator.state);
-}
-
-bool
-unitree_go__msg__Error__Sequence__are_equal(const unitree_go__msg__Error__Sequence * lhs, const unitree_go__msg__Error__Sequence * rhs)
-{
-  if (!lhs || !rhs) {
-    return false;
-  }
-  if (lhs->size != rhs->size) {
-    return false;
-  }
-  for (size_t i = 0; i < lhs->size; ++i) {
-    if (!unitree_go__msg__Error__are_equal(&(lhs->data[i]), &(rhs->data[i]))) {
-      return false;
-    }
-  }
-  return true;
-}
-
-bool
-unitree_go__msg__Error__Sequence__copy(
-  const unitree_go__msg__Error__Sequence * input,
-  unitree_go__msg__Error__Sequence * output)
-{
-  if (!input || !output) {
-    return false;
-  }
-  if (output->capacity < input->size) {
-    const size_t allocation_size =
-      input->size * sizeof(unitree_go__msg__Error);
-    unitree_go__msg__Error * data =
-      (unitree_go__msg__Error *)realloc(output->data, allocation_size);
-    if (!data) {
-      return false;
-    }
-    for (size_t i = output->capacity; i < input->size; ++i) {
-      if (!unitree_go__msg__Error__init(&data[i])) {
-        /* free currently allocated and return false */
-        for (; i-- > output->capacity; ) {
-          unitree_go__msg__Error__fini(&data[i]);
-        }
-        free(data);
-        return false;
-      }
-    }
-    output->data = data;
-    output->capacity = input->size;
-  }
-  output->size = input->size;
-  for (size_t i = 0; i < input->size; ++i) {
-    if (!unitree_go__msg__Error__copy(
-        &(input->data[i]), &(output->data[i])))
-    {
-      return false;
-    }
-  }
-  return true;
-}
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/error__functions.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/error__functions.h
deleted file mode 100644
index 41ac606..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/error__functions.h
+++ /dev/null
@@ -1,177 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__functions.h.em
-// with input from unitree_go:msg/Error.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__ERROR__FUNCTIONS_H_
-#define UNITREE_GO__MSG__DETAIL__ERROR__FUNCTIONS_H_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include <stdbool.h>
-#include <stdlib.h>
-
-#include "rosidl_runtime_c/visibility_control.h"
-#include "unitree_go/msg/rosidl_generator_c__visibility_control.h"
-
-#include "unitree_go/msg/detail/error__struct.h"
-
-/// Initialize msg/Error message.
-/**
- * If the init function is called twice for the same message without
- * calling fini inbetween previously allocated memory will be leaked.
- * \param[in,out] msg The previously allocated message pointer.
- * Fields without a default value will not be initialized by this function.
- * You might want to call memset(msg, 0, sizeof(
- * unitree_go__msg__Error
- * )) before or use
- * unitree_go__msg__Error__create()
- * to allocate and initialize the message.
- * \return true if initialization was successful, otherwise false
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__Error__init(unitree_go__msg__Error * msg);
-
-/// Finalize msg/Error message.
-/**
- * \param[in,out] msg The allocated message pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-void
-unitree_go__msg__Error__fini(unitree_go__msg__Error * msg);
-
-/// Create msg/Error message.
-/**
- * It allocates the memory for the message, sets the memory to zero, and
- * calls
- * unitree_go__msg__Error__init().
- * \return The pointer to the initialized message if successful,
- * otherwise NULL
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-unitree_go__msg__Error *
-unitree_go__msg__Error__create();
-
-/// Destroy msg/Error message.
-/**
- * It calls
- * unitree_go__msg__Error__fini()
- * and frees the memory of the message.
- * \param[in,out] msg The allocated message pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-void
-unitree_go__msg__Error__destroy(unitree_go__msg__Error * msg);
-
-/// Check for msg/Error message equality.
-/**
- * \param[in] lhs The message on the left hand size of the equality operator.
- * \param[in] rhs The message on the right hand size of the equality operator.
- * \return true if messages are equal, otherwise false.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__Error__are_equal(const unitree_go__msg__Error * lhs, const unitree_go__msg__Error * rhs);
-
-/// Copy a msg/Error message.
-/**
- * This functions performs a deep copy, as opposed to the shallow copy that
- * plain assignment yields.
- *
- * \param[in] input The source message pointer.
- * \param[out] output The target message pointer, which must
- *   have been initialized before calling this function.
- * \return true if successful, or false if either pointer is null
- *   or memory allocation fails.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__Error__copy(
-  const unitree_go__msg__Error * input,
-  unitree_go__msg__Error * output);
-
-/// Initialize array of msg/Error messages.
-/**
- * It allocates the memory for the number of elements and calls
- * unitree_go__msg__Error__init()
- * for each element of the array.
- * \param[in,out] array The allocated array pointer.
- * \param[in] size The size / capacity of the array.
- * \return true if initialization was successful, otherwise false
- * If the array pointer is valid and the size is zero it is guaranteed
- # to return true.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__Error__Sequence__init(unitree_go__msg__Error__Sequence * array, size_t size);
-
-/// Finalize array of msg/Error messages.
-/**
- * It calls
- * unitree_go__msg__Error__fini()
- * for each element of the array and frees the memory for the number of
- * elements.
- * \param[in,out] array The initialized array pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-void
-unitree_go__msg__Error__Sequence__fini(unitree_go__msg__Error__Sequence * array);
-
-/// Create array of msg/Error messages.
-/**
- * It allocates the memory for the array and calls
- * unitree_go__msg__Error__Sequence__init().
- * \param[in] size The size / capacity of the array.
- * \return The pointer to the initialized array if successful, otherwise NULL
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-unitree_go__msg__Error__Sequence *
-unitree_go__msg__Error__Sequence__create(size_t size);
-
-/// Destroy array of msg/Error messages.
-/**
- * It calls
- * unitree_go__msg__Error__Sequence__fini()
- * on the array,
- * and frees the memory of the array.
- * \param[in,out] array The initialized array pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-void
-unitree_go__msg__Error__Sequence__destroy(unitree_go__msg__Error__Sequence * array);
-
-/// Check for msg/Error message array equality.
-/**
- * \param[in] lhs The message array on the left hand size of the equality operator.
- * \param[in] rhs The message array on the right hand size of the equality operator.
- * \return true if message arrays are equal in size and content, otherwise false.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__Error__Sequence__are_equal(const unitree_go__msg__Error__Sequence * lhs, const unitree_go__msg__Error__Sequence * rhs);
-
-/// Copy an array of msg/Error messages.
-/**
- * This functions performs a deep copy, as opposed to the shallow copy that
- * plain assignment yields.
- *
- * \param[in] input The source array pointer.
- * \param[out] output The target array pointer, which must
- *   have been initialized before calling this function.
- * \return true if successful, or false if either pointer
- *   is null or memory allocation fails.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__Error__Sequence__copy(
-  const unitree_go__msg__Error__Sequence * input,
-  unitree_go__msg__Error__Sequence * output);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__ERROR__FUNCTIONS_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/error__rosidl_typesupport_fastrtps_c.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/error__rosidl_typesupport_fastrtps_c.h
deleted file mode 100644
index 269b6b6..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/error__rosidl_typesupport_fastrtps_c.h
+++ /dev/null
@@ -1,36 +0,0 @@
-// generated from rosidl_typesupport_fastrtps_c/resource/idl__rosidl_typesupport_fastrtps_c.h.em
-// with input from unitree_go:msg/Error.idl
-// generated code does not contain a copyright notice
-#ifndef UNITREE_GO__MSG__DETAIL__ERROR__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_
-#define UNITREE_GO__MSG__DETAIL__ERROR__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_
-
-
-#include <stddef.h>
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_go/msg/rosidl_typesupport_fastrtps_c__visibility_control.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_go
-size_t get_serialized_size_unitree_go__msg__Error(
-  const void * untyped_ros_message,
-  size_t current_alignment);
-
-ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_go
-size_t max_serialized_size_unitree_go__msg__Error(
-  bool & full_bounded,
-  size_t current_alignment);
-
-ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_fastrtps_c, unitree_go, msg, Error)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__ERROR__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/error__rosidl_typesupport_fastrtps_cpp.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/error__rosidl_typesupport_fastrtps_cpp.hpp
deleted file mode 100644
index 7ec5407..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/error__rosidl_typesupport_fastrtps_cpp.hpp
+++ /dev/null
@@ -1,79 +0,0 @@
-// generated from rosidl_typesupport_fastrtps_cpp/resource/idl__rosidl_typesupport_fastrtps_cpp.hpp.em
-// with input from unitree_go:msg/Error.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__ERROR__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_
-#define UNITREE_GO__MSG__DETAIL__ERROR__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_go/msg/rosidl_typesupport_fastrtps_cpp__visibility_control.h"
-#include "unitree_go/msg/detail/error__struct.hpp"
-
-#ifndef _WIN32
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wunused-parameter"
-# ifdef __clang__
-#  pragma clang diagnostic ignored "-Wdeprecated-register"
-#  pragma clang diagnostic ignored "-Wreturn-type-c-linkage"
-# endif
-#endif
-#ifndef _WIN32
-# pragma GCC diagnostic pop
-#endif
-
-#include "fastcdr/Cdr.h"
-
-namespace unitree_go
-{
-
-namespace msg
-{
-
-namespace typesupport_fastrtps_cpp
-{
-
-bool
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-cdr_serialize(
-  const unitree_go::msg::Error & ros_message,
-  eprosima::fastcdr::Cdr & cdr);
-
-bool
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-cdr_deserialize(
-  eprosima::fastcdr::Cdr & cdr,
-  unitree_go::msg::Error & ros_message);
-
-size_t
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-get_serialized_size(
-  const unitree_go::msg::Error & ros_message,
-  size_t current_alignment);
-
-size_t
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-max_serialized_size_Error(
-  bool & full_bounded,
-  size_t current_alignment);
-
-}  // namespace typesupport_fastrtps_cpp
-
-}  // namespace msg
-
-}  // namespace unitree_go
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_fastrtps_cpp, unitree_go, msg, Error)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__ERROR__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/error__rosidl_typesupport_introspection_c.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/error__rosidl_typesupport_introspection_c.h
deleted file mode 100644
index 007d6ab..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/error__rosidl_typesupport_introspection_c.h
+++ /dev/null
@@ -1,26 +0,0 @@
-// generated from rosidl_typesupport_introspection_c/resource/idl__rosidl_typesupport_introspection_c.h.em
-// with input from unitree_go:msg/Error.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__ERROR__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
-#define UNITREE_GO__MSG__DETAIL__ERROR__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_go/msg/rosidl_typesupport_introspection_c__visibility_control.h"
-
-ROSIDL_TYPESUPPORT_INTROSPECTION_C_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, unitree_go, msg, Error)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__ERROR__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/error__rosidl_typesupport_introspection_cpp.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/error__rosidl_typesupport_introspection_cpp.hpp
deleted file mode 100644
index fe36165..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/error__rosidl_typesupport_introspection_cpp.hpp
+++ /dev/null
@@ -1,27 +0,0 @@
-// generated from rosidl_typesupport_introspection_cpp/resource/idl__rosidl_typesupport_introspection_cpp.h.em
-// with input from unitree_go:msg/Error.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__ERROR__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_
-#define UNITREE_GO__MSG__DETAIL__ERROR__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_
-
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "rosidl_typesupport_introspection_cpp/visibility_control.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-// TODO(dirk-thomas) these visibility macros should be message package specific
-ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
-const rosidl_message_type_support_t *
-  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_cpp, unitree_go, msg, Error)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__ERROR__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/error__struct.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/error__struct.h
deleted file mode 100644
index 868464f..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/error__struct.h
+++ /dev/null
@@ -1,41 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__struct.h.em
-// with input from unitree_go:msg/Error.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__ERROR__STRUCT_H_
-#define UNITREE_GO__MSG__DETAIL__ERROR__STRUCT_H_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include <stdbool.h>
-#include <stddef.h>
-#include <stdint.h>
-
-
-// Constants defined in the message
-
-// Struct defined in msg/Error in the package unitree_go.
-typedef struct unitree_go__msg__Error
-{
-  uint32_t source;
-  uint32_t state;
-} unitree_go__msg__Error;
-
-// Struct for a sequence of unitree_go__msg__Error.
-typedef struct unitree_go__msg__Error__Sequence
-{
-  unitree_go__msg__Error * data;
-  /// The number of valid items in data
-  size_t size;
-  /// The number of allocated items in data
-  size_t capacity;
-} unitree_go__msg__Error__Sequence;
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__ERROR__STRUCT_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/error__struct.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/error__struct.hpp
deleted file mode 100644
index 31658a8..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/error__struct.hpp
+++ /dev/null
@@ -1,144 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__struct.hpp.em
-// with input from unitree_go:msg/Error.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__ERROR__STRUCT_HPP_
-#define UNITREE_GO__MSG__DETAIL__ERROR__STRUCT_HPP_
-
-#include <rosidl_runtime_cpp/bounded_vector.hpp>
-#include <rosidl_runtime_cpp/message_initialization.hpp>
-#include <algorithm>
-#include <array>
-#include <memory>
-#include <string>
-#include <vector>
-
-
-#ifndef _WIN32
-# define DEPRECATED__unitree_go__msg__Error __attribute__((deprecated))
-#else
-# define DEPRECATED__unitree_go__msg__Error __declspec(deprecated)
-#endif
-
-namespace unitree_go
-{
-
-namespace msg
-{
-
-// message struct
-template<class ContainerAllocator>
-struct Error_
-{
-  using Type = Error_<ContainerAllocator>;
-
-  explicit Error_(rosidl_runtime_cpp::MessageInitialization _init = rosidl_runtime_cpp::MessageInitialization::ALL)
-  {
-    if (rosidl_runtime_cpp::MessageInitialization::ALL == _init ||
-      rosidl_runtime_cpp::MessageInitialization::ZERO == _init)
-    {
-      this->source = 0ul;
-      this->state = 0ul;
-    }
-  }
-
-  explicit Error_(const ContainerAllocator & _alloc, rosidl_runtime_cpp::MessageInitialization _init = rosidl_runtime_cpp::MessageInitialization::ALL)
-  {
-    (void)_alloc;
-    if (rosidl_runtime_cpp::MessageInitialization::ALL == _init ||
-      rosidl_runtime_cpp::MessageInitialization::ZERO == _init)
-    {
-      this->source = 0ul;
-      this->state = 0ul;
-    }
-  }
-
-  // field types and members
-  using _source_type =
-    uint32_t;
-  _source_type source;
-  using _state_type =
-    uint32_t;
-  _state_type state;
-
-  // setters for named parameter idiom
-  Type & set__source(
-    const uint32_t & _arg)
-  {
-    this->source = _arg;
-    return *this;
-  }
-  Type & set__state(
-    const uint32_t & _arg)
-  {
-    this->state = _arg;
-    return *this;
-  }
-
-  // constant declarations
-
-  // pointer types
-  using RawPtr =
-    unitree_go::msg::Error_<ContainerAllocator> *;
-  using ConstRawPtr =
-    const unitree_go::msg::Error_<ContainerAllocator> *;
-  using SharedPtr =
-    std::shared_ptr<unitree_go::msg::Error_<ContainerAllocator>>;
-  using ConstSharedPtr =
-    std::shared_ptr<unitree_go::msg::Error_<ContainerAllocator> const>;
-
-  template<typename Deleter = std::default_delete<
-      unitree_go::msg::Error_<ContainerAllocator>>>
-  using UniquePtrWithDeleter =
-    std::unique_ptr<unitree_go::msg::Error_<ContainerAllocator>, Deleter>;
-
-  using UniquePtr = UniquePtrWithDeleter<>;
-
-  template<typename Deleter = std::default_delete<
-      unitree_go::msg::Error_<ContainerAllocator>>>
-  using ConstUniquePtrWithDeleter =
-    std::unique_ptr<unitree_go::msg::Error_<ContainerAllocator> const, Deleter>;
-  using ConstUniquePtr = ConstUniquePtrWithDeleter<>;
-
-  using WeakPtr =
-    std::weak_ptr<unitree_go::msg::Error_<ContainerAllocator>>;
-  using ConstWeakPtr =
-    std::weak_ptr<unitree_go::msg::Error_<ContainerAllocator> const>;
-
-  // pointer types similar to ROS 1, use SharedPtr / ConstSharedPtr instead
-  // NOTE: Can't use 'using' here because GNU C++ can't parse attributes properly
-  typedef DEPRECATED__unitree_go__msg__Error
-    std::shared_ptr<unitree_go::msg::Error_<ContainerAllocator>>
-    Ptr;
-  typedef DEPRECATED__unitree_go__msg__Error
-    std::shared_ptr<unitree_go::msg::Error_<ContainerAllocator> const>
-    ConstPtr;
-
-  // comparison operators
-  bool operator==(const Error_ & other) const
-  {
-    if (this->source != other.source) {
-      return false;
-    }
-    if (this->state != other.state) {
-      return false;
-    }
-    return true;
-  }
-  bool operator!=(const Error_ & other) const
-  {
-    return !this->operator==(other);
-  }
-};  // struct Error_
-
-// alias to use template instance with default allocator
-using Error =
-  unitree_go::msg::Error_<std::allocator<void>>;
-
-// constant definitions
-
-}  // namespace msg
-
-}  // namespace unitree_go
-
-#endif  // UNITREE_GO__MSG__DETAIL__ERROR__STRUCT_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/error__traits.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/error__traits.hpp
deleted file mode 100644
index e867f5e..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/error__traits.hpp
+++ /dev/null
@@ -1,42 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__traits.hpp.em
-// with input from unitree_go:msg/Error.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__ERROR__TRAITS_HPP_
-#define UNITREE_GO__MSG__DETAIL__ERROR__TRAITS_HPP_
-
-#include "unitree_go/msg/detail/error__struct.hpp"
-#include <rosidl_runtime_cpp/traits.hpp>
-#include <stdint.h>
-#include <type_traits>
-
-namespace rosidl_generator_traits
-{
-
-template<>
-inline const char * data_type<unitree_go::msg::Error>()
-{
-  return "unitree_go::msg::Error";
-}
-
-template<>
-inline const char * name<unitree_go::msg::Error>()
-{
-  return "unitree_go/msg/Error";
-}
-
-template<>
-struct has_fixed_size<unitree_go::msg::Error>
-  : std::integral_constant<bool, true> {};
-
-template<>
-struct has_bounded_size<unitree_go::msg::Error>
-  : std::integral_constant<bool, true> {};
-
-template<>
-struct is_message<unitree_go::msg::Error>
-  : std::true_type {};
-
-}  // namespace rosidl_generator_traits
-
-#endif  // UNITREE_GO__MSG__DETAIL__ERROR__TRAITS_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/error__type_support.c b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/error__type_support.c
deleted file mode 100644
index f6e5856..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/error__type_support.c
+++ /dev/null
@@ -1,96 +0,0 @@
-// generated from rosidl_typesupport_introspection_c/resource/idl__type_support.c.em
-// with input from unitree_go:msg/Error.idl
-// generated code does not contain a copyright notice
-
-#include <stddef.h>
-#include "unitree_go/msg/detail/error__rosidl_typesupport_introspection_c.h"
-#include "unitree_go/msg/rosidl_typesupport_introspection_c__visibility_control.h"
-#include "rosidl_typesupport_introspection_c/field_types.h"
-#include "rosidl_typesupport_introspection_c/identifier.h"
-#include "rosidl_typesupport_introspection_c/message_introspection.h"
-#include "unitree_go/msg/detail/error__functions.h"
-#include "unitree_go/msg/detail/error__struct.h"
-
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-void Error__rosidl_typesupport_introspection_c__Error_init_function(
-  void * message_memory, enum rosidl_runtime_c__message_initialization _init)
-{
-  // TODO(karsten1987): initializers are not yet implemented for typesupport c
-  // see https://github.com/ros2/ros2/issues/397
-  (void) _init;
-  unitree_go__msg__Error__init(message_memory);
-}
-
-void Error__rosidl_typesupport_introspection_c__Error_fini_function(void * message_memory)
-{
-  unitree_go__msg__Error__fini(message_memory);
-}
-
-static rosidl_typesupport_introspection_c__MessageMember Error__rosidl_typesupport_introspection_c__Error_message_member_array[2] = {
-  {
-    "source",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_UINT32,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__Error, source),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "state",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_UINT32,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__Error, state),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  }
-};
-
-static const rosidl_typesupport_introspection_c__MessageMembers Error__rosidl_typesupport_introspection_c__Error_message_members = {
-  "unitree_go__msg",  // message namespace
-  "Error",  // message name
-  2,  // number of fields
-  sizeof(unitree_go__msg__Error),
-  Error__rosidl_typesupport_introspection_c__Error_message_member_array,  // message members
-  Error__rosidl_typesupport_introspection_c__Error_init_function,  // function to initialize message memory (memory has to be allocated)
-  Error__rosidl_typesupport_introspection_c__Error_fini_function  // function to terminate message instance (will not free memory)
-};
-
-// this is not const since it must be initialized on first access
-// since C does not allow non-integral compile-time constants
-static rosidl_message_type_support_t Error__rosidl_typesupport_introspection_c__Error_message_type_support_handle = {
-  0,
-  &Error__rosidl_typesupport_introspection_c__Error_message_members,
-  get_message_typesupport_handle_function,
-};
-
-ROSIDL_TYPESUPPORT_INTROSPECTION_C_EXPORT_unitree_go
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, unitree_go, msg, Error)() {
-  if (!Error__rosidl_typesupport_introspection_c__Error_message_type_support_handle.typesupport_identifier) {
-    Error__rosidl_typesupport_introspection_c__Error_message_type_support_handle.typesupport_identifier =
-      rosidl_typesupport_introspection_c__identifier;
-  }
-  return &Error__rosidl_typesupport_introspection_c__Error_message_type_support_handle;
-}
-#ifdef __cplusplus
-}
-#endif
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/error__type_support.cpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/error__type_support.cpp
deleted file mode 100644
index 018929d..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/error__type_support.cpp
+++ /dev/null
@@ -1,122 +0,0 @@
-// generated from rosidl_typesupport_introspection_cpp/resource/idl__type_support.cpp.em
-// with input from unitree_go:msg/Error.idl
-// generated code does not contain a copyright notice
-
-#include "array"
-#include "cstddef"
-#include "string"
-#include "vector"
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_cpp/message_type_support.hpp"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_go/msg/detail/error__struct.hpp"
-#include "rosidl_typesupport_introspection_cpp/field_types.hpp"
-#include "rosidl_typesupport_introspection_cpp/identifier.hpp"
-#include "rosidl_typesupport_introspection_cpp/message_introspection.hpp"
-#include "rosidl_typesupport_introspection_cpp/message_type_support_decl.hpp"
-#include "rosidl_typesupport_introspection_cpp/visibility_control.h"
-
-namespace unitree_go
-{
-
-namespace msg
-{
-
-namespace rosidl_typesupport_introspection_cpp
-{
-
-void Error_init_function(
-  void * message_memory, rosidl_runtime_cpp::MessageInitialization _init)
-{
-  new (message_memory) unitree_go::msg::Error(_init);
-}
-
-void Error_fini_function(void * message_memory)
-{
-  auto typed_message = static_cast<unitree_go::msg::Error *>(message_memory);
-  typed_message->~Error();
-}
-
-static const ::rosidl_typesupport_introspection_cpp::MessageMember Error_message_member_array[2] = {
-  {
-    "source",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT32,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::Error, source),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "state",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT32,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::Error, state),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  }
-};
-
-static const ::rosidl_typesupport_introspection_cpp::MessageMembers Error_message_members = {
-  "unitree_go::msg",  // message namespace
-  "Error",  // message name
-  2,  // number of fields
-  sizeof(unitree_go::msg::Error),
-  Error_message_member_array,  // message members
-  Error_init_function,  // function to initialize message memory (memory has to be allocated)
-  Error_fini_function  // function to terminate message instance (will not free memory)
-};
-
-static const rosidl_message_type_support_t Error_message_type_support_handle = {
-  ::rosidl_typesupport_introspection_cpp::typesupport_identifier,
-  &Error_message_members,
-  get_message_typesupport_handle_function,
-};
-
-}  // namespace rosidl_typesupport_introspection_cpp
-
-}  // namespace msg
-
-}  // namespace unitree_go
-
-
-namespace rosidl_typesupport_introspection_cpp
-{
-
-template<>
-ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
-const rosidl_message_type_support_t *
-get_message_type_support_handle<unitree_go::msg::Error>()
-{
-  return &::unitree_go::msg::rosidl_typesupport_introspection_cpp::Error_message_type_support_handle;
-}
-
-}  // namespace rosidl_typesupport_introspection_cpp
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_cpp, unitree_go, msg, Error)() {
-  return &::unitree_go::msg::rosidl_typesupport_introspection_cpp::Error_message_type_support_handle;
-}
-
-#ifdef __cplusplus
-}
-#endif
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/error__type_support.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/error__type_support.h
deleted file mode 100644
index 3257200..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/error__type_support.h
+++ /dev/null
@@ -1,33 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__type_support.h.em
-// with input from unitree_go:msg/Error.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__ERROR__TYPE_SUPPORT_H_
-#define UNITREE_GO__MSG__DETAIL__ERROR__TYPE_SUPPORT_H_
-
-#include "rosidl_typesupport_interface/macros.h"
-
-#include "unitree_go/msg/rosidl_generator_c__visibility_control.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-
-// Forward declare the get type support functions for this type.
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
-  rosidl_typesupport_c,
-  unitree_go,
-  msg,
-  Error
-)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__ERROR__TYPE_SUPPORT_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/error__type_support.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/error__type_support.hpp
deleted file mode 100644
index 2080995..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/error__type_support.hpp
+++ /dev/null
@@ -1,31 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__type_support.hpp.em
-// with input from unitree_go:msg/Error.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__ERROR__TYPE_SUPPORT_HPP_
-#define UNITREE_GO__MSG__DETAIL__ERROR__TYPE_SUPPORT_HPP_
-
-#include "rosidl_typesupport_interface/macros.h"
-
-#include "unitree_go/msg/rosidl_generator_cpp__visibility_control.hpp"
-
-#include "rosidl_typesupport_cpp/message_type_support.hpp"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-// Forward declare the get type support functions for this type.
-ROSIDL_GENERATOR_CPP_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
-  rosidl_typesupport_cpp,
-  unitree_go,
-  msg,
-  Error
-)();
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__ERROR__TYPE_SUPPORT_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/go2_front_video_data__builder.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/go2_front_video_data__builder.hpp
deleted file mode 100644
index c11f19d..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/go2_front_video_data__builder.hpp
+++ /dev/null
@@ -1,103 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__builder.hpp.em
-// with input from unitree_go:msg/Go2FrontVideoData.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__GO2_FRONT_VIDEO_DATA__BUILDER_HPP_
-#define UNITREE_GO__MSG__DETAIL__GO2_FRONT_VIDEO_DATA__BUILDER_HPP_
-
-#include "unitree_go/msg/detail/go2_front_video_data__struct.hpp"
-#include <rosidl_runtime_cpp/message_initialization.hpp>
-#include <algorithm>
-#include <utility>
-
-
-namespace unitree_go
-{
-
-namespace msg
-{
-
-namespace builder
-{
-
-class Init_Go2FrontVideoData_video180p
-{
-public:
-  explicit Init_Go2FrontVideoData_video180p(::unitree_go::msg::Go2FrontVideoData & msg)
-  : msg_(msg)
-  {}
-  ::unitree_go::msg::Go2FrontVideoData video180p(::unitree_go::msg::Go2FrontVideoData::_video180p_type arg)
-  {
-    msg_.video180p = std::move(arg);
-    return std::move(msg_);
-  }
-
-private:
-  ::unitree_go::msg::Go2FrontVideoData msg_;
-};
-
-class Init_Go2FrontVideoData_video360p
-{
-public:
-  explicit Init_Go2FrontVideoData_video360p(::unitree_go::msg::Go2FrontVideoData & msg)
-  : msg_(msg)
-  {}
-  Init_Go2FrontVideoData_video180p video360p(::unitree_go::msg::Go2FrontVideoData::_video360p_type arg)
-  {
-    msg_.video360p = std::move(arg);
-    return Init_Go2FrontVideoData_video180p(msg_);
-  }
-
-private:
-  ::unitree_go::msg::Go2FrontVideoData msg_;
-};
-
-class Init_Go2FrontVideoData_video720p
-{
-public:
-  explicit Init_Go2FrontVideoData_video720p(::unitree_go::msg::Go2FrontVideoData & msg)
-  : msg_(msg)
-  {}
-  Init_Go2FrontVideoData_video360p video720p(::unitree_go::msg::Go2FrontVideoData::_video720p_type arg)
-  {
-    msg_.video720p = std::move(arg);
-    return Init_Go2FrontVideoData_video360p(msg_);
-  }
-
-private:
-  ::unitree_go::msg::Go2FrontVideoData msg_;
-};
-
-class Init_Go2FrontVideoData_time_frame
-{
-public:
-  Init_Go2FrontVideoData_time_frame()
-  : msg_(::rosidl_runtime_cpp::MessageInitialization::SKIP)
-  {}
-  Init_Go2FrontVideoData_video720p time_frame(::unitree_go::msg::Go2FrontVideoData::_time_frame_type arg)
-  {
-    msg_.time_frame = std::move(arg);
-    return Init_Go2FrontVideoData_video720p(msg_);
-  }
-
-private:
-  ::unitree_go::msg::Go2FrontVideoData msg_;
-};
-
-}  // namespace builder
-
-}  // namespace msg
-
-template<typename MessageType>
-auto build();
-
-template<>
-inline
-auto build<::unitree_go::msg::Go2FrontVideoData>()
-{
-  return unitree_go::msg::builder::Init_Go2FrontVideoData_time_frame();
-}
-
-}  // namespace unitree_go
-
-#endif  // UNITREE_GO__MSG__DETAIL__GO2_FRONT_VIDEO_DATA__BUILDER_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/go2_front_video_data__functions.c b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/go2_front_video_data__functions.c
deleted file mode 100644
index af91c99..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/go2_front_video_data__functions.c
+++ /dev/null
@@ -1,294 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__functions.c.em
-// with input from unitree_go:msg/Go2FrontVideoData.idl
-// generated code does not contain a copyright notice
-#include "unitree_go/msg/detail/go2_front_video_data__functions.h"
-
-#include <assert.h>
-#include <stdbool.h>
-#include <stdlib.h>
-#include <string.h>
-
-#include "rcutils/allocator.h"
-
-
-// Include directives for member types
-// Member `video720p`
-// Member `video360p`
-// Member `video180p`
-#include "rosidl_runtime_c/primitives_sequence_functions.h"
-
-bool
-unitree_go__msg__Go2FrontVideoData__init(unitree_go__msg__Go2FrontVideoData * msg)
-{
-  if (!msg) {
-    return false;
-  }
-  // time_frame
-  // video720p
-  if (!rosidl_runtime_c__uint8__Sequence__init(&msg->video720p, 0)) {
-    unitree_go__msg__Go2FrontVideoData__fini(msg);
-    return false;
-  }
-  // video360p
-  if (!rosidl_runtime_c__uint8__Sequence__init(&msg->video360p, 0)) {
-    unitree_go__msg__Go2FrontVideoData__fini(msg);
-    return false;
-  }
-  // video180p
-  if (!rosidl_runtime_c__uint8__Sequence__init(&msg->video180p, 0)) {
-    unitree_go__msg__Go2FrontVideoData__fini(msg);
-    return false;
-  }
-  return true;
-}
-
-void
-unitree_go__msg__Go2FrontVideoData__fini(unitree_go__msg__Go2FrontVideoData * msg)
-{
-  if (!msg) {
-    return;
-  }
-  // time_frame
-  // video720p
-  rosidl_runtime_c__uint8__Sequence__fini(&msg->video720p);
-  // video360p
-  rosidl_runtime_c__uint8__Sequence__fini(&msg->video360p);
-  // video180p
-  rosidl_runtime_c__uint8__Sequence__fini(&msg->video180p);
-}
-
-bool
-unitree_go__msg__Go2FrontVideoData__are_equal(const unitree_go__msg__Go2FrontVideoData * lhs, const unitree_go__msg__Go2FrontVideoData * rhs)
-{
-  if (!lhs || !rhs) {
-    return false;
-  }
-  // time_frame
-  if (lhs->time_frame != rhs->time_frame) {
-    return false;
-  }
-  // video720p
-  if (!rosidl_runtime_c__uint8__Sequence__are_equal(
-      &(lhs->video720p), &(rhs->video720p)))
-  {
-    return false;
-  }
-  // video360p
-  if (!rosidl_runtime_c__uint8__Sequence__are_equal(
-      &(lhs->video360p), &(rhs->video360p)))
-  {
-    return false;
-  }
-  // video180p
-  if (!rosidl_runtime_c__uint8__Sequence__are_equal(
-      &(lhs->video180p), &(rhs->video180p)))
-  {
-    return false;
-  }
-  return true;
-}
-
-bool
-unitree_go__msg__Go2FrontVideoData__copy(
-  const unitree_go__msg__Go2FrontVideoData * input,
-  unitree_go__msg__Go2FrontVideoData * output)
-{
-  if (!input || !output) {
-    return false;
-  }
-  // time_frame
-  output->time_frame = input->time_frame;
-  // video720p
-  if (!rosidl_runtime_c__uint8__Sequence__copy(
-      &(input->video720p), &(output->video720p)))
-  {
-    return false;
-  }
-  // video360p
-  if (!rosidl_runtime_c__uint8__Sequence__copy(
-      &(input->video360p), &(output->video360p)))
-  {
-    return false;
-  }
-  // video180p
-  if (!rosidl_runtime_c__uint8__Sequence__copy(
-      &(input->video180p), &(output->video180p)))
-  {
-    return false;
-  }
-  return true;
-}
-
-unitree_go__msg__Go2FrontVideoData *
-unitree_go__msg__Go2FrontVideoData__create()
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  unitree_go__msg__Go2FrontVideoData * msg = (unitree_go__msg__Go2FrontVideoData *)allocator.allocate(sizeof(unitree_go__msg__Go2FrontVideoData), allocator.state);
-  if (!msg) {
-    return NULL;
-  }
-  memset(msg, 0, sizeof(unitree_go__msg__Go2FrontVideoData));
-  bool success = unitree_go__msg__Go2FrontVideoData__init(msg);
-  if (!success) {
-    allocator.deallocate(msg, allocator.state);
-    return NULL;
-  }
-  return msg;
-}
-
-void
-unitree_go__msg__Go2FrontVideoData__destroy(unitree_go__msg__Go2FrontVideoData * msg)
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  if (msg) {
-    unitree_go__msg__Go2FrontVideoData__fini(msg);
-  }
-  allocator.deallocate(msg, allocator.state);
-}
-
-
-bool
-unitree_go__msg__Go2FrontVideoData__Sequence__init(unitree_go__msg__Go2FrontVideoData__Sequence * array, size_t size)
-{
-  if (!array) {
-    return false;
-  }
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  unitree_go__msg__Go2FrontVideoData * data = NULL;
-
-  if (size) {
-    data = (unitree_go__msg__Go2FrontVideoData *)allocator.zero_allocate(size, sizeof(unitree_go__msg__Go2FrontVideoData), allocator.state);
-    if (!data) {
-      return false;
-    }
-    // initialize all array elements
-    size_t i;
-    for (i = 0; i < size; ++i) {
-      bool success = unitree_go__msg__Go2FrontVideoData__init(&data[i]);
-      if (!success) {
-        break;
-      }
-    }
-    if (i < size) {
-      // if initialization failed finalize the already initialized array elements
-      for (; i > 0; --i) {
-        unitree_go__msg__Go2FrontVideoData__fini(&data[i - 1]);
-      }
-      allocator.deallocate(data, allocator.state);
-      return false;
-    }
-  }
-  array->data = data;
-  array->size = size;
-  array->capacity = size;
-  return true;
-}
-
-void
-unitree_go__msg__Go2FrontVideoData__Sequence__fini(unitree_go__msg__Go2FrontVideoData__Sequence * array)
-{
-  if (!array) {
-    return;
-  }
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-
-  if (array->data) {
-    // ensure that data and capacity values are consistent
-    assert(array->capacity > 0);
-    // finalize all array elements
-    for (size_t i = 0; i < array->capacity; ++i) {
-      unitree_go__msg__Go2FrontVideoData__fini(&array->data[i]);
-    }
-    allocator.deallocate(array->data, allocator.state);
-    array->data = NULL;
-    array->size = 0;
-    array->capacity = 0;
-  } else {
-    // ensure that data, size, and capacity values are consistent
-    assert(0 == array->size);
-    assert(0 == array->capacity);
-  }
-}
-
-unitree_go__msg__Go2FrontVideoData__Sequence *
-unitree_go__msg__Go2FrontVideoData__Sequence__create(size_t size)
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  unitree_go__msg__Go2FrontVideoData__Sequence * array = (unitree_go__msg__Go2FrontVideoData__Sequence *)allocator.allocate(sizeof(unitree_go__msg__Go2FrontVideoData__Sequence), allocator.state);
-  if (!array) {
-    return NULL;
-  }
-  bool success = unitree_go__msg__Go2FrontVideoData__Sequence__init(array, size);
-  if (!success) {
-    allocator.deallocate(array, allocator.state);
-    return NULL;
-  }
-  return array;
-}
-
-void
-unitree_go__msg__Go2FrontVideoData__Sequence__destroy(unitree_go__msg__Go2FrontVideoData__Sequence * array)
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  if (array) {
-    unitree_go__msg__Go2FrontVideoData__Sequence__fini(array);
-  }
-  allocator.deallocate(array, allocator.state);
-}
-
-bool
-unitree_go__msg__Go2FrontVideoData__Sequence__are_equal(const unitree_go__msg__Go2FrontVideoData__Sequence * lhs, const unitree_go__msg__Go2FrontVideoData__Sequence * rhs)
-{
-  if (!lhs || !rhs) {
-    return false;
-  }
-  if (lhs->size != rhs->size) {
-    return false;
-  }
-  for (size_t i = 0; i < lhs->size; ++i) {
-    if (!unitree_go__msg__Go2FrontVideoData__are_equal(&(lhs->data[i]), &(rhs->data[i]))) {
-      return false;
-    }
-  }
-  return true;
-}
-
-bool
-unitree_go__msg__Go2FrontVideoData__Sequence__copy(
-  const unitree_go__msg__Go2FrontVideoData__Sequence * input,
-  unitree_go__msg__Go2FrontVideoData__Sequence * output)
-{
-  if (!input || !output) {
-    return false;
-  }
-  if (output->capacity < input->size) {
-    const size_t allocation_size =
-      input->size * sizeof(unitree_go__msg__Go2FrontVideoData);
-    unitree_go__msg__Go2FrontVideoData * data =
-      (unitree_go__msg__Go2FrontVideoData *)realloc(output->data, allocation_size);
-    if (!data) {
-      return false;
-    }
-    for (size_t i = output->capacity; i < input->size; ++i) {
-      if (!unitree_go__msg__Go2FrontVideoData__init(&data[i])) {
-        /* free currently allocated and return false */
-        for (; i-- > output->capacity; ) {
-          unitree_go__msg__Go2FrontVideoData__fini(&data[i]);
-        }
-        free(data);
-        return false;
-      }
-    }
-    output->data = data;
-    output->capacity = input->size;
-  }
-  output->size = input->size;
-  for (size_t i = 0; i < input->size; ++i) {
-    if (!unitree_go__msg__Go2FrontVideoData__copy(
-        &(input->data[i]), &(output->data[i])))
-    {
-      return false;
-    }
-  }
-  return true;
-}
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/go2_front_video_data__functions.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/go2_front_video_data__functions.h
deleted file mode 100644
index e294419..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/go2_front_video_data__functions.h
+++ /dev/null
@@ -1,177 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__functions.h.em
-// with input from unitree_go:msg/Go2FrontVideoData.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__GO2_FRONT_VIDEO_DATA__FUNCTIONS_H_
-#define UNITREE_GO__MSG__DETAIL__GO2_FRONT_VIDEO_DATA__FUNCTIONS_H_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include <stdbool.h>
-#include <stdlib.h>
-
-#include "rosidl_runtime_c/visibility_control.h"
-#include "unitree_go/msg/rosidl_generator_c__visibility_control.h"
-
-#include "unitree_go/msg/detail/go2_front_video_data__struct.h"
-
-/// Initialize msg/Go2FrontVideoData message.
-/**
- * If the init function is called twice for the same message without
- * calling fini inbetween previously allocated memory will be leaked.
- * \param[in,out] msg The previously allocated message pointer.
- * Fields without a default value will not be initialized by this function.
- * You might want to call memset(msg, 0, sizeof(
- * unitree_go__msg__Go2FrontVideoData
- * )) before or use
- * unitree_go__msg__Go2FrontVideoData__create()
- * to allocate and initialize the message.
- * \return true if initialization was successful, otherwise false
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__Go2FrontVideoData__init(unitree_go__msg__Go2FrontVideoData * msg);
-
-/// Finalize msg/Go2FrontVideoData message.
-/**
- * \param[in,out] msg The allocated message pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-void
-unitree_go__msg__Go2FrontVideoData__fini(unitree_go__msg__Go2FrontVideoData * msg);
-
-/// Create msg/Go2FrontVideoData message.
-/**
- * It allocates the memory for the message, sets the memory to zero, and
- * calls
- * unitree_go__msg__Go2FrontVideoData__init().
- * \return The pointer to the initialized message if successful,
- * otherwise NULL
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-unitree_go__msg__Go2FrontVideoData *
-unitree_go__msg__Go2FrontVideoData__create();
-
-/// Destroy msg/Go2FrontVideoData message.
-/**
- * It calls
- * unitree_go__msg__Go2FrontVideoData__fini()
- * and frees the memory of the message.
- * \param[in,out] msg The allocated message pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-void
-unitree_go__msg__Go2FrontVideoData__destroy(unitree_go__msg__Go2FrontVideoData * msg);
-
-/// Check for msg/Go2FrontVideoData message equality.
-/**
- * \param[in] lhs The message on the left hand size of the equality operator.
- * \param[in] rhs The message on the right hand size of the equality operator.
- * \return true if messages are equal, otherwise false.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__Go2FrontVideoData__are_equal(const unitree_go__msg__Go2FrontVideoData * lhs, const unitree_go__msg__Go2FrontVideoData * rhs);
-
-/// Copy a msg/Go2FrontVideoData message.
-/**
- * This functions performs a deep copy, as opposed to the shallow copy that
- * plain assignment yields.
- *
- * \param[in] input The source message pointer.
- * \param[out] output The target message pointer, which must
- *   have been initialized before calling this function.
- * \return true if successful, or false if either pointer is null
- *   or memory allocation fails.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__Go2FrontVideoData__copy(
-  const unitree_go__msg__Go2FrontVideoData * input,
-  unitree_go__msg__Go2FrontVideoData * output);
-
-/// Initialize array of msg/Go2FrontVideoData messages.
-/**
- * It allocates the memory for the number of elements and calls
- * unitree_go__msg__Go2FrontVideoData__init()
- * for each element of the array.
- * \param[in,out] array The allocated array pointer.
- * \param[in] size The size / capacity of the array.
- * \return true if initialization was successful, otherwise false
- * If the array pointer is valid and the size is zero it is guaranteed
- # to return true.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__Go2FrontVideoData__Sequence__init(unitree_go__msg__Go2FrontVideoData__Sequence * array, size_t size);
-
-/// Finalize array of msg/Go2FrontVideoData messages.
-/**
- * It calls
- * unitree_go__msg__Go2FrontVideoData__fini()
- * for each element of the array and frees the memory for the number of
- * elements.
- * \param[in,out] array The initialized array pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-void
-unitree_go__msg__Go2FrontVideoData__Sequence__fini(unitree_go__msg__Go2FrontVideoData__Sequence * array);
-
-/// Create array of msg/Go2FrontVideoData messages.
-/**
- * It allocates the memory for the array and calls
- * unitree_go__msg__Go2FrontVideoData__Sequence__init().
- * \param[in] size The size / capacity of the array.
- * \return The pointer to the initialized array if successful, otherwise NULL
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-unitree_go__msg__Go2FrontVideoData__Sequence *
-unitree_go__msg__Go2FrontVideoData__Sequence__create(size_t size);
-
-/// Destroy array of msg/Go2FrontVideoData messages.
-/**
- * It calls
- * unitree_go__msg__Go2FrontVideoData__Sequence__fini()
- * on the array,
- * and frees the memory of the array.
- * \param[in,out] array The initialized array pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-void
-unitree_go__msg__Go2FrontVideoData__Sequence__destroy(unitree_go__msg__Go2FrontVideoData__Sequence * array);
-
-/// Check for msg/Go2FrontVideoData message array equality.
-/**
- * \param[in] lhs The message array on the left hand size of the equality operator.
- * \param[in] rhs The message array on the right hand size of the equality operator.
- * \return true if message arrays are equal in size and content, otherwise false.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__Go2FrontVideoData__Sequence__are_equal(const unitree_go__msg__Go2FrontVideoData__Sequence * lhs, const unitree_go__msg__Go2FrontVideoData__Sequence * rhs);
-
-/// Copy an array of msg/Go2FrontVideoData messages.
-/**
- * This functions performs a deep copy, as opposed to the shallow copy that
- * plain assignment yields.
- *
- * \param[in] input The source array pointer.
- * \param[out] output The target array pointer, which must
- *   have been initialized before calling this function.
- * \return true if successful, or false if either pointer
- *   is null or memory allocation fails.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__Go2FrontVideoData__Sequence__copy(
-  const unitree_go__msg__Go2FrontVideoData__Sequence * input,
-  unitree_go__msg__Go2FrontVideoData__Sequence * output);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__GO2_FRONT_VIDEO_DATA__FUNCTIONS_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/go2_front_video_data__rosidl_typesupport_fastrtps_c.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/go2_front_video_data__rosidl_typesupport_fastrtps_c.h
deleted file mode 100644
index 4786d45..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/go2_front_video_data__rosidl_typesupport_fastrtps_c.h
+++ /dev/null
@@ -1,36 +0,0 @@
-// generated from rosidl_typesupport_fastrtps_c/resource/idl__rosidl_typesupport_fastrtps_c.h.em
-// with input from unitree_go:msg/Go2FrontVideoData.idl
-// generated code does not contain a copyright notice
-#ifndef UNITREE_GO__MSG__DETAIL__GO2_FRONT_VIDEO_DATA__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_
-#define UNITREE_GO__MSG__DETAIL__GO2_FRONT_VIDEO_DATA__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_
-
-
-#include <stddef.h>
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_go/msg/rosidl_typesupport_fastrtps_c__visibility_control.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_go
-size_t get_serialized_size_unitree_go__msg__Go2FrontVideoData(
-  const void * untyped_ros_message,
-  size_t current_alignment);
-
-ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_go
-size_t max_serialized_size_unitree_go__msg__Go2FrontVideoData(
-  bool & full_bounded,
-  size_t current_alignment);
-
-ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_fastrtps_c, unitree_go, msg, Go2FrontVideoData)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__GO2_FRONT_VIDEO_DATA__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/go2_front_video_data__rosidl_typesupport_fastrtps_cpp.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/go2_front_video_data__rosidl_typesupport_fastrtps_cpp.hpp
deleted file mode 100644
index a93e5c9..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/go2_front_video_data__rosidl_typesupport_fastrtps_cpp.hpp
+++ /dev/null
@@ -1,79 +0,0 @@
-// generated from rosidl_typesupport_fastrtps_cpp/resource/idl__rosidl_typesupport_fastrtps_cpp.hpp.em
-// with input from unitree_go:msg/Go2FrontVideoData.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__GO2_FRONT_VIDEO_DATA__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_
-#define UNITREE_GO__MSG__DETAIL__GO2_FRONT_VIDEO_DATA__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_go/msg/rosidl_typesupport_fastrtps_cpp__visibility_control.h"
-#include "unitree_go/msg/detail/go2_front_video_data__struct.hpp"
-
-#ifndef _WIN32
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wunused-parameter"
-# ifdef __clang__
-#  pragma clang diagnostic ignored "-Wdeprecated-register"
-#  pragma clang diagnostic ignored "-Wreturn-type-c-linkage"
-# endif
-#endif
-#ifndef _WIN32
-# pragma GCC diagnostic pop
-#endif
-
-#include "fastcdr/Cdr.h"
-
-namespace unitree_go
-{
-
-namespace msg
-{
-
-namespace typesupport_fastrtps_cpp
-{
-
-bool
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-cdr_serialize(
-  const unitree_go::msg::Go2FrontVideoData & ros_message,
-  eprosima::fastcdr::Cdr & cdr);
-
-bool
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-cdr_deserialize(
-  eprosima::fastcdr::Cdr & cdr,
-  unitree_go::msg::Go2FrontVideoData & ros_message);
-
-size_t
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-get_serialized_size(
-  const unitree_go::msg::Go2FrontVideoData & ros_message,
-  size_t current_alignment);
-
-size_t
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-max_serialized_size_Go2FrontVideoData(
-  bool & full_bounded,
-  size_t current_alignment);
-
-}  // namespace typesupport_fastrtps_cpp
-
-}  // namespace msg
-
-}  // namespace unitree_go
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_fastrtps_cpp, unitree_go, msg, Go2FrontVideoData)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__GO2_FRONT_VIDEO_DATA__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/go2_front_video_data__rosidl_typesupport_introspection_c.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/go2_front_video_data__rosidl_typesupport_introspection_c.h
deleted file mode 100644
index 276f2f0..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/go2_front_video_data__rosidl_typesupport_introspection_c.h
+++ /dev/null
@@ -1,26 +0,0 @@
-// generated from rosidl_typesupport_introspection_c/resource/idl__rosidl_typesupport_introspection_c.h.em
-// with input from unitree_go:msg/Go2FrontVideoData.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__GO2_FRONT_VIDEO_DATA__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
-#define UNITREE_GO__MSG__DETAIL__GO2_FRONT_VIDEO_DATA__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_go/msg/rosidl_typesupport_introspection_c__visibility_control.h"
-
-ROSIDL_TYPESUPPORT_INTROSPECTION_C_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, unitree_go, msg, Go2FrontVideoData)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__GO2_FRONT_VIDEO_DATA__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/go2_front_video_data__rosidl_typesupport_introspection_cpp.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/go2_front_video_data__rosidl_typesupport_introspection_cpp.hpp
deleted file mode 100644
index 2f15fa2..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/go2_front_video_data__rosidl_typesupport_introspection_cpp.hpp
+++ /dev/null
@@ -1,27 +0,0 @@
-// generated from rosidl_typesupport_introspection_cpp/resource/idl__rosidl_typesupport_introspection_cpp.h.em
-// with input from unitree_go:msg/Go2FrontVideoData.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__GO2_FRONT_VIDEO_DATA__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_
-#define UNITREE_GO__MSG__DETAIL__GO2_FRONT_VIDEO_DATA__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_
-
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "rosidl_typesupport_introspection_cpp/visibility_control.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-// TODO(dirk-thomas) these visibility macros should be message package specific
-ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
-const rosidl_message_type_support_t *
-  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_cpp, unitree_go, msg, Go2FrontVideoData)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__GO2_FRONT_VIDEO_DATA__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/go2_front_video_data__struct.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/go2_front_video_data__struct.h
deleted file mode 100644
index 6c4b665..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/go2_front_video_data__struct.h
+++ /dev/null
@@ -1,49 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__struct.h.em
-// with input from unitree_go:msg/Go2FrontVideoData.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__GO2_FRONT_VIDEO_DATA__STRUCT_H_
-#define UNITREE_GO__MSG__DETAIL__GO2_FRONT_VIDEO_DATA__STRUCT_H_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include <stdbool.h>
-#include <stddef.h>
-#include <stdint.h>
-
-
-// Constants defined in the message
-
-// Include directives for member types
-// Member 'video720p'
-// Member 'video360p'
-// Member 'video180p'
-#include "rosidl_runtime_c/primitives_sequence.h"
-
-// Struct defined in msg/Go2FrontVideoData in the package unitree_go.
-typedef struct unitree_go__msg__Go2FrontVideoData
-{
-  uint64_t time_frame;
-  rosidl_runtime_c__uint8__Sequence video720p;
-  rosidl_runtime_c__uint8__Sequence video360p;
-  rosidl_runtime_c__uint8__Sequence video180p;
-} unitree_go__msg__Go2FrontVideoData;
-
-// Struct for a sequence of unitree_go__msg__Go2FrontVideoData.
-typedef struct unitree_go__msg__Go2FrontVideoData__Sequence
-{
-  unitree_go__msg__Go2FrontVideoData * data;
-  /// The number of valid items in data
-  size_t size;
-  /// The number of allocated items in data
-  size_t capacity;
-} unitree_go__msg__Go2FrontVideoData__Sequence;
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__GO2_FRONT_VIDEO_DATA__STRUCT_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/go2_front_video_data__struct.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/go2_front_video_data__struct.hpp
deleted file mode 100644
index f7e5b85..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/go2_front_video_data__struct.hpp
+++ /dev/null
@@ -1,166 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__struct.hpp.em
-// with input from unitree_go:msg/Go2FrontVideoData.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__GO2_FRONT_VIDEO_DATA__STRUCT_HPP_
-#define UNITREE_GO__MSG__DETAIL__GO2_FRONT_VIDEO_DATA__STRUCT_HPP_
-
-#include <rosidl_runtime_cpp/bounded_vector.hpp>
-#include <rosidl_runtime_cpp/message_initialization.hpp>
-#include <algorithm>
-#include <array>
-#include <memory>
-#include <string>
-#include <vector>
-
-
-#ifndef _WIN32
-# define DEPRECATED__unitree_go__msg__Go2FrontVideoData __attribute__((deprecated))
-#else
-# define DEPRECATED__unitree_go__msg__Go2FrontVideoData __declspec(deprecated)
-#endif
-
-namespace unitree_go
-{
-
-namespace msg
-{
-
-// message struct
-template<class ContainerAllocator>
-struct Go2FrontVideoData_
-{
-  using Type = Go2FrontVideoData_<ContainerAllocator>;
-
-  explicit Go2FrontVideoData_(rosidl_runtime_cpp::MessageInitialization _init = rosidl_runtime_cpp::MessageInitialization::ALL)
-  {
-    if (rosidl_runtime_cpp::MessageInitialization::ALL == _init ||
-      rosidl_runtime_cpp::MessageInitialization::ZERO == _init)
-    {
-      this->time_frame = 0ull;
-    }
-  }
-
-  explicit Go2FrontVideoData_(const ContainerAllocator & _alloc, rosidl_runtime_cpp::MessageInitialization _init = rosidl_runtime_cpp::MessageInitialization::ALL)
-  {
-    (void)_alloc;
-    if (rosidl_runtime_cpp::MessageInitialization::ALL == _init ||
-      rosidl_runtime_cpp::MessageInitialization::ZERO == _init)
-    {
-      this->time_frame = 0ull;
-    }
-  }
-
-  // field types and members
-  using _time_frame_type =
-    uint64_t;
-  _time_frame_type time_frame;
-  using _video720p_type =
-    std::vector<uint8_t, typename ContainerAllocator::template rebind<uint8_t>::other>;
-  _video720p_type video720p;
-  using _video360p_type =
-    std::vector<uint8_t, typename ContainerAllocator::template rebind<uint8_t>::other>;
-  _video360p_type video360p;
-  using _video180p_type =
-    std::vector<uint8_t, typename ContainerAllocator::template rebind<uint8_t>::other>;
-  _video180p_type video180p;
-
-  // setters for named parameter idiom
-  Type & set__time_frame(
-    const uint64_t & _arg)
-  {
-    this->time_frame = _arg;
-    return *this;
-  }
-  Type & set__video720p(
-    const std::vector<uint8_t, typename ContainerAllocator::template rebind<uint8_t>::other> & _arg)
-  {
-    this->video720p = _arg;
-    return *this;
-  }
-  Type & set__video360p(
-    const std::vector<uint8_t, typename ContainerAllocator::template rebind<uint8_t>::other> & _arg)
-  {
-    this->video360p = _arg;
-    return *this;
-  }
-  Type & set__video180p(
-    const std::vector<uint8_t, typename ContainerAllocator::template rebind<uint8_t>::other> & _arg)
-  {
-    this->video180p = _arg;
-    return *this;
-  }
-
-  // constant declarations
-
-  // pointer types
-  using RawPtr =
-    unitree_go::msg::Go2FrontVideoData_<ContainerAllocator> *;
-  using ConstRawPtr =
-    const unitree_go::msg::Go2FrontVideoData_<ContainerAllocator> *;
-  using SharedPtr =
-    std::shared_ptr<unitree_go::msg::Go2FrontVideoData_<ContainerAllocator>>;
-  using ConstSharedPtr =
-    std::shared_ptr<unitree_go::msg::Go2FrontVideoData_<ContainerAllocator> const>;
-
-  template<typename Deleter = std::default_delete<
-      unitree_go::msg::Go2FrontVideoData_<ContainerAllocator>>>
-  using UniquePtrWithDeleter =
-    std::unique_ptr<unitree_go::msg::Go2FrontVideoData_<ContainerAllocator>, Deleter>;
-
-  using UniquePtr = UniquePtrWithDeleter<>;
-
-  template<typename Deleter = std::default_delete<
-      unitree_go::msg::Go2FrontVideoData_<ContainerAllocator>>>
-  using ConstUniquePtrWithDeleter =
-    std::unique_ptr<unitree_go::msg::Go2FrontVideoData_<ContainerAllocator> const, Deleter>;
-  using ConstUniquePtr = ConstUniquePtrWithDeleter<>;
-
-  using WeakPtr =
-    std::weak_ptr<unitree_go::msg::Go2FrontVideoData_<ContainerAllocator>>;
-  using ConstWeakPtr =
-    std::weak_ptr<unitree_go::msg::Go2FrontVideoData_<ContainerAllocator> const>;
-
-  // pointer types similar to ROS 1, use SharedPtr / ConstSharedPtr instead
-  // NOTE: Can't use 'using' here because GNU C++ can't parse attributes properly
-  typedef DEPRECATED__unitree_go__msg__Go2FrontVideoData
-    std::shared_ptr<unitree_go::msg::Go2FrontVideoData_<ContainerAllocator>>
-    Ptr;
-  typedef DEPRECATED__unitree_go__msg__Go2FrontVideoData
-    std::shared_ptr<unitree_go::msg::Go2FrontVideoData_<ContainerAllocator> const>
-    ConstPtr;
-
-  // comparison operators
-  bool operator==(const Go2FrontVideoData_ & other) const
-  {
-    if (this->time_frame != other.time_frame) {
-      return false;
-    }
-    if (this->video720p != other.video720p) {
-      return false;
-    }
-    if (this->video360p != other.video360p) {
-      return false;
-    }
-    if (this->video180p != other.video180p) {
-      return false;
-    }
-    return true;
-  }
-  bool operator!=(const Go2FrontVideoData_ & other) const
-  {
-    return !this->operator==(other);
-  }
-};  // struct Go2FrontVideoData_
-
-// alias to use template instance with default allocator
-using Go2FrontVideoData =
-  unitree_go::msg::Go2FrontVideoData_<std::allocator<void>>;
-
-// constant definitions
-
-}  // namespace msg
-
-}  // namespace unitree_go
-
-#endif  // UNITREE_GO__MSG__DETAIL__GO2_FRONT_VIDEO_DATA__STRUCT_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/go2_front_video_data__traits.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/go2_front_video_data__traits.hpp
deleted file mode 100644
index db0046a..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/go2_front_video_data__traits.hpp
+++ /dev/null
@@ -1,42 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__traits.hpp.em
-// with input from unitree_go:msg/Go2FrontVideoData.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__GO2_FRONT_VIDEO_DATA__TRAITS_HPP_
-#define UNITREE_GO__MSG__DETAIL__GO2_FRONT_VIDEO_DATA__TRAITS_HPP_
-
-#include "unitree_go/msg/detail/go2_front_video_data__struct.hpp"
-#include <rosidl_runtime_cpp/traits.hpp>
-#include <stdint.h>
-#include <type_traits>
-
-namespace rosidl_generator_traits
-{
-
-template<>
-inline const char * data_type<unitree_go::msg::Go2FrontVideoData>()
-{
-  return "unitree_go::msg::Go2FrontVideoData";
-}
-
-template<>
-inline const char * name<unitree_go::msg::Go2FrontVideoData>()
-{
-  return "unitree_go/msg/Go2FrontVideoData";
-}
-
-template<>
-struct has_fixed_size<unitree_go::msg::Go2FrontVideoData>
-  : std::integral_constant<bool, false> {};
-
-template<>
-struct has_bounded_size<unitree_go::msg::Go2FrontVideoData>
-  : std::integral_constant<bool, false> {};
-
-template<>
-struct is_message<unitree_go::msg::Go2FrontVideoData>
-  : std::true_type {};
-
-}  // namespace rosidl_generator_traits
-
-#endif  // UNITREE_GO__MSG__DETAIL__GO2_FRONT_VIDEO_DATA__TRAITS_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/go2_front_video_data__type_support.c b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/go2_front_video_data__type_support.c
deleted file mode 100644
index c6be76c..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/go2_front_video_data__type_support.c
+++ /dev/null
@@ -1,132 +0,0 @@
-// generated from rosidl_typesupport_introspection_c/resource/idl__type_support.c.em
-// with input from unitree_go:msg/Go2FrontVideoData.idl
-// generated code does not contain a copyright notice
-
-#include <stddef.h>
-#include "unitree_go/msg/detail/go2_front_video_data__rosidl_typesupport_introspection_c.h"
-#include "unitree_go/msg/rosidl_typesupport_introspection_c__visibility_control.h"
-#include "rosidl_typesupport_introspection_c/field_types.h"
-#include "rosidl_typesupport_introspection_c/identifier.h"
-#include "rosidl_typesupport_introspection_c/message_introspection.h"
-#include "unitree_go/msg/detail/go2_front_video_data__functions.h"
-#include "unitree_go/msg/detail/go2_front_video_data__struct.h"
-
-
-// Include directives for member types
-// Member `video720p`
-// Member `video360p`
-// Member `video180p`
-#include "rosidl_runtime_c/primitives_sequence_functions.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-void Go2FrontVideoData__rosidl_typesupport_introspection_c__Go2FrontVideoData_init_function(
-  void * message_memory, enum rosidl_runtime_c__message_initialization _init)
-{
-  // TODO(karsten1987): initializers are not yet implemented for typesupport c
-  // see https://github.com/ros2/ros2/issues/397
-  (void) _init;
-  unitree_go__msg__Go2FrontVideoData__init(message_memory);
-}
-
-void Go2FrontVideoData__rosidl_typesupport_introspection_c__Go2FrontVideoData_fini_function(void * message_memory)
-{
-  unitree_go__msg__Go2FrontVideoData__fini(message_memory);
-}
-
-static rosidl_typesupport_introspection_c__MessageMember Go2FrontVideoData__rosidl_typesupport_introspection_c__Go2FrontVideoData_message_member_array[4] = {
-  {
-    "time_frame",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_UINT64,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__Go2FrontVideoData, time_frame),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "video720p",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_UINT8,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    true,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__Go2FrontVideoData, video720p),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "video360p",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_UINT8,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    true,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__Go2FrontVideoData, video360p),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "video180p",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_UINT8,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    true,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__Go2FrontVideoData, video180p),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  }
-};
-
-static const rosidl_typesupport_introspection_c__MessageMembers Go2FrontVideoData__rosidl_typesupport_introspection_c__Go2FrontVideoData_message_members = {
-  "unitree_go__msg",  // message namespace
-  "Go2FrontVideoData",  // message name
-  4,  // number of fields
-  sizeof(unitree_go__msg__Go2FrontVideoData),
-  Go2FrontVideoData__rosidl_typesupport_introspection_c__Go2FrontVideoData_message_member_array,  // message members
-  Go2FrontVideoData__rosidl_typesupport_introspection_c__Go2FrontVideoData_init_function,  // function to initialize message memory (memory has to be allocated)
-  Go2FrontVideoData__rosidl_typesupport_introspection_c__Go2FrontVideoData_fini_function  // function to terminate message instance (will not free memory)
-};
-
-// this is not const since it must be initialized on first access
-// since C does not allow non-integral compile-time constants
-static rosidl_message_type_support_t Go2FrontVideoData__rosidl_typesupport_introspection_c__Go2FrontVideoData_message_type_support_handle = {
-  0,
-  &Go2FrontVideoData__rosidl_typesupport_introspection_c__Go2FrontVideoData_message_members,
-  get_message_typesupport_handle_function,
-};
-
-ROSIDL_TYPESUPPORT_INTROSPECTION_C_EXPORT_unitree_go
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, unitree_go, msg, Go2FrontVideoData)() {
-  if (!Go2FrontVideoData__rosidl_typesupport_introspection_c__Go2FrontVideoData_message_type_support_handle.typesupport_identifier) {
-    Go2FrontVideoData__rosidl_typesupport_introspection_c__Go2FrontVideoData_message_type_support_handle.typesupport_identifier =
-      rosidl_typesupport_introspection_c__identifier;
-  }
-  return &Go2FrontVideoData__rosidl_typesupport_introspection_c__Go2FrontVideoData_message_type_support_handle;
-}
-#ifdef __cplusplus
-}
-#endif
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/go2_front_video_data__type_support.cpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/go2_front_video_data__type_support.cpp
deleted file mode 100644
index a10ddeb..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/go2_front_video_data__type_support.cpp
+++ /dev/null
@@ -1,233 +0,0 @@
-// generated from rosidl_typesupport_introspection_cpp/resource/idl__type_support.cpp.em
-// with input from unitree_go:msg/Go2FrontVideoData.idl
-// generated code does not contain a copyright notice
-
-#include "array"
-#include "cstddef"
-#include "string"
-#include "vector"
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_cpp/message_type_support.hpp"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_go/msg/detail/go2_front_video_data__struct.hpp"
-#include "rosidl_typesupport_introspection_cpp/field_types.hpp"
-#include "rosidl_typesupport_introspection_cpp/identifier.hpp"
-#include "rosidl_typesupport_introspection_cpp/message_introspection.hpp"
-#include "rosidl_typesupport_introspection_cpp/message_type_support_decl.hpp"
-#include "rosidl_typesupport_introspection_cpp/visibility_control.h"
-
-namespace unitree_go
-{
-
-namespace msg
-{
-
-namespace rosidl_typesupport_introspection_cpp
-{
-
-void Go2FrontVideoData_init_function(
-  void * message_memory, rosidl_runtime_cpp::MessageInitialization _init)
-{
-  new (message_memory) unitree_go::msg::Go2FrontVideoData(_init);
-}
-
-void Go2FrontVideoData_fini_function(void * message_memory)
-{
-  auto typed_message = static_cast<unitree_go::msg::Go2FrontVideoData *>(message_memory);
-  typed_message->~Go2FrontVideoData();
-}
-
-size_t size_function__Go2FrontVideoData__video720p(const void * untyped_member)
-{
-  const auto * member = reinterpret_cast<const std::vector<uint8_t> *>(untyped_member);
-  return member->size();
-}
-
-const void * get_const_function__Go2FrontVideoData__video720p(const void * untyped_member, size_t index)
-{
-  const auto & member =
-    *reinterpret_cast<const std::vector<uint8_t> *>(untyped_member);
-  return &member[index];
-}
-
-void * get_function__Go2FrontVideoData__video720p(void * untyped_member, size_t index)
-{
-  auto & member =
-    *reinterpret_cast<std::vector<uint8_t> *>(untyped_member);
-  return &member[index];
-}
-
-void resize_function__Go2FrontVideoData__video720p(void * untyped_member, size_t size)
-{
-  auto * member =
-    reinterpret_cast<std::vector<uint8_t> *>(untyped_member);
-  member->resize(size);
-}
-
-size_t size_function__Go2FrontVideoData__video360p(const void * untyped_member)
-{
-  const auto * member = reinterpret_cast<const std::vector<uint8_t> *>(untyped_member);
-  return member->size();
-}
-
-const void * get_const_function__Go2FrontVideoData__video360p(const void * untyped_member, size_t index)
-{
-  const auto & member =
-    *reinterpret_cast<const std::vector<uint8_t> *>(untyped_member);
-  return &member[index];
-}
-
-void * get_function__Go2FrontVideoData__video360p(void * untyped_member, size_t index)
-{
-  auto & member =
-    *reinterpret_cast<std::vector<uint8_t> *>(untyped_member);
-  return &member[index];
-}
-
-void resize_function__Go2FrontVideoData__video360p(void * untyped_member, size_t size)
-{
-  auto * member =
-    reinterpret_cast<std::vector<uint8_t> *>(untyped_member);
-  member->resize(size);
-}
-
-size_t size_function__Go2FrontVideoData__video180p(const void * untyped_member)
-{
-  const auto * member = reinterpret_cast<const std::vector<uint8_t> *>(untyped_member);
-  return member->size();
-}
-
-const void * get_const_function__Go2FrontVideoData__video180p(const void * untyped_member, size_t index)
-{
-  const auto & member =
-    *reinterpret_cast<const std::vector<uint8_t> *>(untyped_member);
-  return &member[index];
-}
-
-void * get_function__Go2FrontVideoData__video180p(void * untyped_member, size_t index)
-{
-  auto & member =
-    *reinterpret_cast<std::vector<uint8_t> *>(untyped_member);
-  return &member[index];
-}
-
-void resize_function__Go2FrontVideoData__video180p(void * untyped_member, size_t size)
-{
-  auto * member =
-    reinterpret_cast<std::vector<uint8_t> *>(untyped_member);
-  member->resize(size);
-}
-
-static const ::rosidl_typesupport_introspection_cpp::MessageMember Go2FrontVideoData_message_member_array[4] = {
-  {
-    "time_frame",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT64,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::Go2FrontVideoData, time_frame),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "video720p",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT8,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    true,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::Go2FrontVideoData, video720p),  // bytes offset in struct
-    nullptr,  // default value
-    size_function__Go2FrontVideoData__video720p,  // size() function pointer
-    get_const_function__Go2FrontVideoData__video720p,  // get_const(index) function pointer
-    get_function__Go2FrontVideoData__video720p,  // get(index) function pointer
-    resize_function__Go2FrontVideoData__video720p  // resize(index) function pointer
-  },
-  {
-    "video360p",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT8,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    true,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::Go2FrontVideoData, video360p),  // bytes offset in struct
-    nullptr,  // default value
-    size_function__Go2FrontVideoData__video360p,  // size() function pointer
-    get_const_function__Go2FrontVideoData__video360p,  // get_const(index) function pointer
-    get_function__Go2FrontVideoData__video360p,  // get(index) function pointer
-    resize_function__Go2FrontVideoData__video360p  // resize(index) function pointer
-  },
-  {
-    "video180p",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT8,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    true,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::Go2FrontVideoData, video180p),  // bytes offset in struct
-    nullptr,  // default value
-    size_function__Go2FrontVideoData__video180p,  // size() function pointer
-    get_const_function__Go2FrontVideoData__video180p,  // get_const(index) function pointer
-    get_function__Go2FrontVideoData__video180p,  // get(index) function pointer
-    resize_function__Go2FrontVideoData__video180p  // resize(index) function pointer
-  }
-};
-
-static const ::rosidl_typesupport_introspection_cpp::MessageMembers Go2FrontVideoData_message_members = {
-  "unitree_go::msg",  // message namespace
-  "Go2FrontVideoData",  // message name
-  4,  // number of fields
-  sizeof(unitree_go::msg::Go2FrontVideoData),
-  Go2FrontVideoData_message_member_array,  // message members
-  Go2FrontVideoData_init_function,  // function to initialize message memory (memory has to be allocated)
-  Go2FrontVideoData_fini_function  // function to terminate message instance (will not free memory)
-};
-
-static const rosidl_message_type_support_t Go2FrontVideoData_message_type_support_handle = {
-  ::rosidl_typesupport_introspection_cpp::typesupport_identifier,
-  &Go2FrontVideoData_message_members,
-  get_message_typesupport_handle_function,
-};
-
-}  // namespace rosidl_typesupport_introspection_cpp
-
-}  // namespace msg
-
-}  // namespace unitree_go
-
-
-namespace rosidl_typesupport_introspection_cpp
-{
-
-template<>
-ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
-const rosidl_message_type_support_t *
-get_message_type_support_handle<unitree_go::msg::Go2FrontVideoData>()
-{
-  return &::unitree_go::msg::rosidl_typesupport_introspection_cpp::Go2FrontVideoData_message_type_support_handle;
-}
-
-}  // namespace rosidl_typesupport_introspection_cpp
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_cpp, unitree_go, msg, Go2FrontVideoData)() {
-  return &::unitree_go::msg::rosidl_typesupport_introspection_cpp::Go2FrontVideoData_message_type_support_handle;
-}
-
-#ifdef __cplusplus
-}
-#endif
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/go2_front_video_data__type_support.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/go2_front_video_data__type_support.h
deleted file mode 100644
index 3529f31..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/go2_front_video_data__type_support.h
+++ /dev/null
@@ -1,33 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__type_support.h.em
-// with input from unitree_go:msg/Go2FrontVideoData.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__GO2_FRONT_VIDEO_DATA__TYPE_SUPPORT_H_
-#define UNITREE_GO__MSG__DETAIL__GO2_FRONT_VIDEO_DATA__TYPE_SUPPORT_H_
-
-#include "rosidl_typesupport_interface/macros.h"
-
-#include "unitree_go/msg/rosidl_generator_c__visibility_control.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-
-// Forward declare the get type support functions for this type.
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
-  rosidl_typesupport_c,
-  unitree_go,
-  msg,
-  Go2FrontVideoData
-)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__GO2_FRONT_VIDEO_DATA__TYPE_SUPPORT_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/go2_front_video_data__type_support.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/go2_front_video_data__type_support.hpp
deleted file mode 100644
index 83f0a58..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/go2_front_video_data__type_support.hpp
+++ /dev/null
@@ -1,31 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__type_support.hpp.em
-// with input from unitree_go:msg/Go2FrontVideoData.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__GO2_FRONT_VIDEO_DATA__TYPE_SUPPORT_HPP_
-#define UNITREE_GO__MSG__DETAIL__GO2_FRONT_VIDEO_DATA__TYPE_SUPPORT_HPP_
-
-#include "rosidl_typesupport_interface/macros.h"
-
-#include "unitree_go/msg/rosidl_generator_cpp__visibility_control.hpp"
-
-#include "rosidl_typesupport_cpp/message_type_support.hpp"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-// Forward declare the get type support functions for this type.
-ROSIDL_GENERATOR_CPP_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
-  rosidl_typesupport_cpp,
-  unitree_go,
-  msg,
-  Go2FrontVideoData
-)();
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__GO2_FRONT_VIDEO_DATA__TYPE_SUPPORT_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/height_map__builder.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/height_map__builder.hpp
deleted file mode 100644
index fbbddaa..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/height_map__builder.hpp
+++ /dev/null
@@ -1,151 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__builder.hpp.em
-// with input from unitree_go:msg/HeightMap.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__HEIGHT_MAP__BUILDER_HPP_
-#define UNITREE_GO__MSG__DETAIL__HEIGHT_MAP__BUILDER_HPP_
-
-#include "unitree_go/msg/detail/height_map__struct.hpp"
-#include <rosidl_runtime_cpp/message_initialization.hpp>
-#include <algorithm>
-#include <utility>
-
-
-namespace unitree_go
-{
-
-namespace msg
-{
-
-namespace builder
-{
-
-class Init_HeightMap_data
-{
-public:
-  explicit Init_HeightMap_data(::unitree_go::msg::HeightMap & msg)
-  : msg_(msg)
-  {}
-  ::unitree_go::msg::HeightMap data(::unitree_go::msg::HeightMap::_data_type arg)
-  {
-    msg_.data = std::move(arg);
-    return std::move(msg_);
-  }
-
-private:
-  ::unitree_go::msg::HeightMap msg_;
-};
-
-class Init_HeightMap_origin
-{
-public:
-  explicit Init_HeightMap_origin(::unitree_go::msg::HeightMap & msg)
-  : msg_(msg)
-  {}
-  Init_HeightMap_data origin(::unitree_go::msg::HeightMap::_origin_type arg)
-  {
-    msg_.origin = std::move(arg);
-    return Init_HeightMap_data(msg_);
-  }
-
-private:
-  ::unitree_go::msg::HeightMap msg_;
-};
-
-class Init_HeightMap_height
-{
-public:
-  explicit Init_HeightMap_height(::unitree_go::msg::HeightMap & msg)
-  : msg_(msg)
-  {}
-  Init_HeightMap_origin height(::unitree_go::msg::HeightMap::_height_type arg)
-  {
-    msg_.height = std::move(arg);
-    return Init_HeightMap_origin(msg_);
-  }
-
-private:
-  ::unitree_go::msg::HeightMap msg_;
-};
-
-class Init_HeightMap_width
-{
-public:
-  explicit Init_HeightMap_width(::unitree_go::msg::HeightMap & msg)
-  : msg_(msg)
-  {}
-  Init_HeightMap_height width(::unitree_go::msg::HeightMap::_width_type arg)
-  {
-    msg_.width = std::move(arg);
-    return Init_HeightMap_height(msg_);
-  }
-
-private:
-  ::unitree_go::msg::HeightMap msg_;
-};
-
-class Init_HeightMap_resolution
-{
-public:
-  explicit Init_HeightMap_resolution(::unitree_go::msg::HeightMap & msg)
-  : msg_(msg)
-  {}
-  Init_HeightMap_width resolution(::unitree_go::msg::HeightMap::_resolution_type arg)
-  {
-    msg_.resolution = std::move(arg);
-    return Init_HeightMap_width(msg_);
-  }
-
-private:
-  ::unitree_go::msg::HeightMap msg_;
-};
-
-class Init_HeightMap_frame_id
-{
-public:
-  explicit Init_HeightMap_frame_id(::unitree_go::msg::HeightMap & msg)
-  : msg_(msg)
-  {}
-  Init_HeightMap_resolution frame_id(::unitree_go::msg::HeightMap::_frame_id_type arg)
-  {
-    msg_.frame_id = std::move(arg);
-    return Init_HeightMap_resolution(msg_);
-  }
-
-private:
-  ::unitree_go::msg::HeightMap msg_;
-};
-
-class Init_HeightMap_stamp
-{
-public:
-  Init_HeightMap_stamp()
-  : msg_(::rosidl_runtime_cpp::MessageInitialization::SKIP)
-  {}
-  Init_HeightMap_frame_id stamp(::unitree_go::msg::HeightMap::_stamp_type arg)
-  {
-    msg_.stamp = std::move(arg);
-    return Init_HeightMap_frame_id(msg_);
-  }
-
-private:
-  ::unitree_go::msg::HeightMap msg_;
-};
-
-}  // namespace builder
-
-}  // namespace msg
-
-template<typename MessageType>
-auto build();
-
-template<>
-inline
-auto build<::unitree_go::msg::HeightMap>()
-{
-  return unitree_go::msg::builder::Init_HeightMap_stamp();
-}
-
-}  // namespace unitree_go
-
-#endif  // UNITREE_GO__MSG__DETAIL__HEIGHT_MAP__BUILDER_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/height_map__functions.c b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/height_map__functions.c
deleted file mode 100644
index f3540b8..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/height_map__functions.c
+++ /dev/null
@@ -1,311 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__functions.c.em
-// with input from unitree_go:msg/HeightMap.idl
-// generated code does not contain a copyright notice
-#include "unitree_go/msg/detail/height_map__functions.h"
-
-#include <assert.h>
-#include <stdbool.h>
-#include <stdlib.h>
-#include <string.h>
-
-#include "rcutils/allocator.h"
-
-
-// Include directives for member types
-// Member `frame_id`
-#include "rosidl_runtime_c/string_functions.h"
-// Member `data`
-#include "rosidl_runtime_c/primitives_sequence_functions.h"
-
-bool
-unitree_go__msg__HeightMap__init(unitree_go__msg__HeightMap * msg)
-{
-  if (!msg) {
-    return false;
-  }
-  // stamp
-  // frame_id
-  if (!rosidl_runtime_c__String__init(&msg->frame_id)) {
-    unitree_go__msg__HeightMap__fini(msg);
-    return false;
-  }
-  // resolution
-  // width
-  // height
-  // origin
-  // data
-  if (!rosidl_runtime_c__float__Sequence__init(&msg->data, 0)) {
-    unitree_go__msg__HeightMap__fini(msg);
-    return false;
-  }
-  return true;
-}
-
-void
-unitree_go__msg__HeightMap__fini(unitree_go__msg__HeightMap * msg)
-{
-  if (!msg) {
-    return;
-  }
-  // stamp
-  // frame_id
-  rosidl_runtime_c__String__fini(&msg->frame_id);
-  // resolution
-  // width
-  // height
-  // origin
-  // data
-  rosidl_runtime_c__float__Sequence__fini(&msg->data);
-}
-
-bool
-unitree_go__msg__HeightMap__are_equal(const unitree_go__msg__HeightMap * lhs, const unitree_go__msg__HeightMap * rhs)
-{
-  if (!lhs || !rhs) {
-    return false;
-  }
-  // stamp
-  if (lhs->stamp != rhs->stamp) {
-    return false;
-  }
-  // frame_id
-  if (!rosidl_runtime_c__String__are_equal(
-      &(lhs->frame_id), &(rhs->frame_id)))
-  {
-    return false;
-  }
-  // resolution
-  if (lhs->resolution != rhs->resolution) {
-    return false;
-  }
-  // width
-  if (lhs->width != rhs->width) {
-    return false;
-  }
-  // height
-  if (lhs->height != rhs->height) {
-    return false;
-  }
-  // origin
-  for (size_t i = 0; i < 2; ++i) {
-    if (lhs->origin[i] != rhs->origin[i]) {
-      return false;
-    }
-  }
-  // data
-  if (!rosidl_runtime_c__float__Sequence__are_equal(
-      &(lhs->data), &(rhs->data)))
-  {
-    return false;
-  }
-  return true;
-}
-
-bool
-unitree_go__msg__HeightMap__copy(
-  const unitree_go__msg__HeightMap * input,
-  unitree_go__msg__HeightMap * output)
-{
-  if (!input || !output) {
-    return false;
-  }
-  // stamp
-  output->stamp = input->stamp;
-  // frame_id
-  if (!rosidl_runtime_c__String__copy(
-      &(input->frame_id), &(output->frame_id)))
-  {
-    return false;
-  }
-  // resolution
-  output->resolution = input->resolution;
-  // width
-  output->width = input->width;
-  // height
-  output->height = input->height;
-  // origin
-  for (size_t i = 0; i < 2; ++i) {
-    output->origin[i] = input->origin[i];
-  }
-  // data
-  if (!rosidl_runtime_c__float__Sequence__copy(
-      &(input->data), &(output->data)))
-  {
-    return false;
-  }
-  return true;
-}
-
-unitree_go__msg__HeightMap *
-unitree_go__msg__HeightMap__create()
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  unitree_go__msg__HeightMap * msg = (unitree_go__msg__HeightMap *)allocator.allocate(sizeof(unitree_go__msg__HeightMap), allocator.state);
-  if (!msg) {
-    return NULL;
-  }
-  memset(msg, 0, sizeof(unitree_go__msg__HeightMap));
-  bool success = unitree_go__msg__HeightMap__init(msg);
-  if (!success) {
-    allocator.deallocate(msg, allocator.state);
-    return NULL;
-  }
-  return msg;
-}
-
-void
-unitree_go__msg__HeightMap__destroy(unitree_go__msg__HeightMap * msg)
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  if (msg) {
-    unitree_go__msg__HeightMap__fini(msg);
-  }
-  allocator.deallocate(msg, allocator.state);
-}
-
-
-bool
-unitree_go__msg__HeightMap__Sequence__init(unitree_go__msg__HeightMap__Sequence * array, size_t size)
-{
-  if (!array) {
-    return false;
-  }
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  unitree_go__msg__HeightMap * data = NULL;
-
-  if (size) {
-    data = (unitree_go__msg__HeightMap *)allocator.zero_allocate(size, sizeof(unitree_go__msg__HeightMap), allocator.state);
-    if (!data) {
-      return false;
-    }
-    // initialize all array elements
-    size_t i;
-    for (i = 0; i < size; ++i) {
-      bool success = unitree_go__msg__HeightMap__init(&data[i]);
-      if (!success) {
-        break;
-      }
-    }
-    if (i < size) {
-      // if initialization failed finalize the already initialized array elements
-      for (; i > 0; --i) {
-        unitree_go__msg__HeightMap__fini(&data[i - 1]);
-      }
-      allocator.deallocate(data, allocator.state);
-      return false;
-    }
-  }
-  array->data = data;
-  array->size = size;
-  array->capacity = size;
-  return true;
-}
-
-void
-unitree_go__msg__HeightMap__Sequence__fini(unitree_go__msg__HeightMap__Sequence * array)
-{
-  if (!array) {
-    return;
-  }
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-
-  if (array->data) {
-    // ensure that data and capacity values are consistent
-    assert(array->capacity > 0);
-    // finalize all array elements
-    for (size_t i = 0; i < array->capacity; ++i) {
-      unitree_go__msg__HeightMap__fini(&array->data[i]);
-    }
-    allocator.deallocate(array->data, allocator.state);
-    array->data = NULL;
-    array->size = 0;
-    array->capacity = 0;
-  } else {
-    // ensure that data, size, and capacity values are consistent
-    assert(0 == array->size);
-    assert(0 == array->capacity);
-  }
-}
-
-unitree_go__msg__HeightMap__Sequence *
-unitree_go__msg__HeightMap__Sequence__create(size_t size)
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  unitree_go__msg__HeightMap__Sequence * array = (unitree_go__msg__HeightMap__Sequence *)allocator.allocate(sizeof(unitree_go__msg__HeightMap__Sequence), allocator.state);
-  if (!array) {
-    return NULL;
-  }
-  bool success = unitree_go__msg__HeightMap__Sequence__init(array, size);
-  if (!success) {
-    allocator.deallocate(array, allocator.state);
-    return NULL;
-  }
-  return array;
-}
-
-void
-unitree_go__msg__HeightMap__Sequence__destroy(unitree_go__msg__HeightMap__Sequence * array)
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  if (array) {
-    unitree_go__msg__HeightMap__Sequence__fini(array);
-  }
-  allocator.deallocate(array, allocator.state);
-}
-
-bool
-unitree_go__msg__HeightMap__Sequence__are_equal(const unitree_go__msg__HeightMap__Sequence * lhs, const unitree_go__msg__HeightMap__Sequence * rhs)
-{
-  if (!lhs || !rhs) {
-    return false;
-  }
-  if (lhs->size != rhs->size) {
-    return false;
-  }
-  for (size_t i = 0; i < lhs->size; ++i) {
-    if (!unitree_go__msg__HeightMap__are_equal(&(lhs->data[i]), &(rhs->data[i]))) {
-      return false;
-    }
-  }
-  return true;
-}
-
-bool
-unitree_go__msg__HeightMap__Sequence__copy(
-  const unitree_go__msg__HeightMap__Sequence * input,
-  unitree_go__msg__HeightMap__Sequence * output)
-{
-  if (!input || !output) {
-    return false;
-  }
-  if (output->capacity < input->size) {
-    const size_t allocation_size =
-      input->size * sizeof(unitree_go__msg__HeightMap);
-    unitree_go__msg__HeightMap * data =
-      (unitree_go__msg__HeightMap *)realloc(output->data, allocation_size);
-    if (!data) {
-      return false;
-    }
-    for (size_t i = output->capacity; i < input->size; ++i) {
-      if (!unitree_go__msg__HeightMap__init(&data[i])) {
-        /* free currently allocated and return false */
-        for (; i-- > output->capacity; ) {
-          unitree_go__msg__HeightMap__fini(&data[i]);
-        }
-        free(data);
-        return false;
-      }
-    }
-    output->data = data;
-    output->capacity = input->size;
-  }
-  output->size = input->size;
-  for (size_t i = 0; i < input->size; ++i) {
-    if (!unitree_go__msg__HeightMap__copy(
-        &(input->data[i]), &(output->data[i])))
-    {
-      return false;
-    }
-  }
-  return true;
-}
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/height_map__functions.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/height_map__functions.h
deleted file mode 100644
index 7b8994d..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/height_map__functions.h
+++ /dev/null
@@ -1,177 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__functions.h.em
-// with input from unitree_go:msg/HeightMap.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__HEIGHT_MAP__FUNCTIONS_H_
-#define UNITREE_GO__MSG__DETAIL__HEIGHT_MAP__FUNCTIONS_H_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include <stdbool.h>
-#include <stdlib.h>
-
-#include "rosidl_runtime_c/visibility_control.h"
-#include "unitree_go/msg/rosidl_generator_c__visibility_control.h"
-
-#include "unitree_go/msg/detail/height_map__struct.h"
-
-/// Initialize msg/HeightMap message.
-/**
- * If the init function is called twice for the same message without
- * calling fini inbetween previously allocated memory will be leaked.
- * \param[in,out] msg The previously allocated message pointer.
- * Fields without a default value will not be initialized by this function.
- * You might want to call memset(msg, 0, sizeof(
- * unitree_go__msg__HeightMap
- * )) before or use
- * unitree_go__msg__HeightMap__create()
- * to allocate and initialize the message.
- * \return true if initialization was successful, otherwise false
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__HeightMap__init(unitree_go__msg__HeightMap * msg);
-
-/// Finalize msg/HeightMap message.
-/**
- * \param[in,out] msg The allocated message pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-void
-unitree_go__msg__HeightMap__fini(unitree_go__msg__HeightMap * msg);
-
-/// Create msg/HeightMap message.
-/**
- * It allocates the memory for the message, sets the memory to zero, and
- * calls
- * unitree_go__msg__HeightMap__init().
- * \return The pointer to the initialized message if successful,
- * otherwise NULL
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-unitree_go__msg__HeightMap *
-unitree_go__msg__HeightMap__create();
-
-/// Destroy msg/HeightMap message.
-/**
- * It calls
- * unitree_go__msg__HeightMap__fini()
- * and frees the memory of the message.
- * \param[in,out] msg The allocated message pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-void
-unitree_go__msg__HeightMap__destroy(unitree_go__msg__HeightMap * msg);
-
-/// Check for msg/HeightMap message equality.
-/**
- * \param[in] lhs The message on the left hand size of the equality operator.
- * \param[in] rhs The message on the right hand size of the equality operator.
- * \return true if messages are equal, otherwise false.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__HeightMap__are_equal(const unitree_go__msg__HeightMap * lhs, const unitree_go__msg__HeightMap * rhs);
-
-/// Copy a msg/HeightMap message.
-/**
- * This functions performs a deep copy, as opposed to the shallow copy that
- * plain assignment yields.
- *
- * \param[in] input The source message pointer.
- * \param[out] output The target message pointer, which must
- *   have been initialized before calling this function.
- * \return true if successful, or false if either pointer is null
- *   or memory allocation fails.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__HeightMap__copy(
-  const unitree_go__msg__HeightMap * input,
-  unitree_go__msg__HeightMap * output);
-
-/// Initialize array of msg/HeightMap messages.
-/**
- * It allocates the memory for the number of elements and calls
- * unitree_go__msg__HeightMap__init()
- * for each element of the array.
- * \param[in,out] array The allocated array pointer.
- * \param[in] size The size / capacity of the array.
- * \return true if initialization was successful, otherwise false
- * If the array pointer is valid and the size is zero it is guaranteed
- # to return true.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__HeightMap__Sequence__init(unitree_go__msg__HeightMap__Sequence * array, size_t size);
-
-/// Finalize array of msg/HeightMap messages.
-/**
- * It calls
- * unitree_go__msg__HeightMap__fini()
- * for each element of the array and frees the memory for the number of
- * elements.
- * \param[in,out] array The initialized array pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-void
-unitree_go__msg__HeightMap__Sequence__fini(unitree_go__msg__HeightMap__Sequence * array);
-
-/// Create array of msg/HeightMap messages.
-/**
- * It allocates the memory for the array and calls
- * unitree_go__msg__HeightMap__Sequence__init().
- * \param[in] size The size / capacity of the array.
- * \return The pointer to the initialized array if successful, otherwise NULL
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-unitree_go__msg__HeightMap__Sequence *
-unitree_go__msg__HeightMap__Sequence__create(size_t size);
-
-/// Destroy array of msg/HeightMap messages.
-/**
- * It calls
- * unitree_go__msg__HeightMap__Sequence__fini()
- * on the array,
- * and frees the memory of the array.
- * \param[in,out] array The initialized array pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-void
-unitree_go__msg__HeightMap__Sequence__destroy(unitree_go__msg__HeightMap__Sequence * array);
-
-/// Check for msg/HeightMap message array equality.
-/**
- * \param[in] lhs The message array on the left hand size of the equality operator.
- * \param[in] rhs The message array on the right hand size of the equality operator.
- * \return true if message arrays are equal in size and content, otherwise false.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__HeightMap__Sequence__are_equal(const unitree_go__msg__HeightMap__Sequence * lhs, const unitree_go__msg__HeightMap__Sequence * rhs);
-
-/// Copy an array of msg/HeightMap messages.
-/**
- * This functions performs a deep copy, as opposed to the shallow copy that
- * plain assignment yields.
- *
- * \param[in] input The source array pointer.
- * \param[out] output The target array pointer, which must
- *   have been initialized before calling this function.
- * \return true if successful, or false if either pointer
- *   is null or memory allocation fails.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__HeightMap__Sequence__copy(
-  const unitree_go__msg__HeightMap__Sequence * input,
-  unitree_go__msg__HeightMap__Sequence * output);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__HEIGHT_MAP__FUNCTIONS_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/height_map__rosidl_typesupport_fastrtps_c.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/height_map__rosidl_typesupport_fastrtps_c.h
deleted file mode 100644
index 09b0a40..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/height_map__rosidl_typesupport_fastrtps_c.h
+++ /dev/null
@@ -1,36 +0,0 @@
-// generated from rosidl_typesupport_fastrtps_c/resource/idl__rosidl_typesupport_fastrtps_c.h.em
-// with input from unitree_go:msg/HeightMap.idl
-// generated code does not contain a copyright notice
-#ifndef UNITREE_GO__MSG__DETAIL__HEIGHT_MAP__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_
-#define UNITREE_GO__MSG__DETAIL__HEIGHT_MAP__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_
-
-
-#include <stddef.h>
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_go/msg/rosidl_typesupport_fastrtps_c__visibility_control.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_go
-size_t get_serialized_size_unitree_go__msg__HeightMap(
-  const void * untyped_ros_message,
-  size_t current_alignment);
-
-ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_go
-size_t max_serialized_size_unitree_go__msg__HeightMap(
-  bool & full_bounded,
-  size_t current_alignment);
-
-ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_fastrtps_c, unitree_go, msg, HeightMap)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__HEIGHT_MAP__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/height_map__rosidl_typesupport_fastrtps_cpp.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/height_map__rosidl_typesupport_fastrtps_cpp.hpp
deleted file mode 100644
index 2bd56a2..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/height_map__rosidl_typesupport_fastrtps_cpp.hpp
+++ /dev/null
@@ -1,79 +0,0 @@
-// generated from rosidl_typesupport_fastrtps_cpp/resource/idl__rosidl_typesupport_fastrtps_cpp.hpp.em
-// with input from unitree_go:msg/HeightMap.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__HEIGHT_MAP__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_
-#define UNITREE_GO__MSG__DETAIL__HEIGHT_MAP__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_go/msg/rosidl_typesupport_fastrtps_cpp__visibility_control.h"
-#include "unitree_go/msg/detail/height_map__struct.hpp"
-
-#ifndef _WIN32
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wunused-parameter"
-# ifdef __clang__
-#  pragma clang diagnostic ignored "-Wdeprecated-register"
-#  pragma clang diagnostic ignored "-Wreturn-type-c-linkage"
-# endif
-#endif
-#ifndef _WIN32
-# pragma GCC diagnostic pop
-#endif
-
-#include "fastcdr/Cdr.h"
-
-namespace unitree_go
-{
-
-namespace msg
-{
-
-namespace typesupport_fastrtps_cpp
-{
-
-bool
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-cdr_serialize(
-  const unitree_go::msg::HeightMap & ros_message,
-  eprosima::fastcdr::Cdr & cdr);
-
-bool
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-cdr_deserialize(
-  eprosima::fastcdr::Cdr & cdr,
-  unitree_go::msg::HeightMap & ros_message);
-
-size_t
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-get_serialized_size(
-  const unitree_go::msg::HeightMap & ros_message,
-  size_t current_alignment);
-
-size_t
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-max_serialized_size_HeightMap(
-  bool & full_bounded,
-  size_t current_alignment);
-
-}  // namespace typesupport_fastrtps_cpp
-
-}  // namespace msg
-
-}  // namespace unitree_go
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_fastrtps_cpp, unitree_go, msg, HeightMap)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__HEIGHT_MAP__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/height_map__rosidl_typesupport_introspection_c.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/height_map__rosidl_typesupport_introspection_c.h
deleted file mode 100644
index 989f851..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/height_map__rosidl_typesupport_introspection_c.h
+++ /dev/null
@@ -1,26 +0,0 @@
-// generated from rosidl_typesupport_introspection_c/resource/idl__rosidl_typesupport_introspection_c.h.em
-// with input from unitree_go:msg/HeightMap.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__HEIGHT_MAP__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
-#define UNITREE_GO__MSG__DETAIL__HEIGHT_MAP__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_go/msg/rosidl_typesupport_introspection_c__visibility_control.h"
-
-ROSIDL_TYPESUPPORT_INTROSPECTION_C_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, unitree_go, msg, HeightMap)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__HEIGHT_MAP__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/height_map__rosidl_typesupport_introspection_cpp.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/height_map__rosidl_typesupport_introspection_cpp.hpp
deleted file mode 100644
index 691189f..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/height_map__rosidl_typesupport_introspection_cpp.hpp
+++ /dev/null
@@ -1,27 +0,0 @@
-// generated from rosidl_typesupport_introspection_cpp/resource/idl__rosidl_typesupport_introspection_cpp.h.em
-// with input from unitree_go:msg/HeightMap.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__HEIGHT_MAP__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_
-#define UNITREE_GO__MSG__DETAIL__HEIGHT_MAP__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_
-
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "rosidl_typesupport_introspection_cpp/visibility_control.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-// TODO(dirk-thomas) these visibility macros should be message package specific
-ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
-const rosidl_message_type_support_t *
-  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_cpp, unitree_go, msg, HeightMap)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__HEIGHT_MAP__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/height_map__struct.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/height_map__struct.h
deleted file mode 100644
index 965a83b..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/height_map__struct.h
+++ /dev/null
@@ -1,52 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__struct.h.em
-// with input from unitree_go:msg/HeightMap.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__HEIGHT_MAP__STRUCT_H_
-#define UNITREE_GO__MSG__DETAIL__HEIGHT_MAP__STRUCT_H_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include <stdbool.h>
-#include <stddef.h>
-#include <stdint.h>
-
-
-// Constants defined in the message
-
-// Include directives for member types
-// Member 'frame_id'
-#include "rosidl_runtime_c/string.h"
-// Member 'data'
-#include "rosidl_runtime_c/primitives_sequence.h"
-
-// Struct defined in msg/HeightMap in the package unitree_go.
-typedef struct unitree_go__msg__HeightMap
-{
-  double stamp;
-  rosidl_runtime_c__String frame_id;
-  float resolution;
-  uint32_t width;
-  uint32_t height;
-  float origin[2];
-  rosidl_runtime_c__float__Sequence data;
-} unitree_go__msg__HeightMap;
-
-// Struct for a sequence of unitree_go__msg__HeightMap.
-typedef struct unitree_go__msg__HeightMap__Sequence
-{
-  unitree_go__msg__HeightMap * data;
-  /// The number of valid items in data
-  size_t size;
-  /// The number of allocated items in data
-  size_t capacity;
-} unitree_go__msg__HeightMap__Sequence;
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__HEIGHT_MAP__STRUCT_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/height_map__struct.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/height_map__struct.hpp
deleted file mode 100644
index 4775967..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/height_map__struct.hpp
+++ /dev/null
@@ -1,213 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__struct.hpp.em
-// with input from unitree_go:msg/HeightMap.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__HEIGHT_MAP__STRUCT_HPP_
-#define UNITREE_GO__MSG__DETAIL__HEIGHT_MAP__STRUCT_HPP_
-
-#include <rosidl_runtime_cpp/bounded_vector.hpp>
-#include <rosidl_runtime_cpp/message_initialization.hpp>
-#include <algorithm>
-#include <array>
-#include <memory>
-#include <string>
-#include <vector>
-
-
-#ifndef _WIN32
-# define DEPRECATED__unitree_go__msg__HeightMap __attribute__((deprecated))
-#else
-# define DEPRECATED__unitree_go__msg__HeightMap __declspec(deprecated)
-#endif
-
-namespace unitree_go
-{
-
-namespace msg
-{
-
-// message struct
-template<class ContainerAllocator>
-struct HeightMap_
-{
-  using Type = HeightMap_<ContainerAllocator>;
-
-  explicit HeightMap_(rosidl_runtime_cpp::MessageInitialization _init = rosidl_runtime_cpp::MessageInitialization::ALL)
-  {
-    if (rosidl_runtime_cpp::MessageInitialization::ALL == _init ||
-      rosidl_runtime_cpp::MessageInitialization::ZERO == _init)
-    {
-      this->stamp = 0.0;
-      this->frame_id = "";
-      this->resolution = 0.0f;
-      this->width = 0ul;
-      this->height = 0ul;
-      std::fill<typename std::array<float, 2>::iterator, float>(this->origin.begin(), this->origin.end(), 0.0f);
-    }
-  }
-
-  explicit HeightMap_(const ContainerAllocator & _alloc, rosidl_runtime_cpp::MessageInitialization _init = rosidl_runtime_cpp::MessageInitialization::ALL)
-  : frame_id(_alloc),
-    origin(_alloc)
-  {
-    if (rosidl_runtime_cpp::MessageInitialization::ALL == _init ||
-      rosidl_runtime_cpp::MessageInitialization::ZERO == _init)
-    {
-      this->stamp = 0.0;
-      this->frame_id = "";
-      this->resolution = 0.0f;
-      this->width = 0ul;
-      this->height = 0ul;
-      std::fill<typename std::array<float, 2>::iterator, float>(this->origin.begin(), this->origin.end(), 0.0f);
-    }
-  }
-
-  // field types and members
-  using _stamp_type =
-    double;
-  _stamp_type stamp;
-  using _frame_id_type =
-    std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other>;
-  _frame_id_type frame_id;
-  using _resolution_type =
-    float;
-  _resolution_type resolution;
-  using _width_type =
-    uint32_t;
-  _width_type width;
-  using _height_type =
-    uint32_t;
-  _height_type height;
-  using _origin_type =
-    std::array<float, 2>;
-  _origin_type origin;
-  using _data_type =
-    std::vector<float, typename ContainerAllocator::template rebind<float>::other>;
-  _data_type data;
-
-  // setters for named parameter idiom
-  Type & set__stamp(
-    const double & _arg)
-  {
-    this->stamp = _arg;
-    return *this;
-  }
-  Type & set__frame_id(
-    const std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other> & _arg)
-  {
-    this->frame_id = _arg;
-    return *this;
-  }
-  Type & set__resolution(
-    const float & _arg)
-  {
-    this->resolution = _arg;
-    return *this;
-  }
-  Type & set__width(
-    const uint32_t & _arg)
-  {
-    this->width = _arg;
-    return *this;
-  }
-  Type & set__height(
-    const uint32_t & _arg)
-  {
-    this->height = _arg;
-    return *this;
-  }
-  Type & set__origin(
-    const std::array<float, 2> & _arg)
-  {
-    this->origin = _arg;
-    return *this;
-  }
-  Type & set__data(
-    const std::vector<float, typename ContainerAllocator::template rebind<float>::other> & _arg)
-  {
-    this->data = _arg;
-    return *this;
-  }
-
-  // constant declarations
-
-  // pointer types
-  using RawPtr =
-    unitree_go::msg::HeightMap_<ContainerAllocator> *;
-  using ConstRawPtr =
-    const unitree_go::msg::HeightMap_<ContainerAllocator> *;
-  using SharedPtr =
-    std::shared_ptr<unitree_go::msg::HeightMap_<ContainerAllocator>>;
-  using ConstSharedPtr =
-    std::shared_ptr<unitree_go::msg::HeightMap_<ContainerAllocator> const>;
-
-  template<typename Deleter = std::default_delete<
-      unitree_go::msg::HeightMap_<ContainerAllocator>>>
-  using UniquePtrWithDeleter =
-    std::unique_ptr<unitree_go::msg::HeightMap_<ContainerAllocator>, Deleter>;
-
-  using UniquePtr = UniquePtrWithDeleter<>;
-
-  template<typename Deleter = std::default_delete<
-      unitree_go::msg::HeightMap_<ContainerAllocator>>>
-  using ConstUniquePtrWithDeleter =
-    std::unique_ptr<unitree_go::msg::HeightMap_<ContainerAllocator> const, Deleter>;
-  using ConstUniquePtr = ConstUniquePtrWithDeleter<>;
-
-  using WeakPtr =
-    std::weak_ptr<unitree_go::msg::HeightMap_<ContainerAllocator>>;
-  using ConstWeakPtr =
-    std::weak_ptr<unitree_go::msg::HeightMap_<ContainerAllocator> const>;
-
-  // pointer types similar to ROS 1, use SharedPtr / ConstSharedPtr instead
-  // NOTE: Can't use 'using' here because GNU C++ can't parse attributes properly
-  typedef DEPRECATED__unitree_go__msg__HeightMap
-    std::shared_ptr<unitree_go::msg::HeightMap_<ContainerAllocator>>
-    Ptr;
-  typedef DEPRECATED__unitree_go__msg__HeightMap
-    std::shared_ptr<unitree_go::msg::HeightMap_<ContainerAllocator> const>
-    ConstPtr;
-
-  // comparison operators
-  bool operator==(const HeightMap_ & other) const
-  {
-    if (this->stamp != other.stamp) {
-      return false;
-    }
-    if (this->frame_id != other.frame_id) {
-      return false;
-    }
-    if (this->resolution != other.resolution) {
-      return false;
-    }
-    if (this->width != other.width) {
-      return false;
-    }
-    if (this->height != other.height) {
-      return false;
-    }
-    if (this->origin != other.origin) {
-      return false;
-    }
-    if (this->data != other.data) {
-      return false;
-    }
-    return true;
-  }
-  bool operator!=(const HeightMap_ & other) const
-  {
-    return !this->operator==(other);
-  }
-};  // struct HeightMap_
-
-// alias to use template instance with default allocator
-using HeightMap =
-  unitree_go::msg::HeightMap_<std::allocator<void>>;
-
-// constant definitions
-
-}  // namespace msg
-
-}  // namespace unitree_go
-
-#endif  // UNITREE_GO__MSG__DETAIL__HEIGHT_MAP__STRUCT_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/height_map__traits.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/height_map__traits.hpp
deleted file mode 100644
index 336ecbc..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/height_map__traits.hpp
+++ /dev/null
@@ -1,42 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__traits.hpp.em
-// with input from unitree_go:msg/HeightMap.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__HEIGHT_MAP__TRAITS_HPP_
-#define UNITREE_GO__MSG__DETAIL__HEIGHT_MAP__TRAITS_HPP_
-
-#include "unitree_go/msg/detail/height_map__struct.hpp"
-#include <rosidl_runtime_cpp/traits.hpp>
-#include <stdint.h>
-#include <type_traits>
-
-namespace rosidl_generator_traits
-{
-
-template<>
-inline const char * data_type<unitree_go::msg::HeightMap>()
-{
-  return "unitree_go::msg::HeightMap";
-}
-
-template<>
-inline const char * name<unitree_go::msg::HeightMap>()
-{
-  return "unitree_go/msg/HeightMap";
-}
-
-template<>
-struct has_fixed_size<unitree_go::msg::HeightMap>
-  : std::integral_constant<bool, false> {};
-
-template<>
-struct has_bounded_size<unitree_go::msg::HeightMap>
-  : std::integral_constant<bool, false> {};
-
-template<>
-struct is_message<unitree_go::msg::HeightMap>
-  : std::true_type {};
-
-}  // namespace rosidl_generator_traits
-
-#endif  // UNITREE_GO__MSG__DETAIL__HEIGHT_MAP__TRAITS_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/height_map__type_support.c b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/height_map__type_support.c
deleted file mode 100644
index c25acf8..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/height_map__type_support.c
+++ /dev/null
@@ -1,177 +0,0 @@
-// generated from rosidl_typesupport_introspection_c/resource/idl__type_support.c.em
-// with input from unitree_go:msg/HeightMap.idl
-// generated code does not contain a copyright notice
-
-#include <stddef.h>
-#include "unitree_go/msg/detail/height_map__rosidl_typesupport_introspection_c.h"
-#include "unitree_go/msg/rosidl_typesupport_introspection_c__visibility_control.h"
-#include "rosidl_typesupport_introspection_c/field_types.h"
-#include "rosidl_typesupport_introspection_c/identifier.h"
-#include "rosidl_typesupport_introspection_c/message_introspection.h"
-#include "unitree_go/msg/detail/height_map__functions.h"
-#include "unitree_go/msg/detail/height_map__struct.h"
-
-
-// Include directives for member types
-// Member `frame_id`
-#include "rosidl_runtime_c/string_functions.h"
-// Member `data`
-#include "rosidl_runtime_c/primitives_sequence_functions.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-void HeightMap__rosidl_typesupport_introspection_c__HeightMap_init_function(
-  void * message_memory, enum rosidl_runtime_c__message_initialization _init)
-{
-  // TODO(karsten1987): initializers are not yet implemented for typesupport c
-  // see https://github.com/ros2/ros2/issues/397
-  (void) _init;
-  unitree_go__msg__HeightMap__init(message_memory);
-}
-
-void HeightMap__rosidl_typesupport_introspection_c__HeightMap_fini_function(void * message_memory)
-{
-  unitree_go__msg__HeightMap__fini(message_memory);
-}
-
-static rosidl_typesupport_introspection_c__MessageMember HeightMap__rosidl_typesupport_introspection_c__HeightMap_message_member_array[7] = {
-  {
-    "stamp",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_DOUBLE,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__HeightMap, stamp),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "frame_id",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_STRING,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__HeightMap, frame_id),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "resolution",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__HeightMap, resolution),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "width",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_UINT32,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__HeightMap, width),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "height",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_UINT32,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__HeightMap, height),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "origin",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    true,  // is array
-    2,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__HeightMap, origin),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "data",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    true,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__HeightMap, data),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  }
-};
-
-static const rosidl_typesupport_introspection_c__MessageMembers HeightMap__rosidl_typesupport_introspection_c__HeightMap_message_members = {
-  "unitree_go__msg",  // message namespace
-  "HeightMap",  // message name
-  7,  // number of fields
-  sizeof(unitree_go__msg__HeightMap),
-  HeightMap__rosidl_typesupport_introspection_c__HeightMap_message_member_array,  // message members
-  HeightMap__rosidl_typesupport_introspection_c__HeightMap_init_function,  // function to initialize message memory (memory has to be allocated)
-  HeightMap__rosidl_typesupport_introspection_c__HeightMap_fini_function  // function to terminate message instance (will not free memory)
-};
-
-// this is not const since it must be initialized on first access
-// since C does not allow non-integral compile-time constants
-static rosidl_message_type_support_t HeightMap__rosidl_typesupport_introspection_c__HeightMap_message_type_support_handle = {
-  0,
-  &HeightMap__rosidl_typesupport_introspection_c__HeightMap_message_members,
-  get_message_typesupport_handle_function,
-};
-
-ROSIDL_TYPESUPPORT_INTROSPECTION_C_EXPORT_unitree_go
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, unitree_go, msg, HeightMap)() {
-  if (!HeightMap__rosidl_typesupport_introspection_c__HeightMap_message_type_support_handle.typesupport_identifier) {
-    HeightMap__rosidl_typesupport_introspection_c__HeightMap_message_type_support_handle.typesupport_identifier =
-      rosidl_typesupport_introspection_c__identifier;
-  }
-  return &HeightMap__rosidl_typesupport_introspection_c__HeightMap_message_type_support_handle;
-}
-#ifdef __cplusplus
-}
-#endif
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/height_map__type_support.cpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/height_map__type_support.cpp
deleted file mode 100644
index 8f3c2c0..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/height_map__type_support.cpp
+++ /dev/null
@@ -1,244 +0,0 @@
-// generated from rosidl_typesupport_introspection_cpp/resource/idl__type_support.cpp.em
-// with input from unitree_go:msg/HeightMap.idl
-// generated code does not contain a copyright notice
-
-#include "array"
-#include "cstddef"
-#include "string"
-#include "vector"
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_cpp/message_type_support.hpp"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_go/msg/detail/height_map__struct.hpp"
-#include "rosidl_typesupport_introspection_cpp/field_types.hpp"
-#include "rosidl_typesupport_introspection_cpp/identifier.hpp"
-#include "rosidl_typesupport_introspection_cpp/message_introspection.hpp"
-#include "rosidl_typesupport_introspection_cpp/message_type_support_decl.hpp"
-#include "rosidl_typesupport_introspection_cpp/visibility_control.h"
-
-namespace unitree_go
-{
-
-namespace msg
-{
-
-namespace rosidl_typesupport_introspection_cpp
-{
-
-void HeightMap_init_function(
-  void * message_memory, rosidl_runtime_cpp::MessageInitialization _init)
-{
-  new (message_memory) unitree_go::msg::HeightMap(_init);
-}
-
-void HeightMap_fini_function(void * message_memory)
-{
-  auto typed_message = static_cast<unitree_go::msg::HeightMap *>(message_memory);
-  typed_message->~HeightMap();
-}
-
-size_t size_function__HeightMap__origin(const void * untyped_member)
-{
-  (void)untyped_member;
-  return 2;
-}
-
-const void * get_const_function__HeightMap__origin(const void * untyped_member, size_t index)
-{
-  const auto & member =
-    *reinterpret_cast<const std::array<float, 2> *>(untyped_member);
-  return &member[index];
-}
-
-void * get_function__HeightMap__origin(void * untyped_member, size_t index)
-{
-  auto & member =
-    *reinterpret_cast<std::array<float, 2> *>(untyped_member);
-  return &member[index];
-}
-
-size_t size_function__HeightMap__data(const void * untyped_member)
-{
-  const auto * member = reinterpret_cast<const std::vector<float> *>(untyped_member);
-  return member->size();
-}
-
-const void * get_const_function__HeightMap__data(const void * untyped_member, size_t index)
-{
-  const auto & member =
-    *reinterpret_cast<const std::vector<float> *>(untyped_member);
-  return &member[index];
-}
-
-void * get_function__HeightMap__data(void * untyped_member, size_t index)
-{
-  auto & member =
-    *reinterpret_cast<std::vector<float> *>(untyped_member);
-  return &member[index];
-}
-
-void resize_function__HeightMap__data(void * untyped_member, size_t size)
-{
-  auto * member =
-    reinterpret_cast<std::vector<float> *>(untyped_member);
-  member->resize(size);
-}
-
-static const ::rosidl_typesupport_introspection_cpp::MessageMember HeightMap_message_member_array[7] = {
-  {
-    "stamp",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_DOUBLE,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::HeightMap, stamp),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "frame_id",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_STRING,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::HeightMap, frame_id),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "resolution",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::HeightMap, resolution),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "width",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT32,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::HeightMap, width),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "height",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT32,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::HeightMap, height),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "origin",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    true,  // is array
-    2,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::HeightMap, origin),  // bytes offset in struct
-    nullptr,  // default value
-    size_function__HeightMap__origin,  // size() function pointer
-    get_const_function__HeightMap__origin,  // get_const(index) function pointer
-    get_function__HeightMap__origin,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "data",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    true,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::HeightMap, data),  // bytes offset in struct
-    nullptr,  // default value
-    size_function__HeightMap__data,  // size() function pointer
-    get_const_function__HeightMap__data,  // get_const(index) function pointer
-    get_function__HeightMap__data,  // get(index) function pointer
-    resize_function__HeightMap__data  // resize(index) function pointer
-  }
-};
-
-static const ::rosidl_typesupport_introspection_cpp::MessageMembers HeightMap_message_members = {
-  "unitree_go::msg",  // message namespace
-  "HeightMap",  // message name
-  7,  // number of fields
-  sizeof(unitree_go::msg::HeightMap),
-  HeightMap_message_member_array,  // message members
-  HeightMap_init_function,  // function to initialize message memory (memory has to be allocated)
-  HeightMap_fini_function  // function to terminate message instance (will not free memory)
-};
-
-static const rosidl_message_type_support_t HeightMap_message_type_support_handle = {
-  ::rosidl_typesupport_introspection_cpp::typesupport_identifier,
-  &HeightMap_message_members,
-  get_message_typesupport_handle_function,
-};
-
-}  // namespace rosidl_typesupport_introspection_cpp
-
-}  // namespace msg
-
-}  // namespace unitree_go
-
-
-namespace rosidl_typesupport_introspection_cpp
-{
-
-template<>
-ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
-const rosidl_message_type_support_t *
-get_message_type_support_handle<unitree_go::msg::HeightMap>()
-{
-  return &::unitree_go::msg::rosidl_typesupport_introspection_cpp::HeightMap_message_type_support_handle;
-}
-
-}  // namespace rosidl_typesupport_introspection_cpp
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_cpp, unitree_go, msg, HeightMap)() {
-  return &::unitree_go::msg::rosidl_typesupport_introspection_cpp::HeightMap_message_type_support_handle;
-}
-
-#ifdef __cplusplus
-}
-#endif
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/height_map__type_support.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/height_map__type_support.h
deleted file mode 100644
index 16e5fbb..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/height_map__type_support.h
+++ /dev/null
@@ -1,33 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__type_support.h.em
-// with input from unitree_go:msg/HeightMap.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__HEIGHT_MAP__TYPE_SUPPORT_H_
-#define UNITREE_GO__MSG__DETAIL__HEIGHT_MAP__TYPE_SUPPORT_H_
-
-#include "rosidl_typesupport_interface/macros.h"
-
-#include "unitree_go/msg/rosidl_generator_c__visibility_control.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-
-// Forward declare the get type support functions for this type.
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
-  rosidl_typesupport_c,
-  unitree_go,
-  msg,
-  HeightMap
-)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__HEIGHT_MAP__TYPE_SUPPORT_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/height_map__type_support.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/height_map__type_support.hpp
deleted file mode 100644
index fc2f4e5..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/height_map__type_support.hpp
+++ /dev/null
@@ -1,31 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__type_support.hpp.em
-// with input from unitree_go:msg/HeightMap.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__HEIGHT_MAP__TYPE_SUPPORT_HPP_
-#define UNITREE_GO__MSG__DETAIL__HEIGHT_MAP__TYPE_SUPPORT_HPP_
-
-#include "rosidl_typesupport_interface/macros.h"
-
-#include "unitree_go/msg/rosidl_generator_cpp__visibility_control.hpp"
-
-#include "rosidl_typesupport_cpp/message_type_support.hpp"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-// Forward declare the get type support functions for this type.
-ROSIDL_GENERATOR_CPP_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
-  rosidl_typesupport_cpp,
-  unitree_go,
-  msg,
-  HeightMap
-)();
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__HEIGHT_MAP__TYPE_SUPPORT_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/imu_state__builder.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/imu_state__builder.hpp
deleted file mode 100644
index 06ae144..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/imu_state__builder.hpp
+++ /dev/null
@@ -1,119 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__builder.hpp.em
-// with input from unitree_go:msg/IMUState.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__IMU_STATE__BUILDER_HPP_
-#define UNITREE_GO__MSG__DETAIL__IMU_STATE__BUILDER_HPP_
-
-#include "unitree_go/msg/detail/imu_state__struct.hpp"
-#include <rosidl_runtime_cpp/message_initialization.hpp>
-#include <algorithm>
-#include <utility>
-
-
-namespace unitree_go
-{
-
-namespace msg
-{
-
-namespace builder
-{
-
-class Init_IMUState_temperature
-{
-public:
-  explicit Init_IMUState_temperature(::unitree_go::msg::IMUState & msg)
-  : msg_(msg)
-  {}
-  ::unitree_go::msg::IMUState temperature(::unitree_go::msg::IMUState::_temperature_type arg)
-  {
-    msg_.temperature = std::move(arg);
-    return std::move(msg_);
-  }
-
-private:
-  ::unitree_go::msg::IMUState msg_;
-};
-
-class Init_IMUState_rpy
-{
-public:
-  explicit Init_IMUState_rpy(::unitree_go::msg::IMUState & msg)
-  : msg_(msg)
-  {}
-  Init_IMUState_temperature rpy(::unitree_go::msg::IMUState::_rpy_type arg)
-  {
-    msg_.rpy = std::move(arg);
-    return Init_IMUState_temperature(msg_);
-  }
-
-private:
-  ::unitree_go::msg::IMUState msg_;
-};
-
-class Init_IMUState_accelerometer
-{
-public:
-  explicit Init_IMUState_accelerometer(::unitree_go::msg::IMUState & msg)
-  : msg_(msg)
-  {}
-  Init_IMUState_rpy accelerometer(::unitree_go::msg::IMUState::_accelerometer_type arg)
-  {
-    msg_.accelerometer = std::move(arg);
-    return Init_IMUState_rpy(msg_);
-  }
-
-private:
-  ::unitree_go::msg::IMUState msg_;
-};
-
-class Init_IMUState_gyroscope
-{
-public:
-  explicit Init_IMUState_gyroscope(::unitree_go::msg::IMUState & msg)
-  : msg_(msg)
-  {}
-  Init_IMUState_accelerometer gyroscope(::unitree_go::msg::IMUState::_gyroscope_type arg)
-  {
-    msg_.gyroscope = std::move(arg);
-    return Init_IMUState_accelerometer(msg_);
-  }
-
-private:
-  ::unitree_go::msg::IMUState msg_;
-};
-
-class Init_IMUState_quaternion
-{
-public:
-  Init_IMUState_quaternion()
-  : msg_(::rosidl_runtime_cpp::MessageInitialization::SKIP)
-  {}
-  Init_IMUState_gyroscope quaternion(::unitree_go::msg::IMUState::_quaternion_type arg)
-  {
-    msg_.quaternion = std::move(arg);
-    return Init_IMUState_gyroscope(msg_);
-  }
-
-private:
-  ::unitree_go::msg::IMUState msg_;
-};
-
-}  // namespace builder
-
-}  // namespace msg
-
-template<typename MessageType>
-auto build();
-
-template<>
-inline
-auto build<::unitree_go::msg::IMUState>()
-{
-  return unitree_go::msg::builder::Init_IMUState_quaternion();
-}
-
-}  // namespace unitree_go
-
-#endif  // UNITREE_GO__MSG__DETAIL__IMU_STATE__BUILDER_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/imu_state__functions.c b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/imu_state__functions.c
deleted file mode 100644
index a19540a..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/imu_state__functions.c
+++ /dev/null
@@ -1,279 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__functions.c.em
-// with input from unitree_go:msg/IMUState.idl
-// generated code does not contain a copyright notice
-#include "unitree_go/msg/detail/imu_state__functions.h"
-
-#include <assert.h>
-#include <stdbool.h>
-#include <stdlib.h>
-#include <string.h>
-
-#include "rcutils/allocator.h"
-
-
-bool
-unitree_go__msg__IMUState__init(unitree_go__msg__IMUState * msg)
-{
-  if (!msg) {
-    return false;
-  }
-  // quaternion
-  // gyroscope
-  // accelerometer
-  // rpy
-  // temperature
-  return true;
-}
-
-void
-unitree_go__msg__IMUState__fini(unitree_go__msg__IMUState * msg)
-{
-  if (!msg) {
-    return;
-  }
-  // quaternion
-  // gyroscope
-  // accelerometer
-  // rpy
-  // temperature
-}
-
-bool
-unitree_go__msg__IMUState__are_equal(const unitree_go__msg__IMUState * lhs, const unitree_go__msg__IMUState * rhs)
-{
-  if (!lhs || !rhs) {
-    return false;
-  }
-  // quaternion
-  for (size_t i = 0; i < 4; ++i) {
-    if (lhs->quaternion[i] != rhs->quaternion[i]) {
-      return false;
-    }
-  }
-  // gyroscope
-  for (size_t i = 0; i < 3; ++i) {
-    if (lhs->gyroscope[i] != rhs->gyroscope[i]) {
-      return false;
-    }
-  }
-  // accelerometer
-  for (size_t i = 0; i < 3; ++i) {
-    if (lhs->accelerometer[i] != rhs->accelerometer[i]) {
-      return false;
-    }
-  }
-  // rpy
-  for (size_t i = 0; i < 3; ++i) {
-    if (lhs->rpy[i] != rhs->rpy[i]) {
-      return false;
-    }
-  }
-  // temperature
-  if (lhs->temperature != rhs->temperature) {
-    return false;
-  }
-  return true;
-}
-
-bool
-unitree_go__msg__IMUState__copy(
-  const unitree_go__msg__IMUState * input,
-  unitree_go__msg__IMUState * output)
-{
-  if (!input || !output) {
-    return false;
-  }
-  // quaternion
-  for (size_t i = 0; i < 4; ++i) {
-    output->quaternion[i] = input->quaternion[i];
-  }
-  // gyroscope
-  for (size_t i = 0; i < 3; ++i) {
-    output->gyroscope[i] = input->gyroscope[i];
-  }
-  // accelerometer
-  for (size_t i = 0; i < 3; ++i) {
-    output->accelerometer[i] = input->accelerometer[i];
-  }
-  // rpy
-  for (size_t i = 0; i < 3; ++i) {
-    output->rpy[i] = input->rpy[i];
-  }
-  // temperature
-  output->temperature = input->temperature;
-  return true;
-}
-
-unitree_go__msg__IMUState *
-unitree_go__msg__IMUState__create()
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  unitree_go__msg__IMUState * msg = (unitree_go__msg__IMUState *)allocator.allocate(sizeof(unitree_go__msg__IMUState), allocator.state);
-  if (!msg) {
-    return NULL;
-  }
-  memset(msg, 0, sizeof(unitree_go__msg__IMUState));
-  bool success = unitree_go__msg__IMUState__init(msg);
-  if (!success) {
-    allocator.deallocate(msg, allocator.state);
-    return NULL;
-  }
-  return msg;
-}
-
-void
-unitree_go__msg__IMUState__destroy(unitree_go__msg__IMUState * msg)
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  if (msg) {
-    unitree_go__msg__IMUState__fini(msg);
-  }
-  allocator.deallocate(msg, allocator.state);
-}
-
-
-bool
-unitree_go__msg__IMUState__Sequence__init(unitree_go__msg__IMUState__Sequence * array, size_t size)
-{
-  if (!array) {
-    return false;
-  }
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  unitree_go__msg__IMUState * data = NULL;
-
-  if (size) {
-    data = (unitree_go__msg__IMUState *)allocator.zero_allocate(size, sizeof(unitree_go__msg__IMUState), allocator.state);
-    if (!data) {
-      return false;
-    }
-    // initialize all array elements
-    size_t i;
-    for (i = 0; i < size; ++i) {
-      bool success = unitree_go__msg__IMUState__init(&data[i]);
-      if (!success) {
-        break;
-      }
-    }
-    if (i < size) {
-      // if initialization failed finalize the already initialized array elements
-      for (; i > 0; --i) {
-        unitree_go__msg__IMUState__fini(&data[i - 1]);
-      }
-      allocator.deallocate(data, allocator.state);
-      return false;
-    }
-  }
-  array->data = data;
-  array->size = size;
-  array->capacity = size;
-  return true;
-}
-
-void
-unitree_go__msg__IMUState__Sequence__fini(unitree_go__msg__IMUState__Sequence * array)
-{
-  if (!array) {
-    return;
-  }
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-
-  if (array->data) {
-    // ensure that data and capacity values are consistent
-    assert(array->capacity > 0);
-    // finalize all array elements
-    for (size_t i = 0; i < array->capacity; ++i) {
-      unitree_go__msg__IMUState__fini(&array->data[i]);
-    }
-    allocator.deallocate(array->data, allocator.state);
-    array->data = NULL;
-    array->size = 0;
-    array->capacity = 0;
-  } else {
-    // ensure that data, size, and capacity values are consistent
-    assert(0 == array->size);
-    assert(0 == array->capacity);
-  }
-}
-
-unitree_go__msg__IMUState__Sequence *
-unitree_go__msg__IMUState__Sequence__create(size_t size)
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  unitree_go__msg__IMUState__Sequence * array = (unitree_go__msg__IMUState__Sequence *)allocator.allocate(sizeof(unitree_go__msg__IMUState__Sequence), allocator.state);
-  if (!array) {
-    return NULL;
-  }
-  bool success = unitree_go__msg__IMUState__Sequence__init(array, size);
-  if (!success) {
-    allocator.deallocate(array, allocator.state);
-    return NULL;
-  }
-  return array;
-}
-
-void
-unitree_go__msg__IMUState__Sequence__destroy(unitree_go__msg__IMUState__Sequence * array)
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  if (array) {
-    unitree_go__msg__IMUState__Sequence__fini(array);
-  }
-  allocator.deallocate(array, allocator.state);
-}
-
-bool
-unitree_go__msg__IMUState__Sequence__are_equal(const unitree_go__msg__IMUState__Sequence * lhs, const unitree_go__msg__IMUState__Sequence * rhs)
-{
-  if (!lhs || !rhs) {
-    return false;
-  }
-  if (lhs->size != rhs->size) {
-    return false;
-  }
-  for (size_t i = 0; i < lhs->size; ++i) {
-    if (!unitree_go__msg__IMUState__are_equal(&(lhs->data[i]), &(rhs->data[i]))) {
-      return false;
-    }
-  }
-  return true;
-}
-
-bool
-unitree_go__msg__IMUState__Sequence__copy(
-  const unitree_go__msg__IMUState__Sequence * input,
-  unitree_go__msg__IMUState__Sequence * output)
-{
-  if (!input || !output) {
-    return false;
-  }
-  if (output->capacity < input->size) {
-    const size_t allocation_size =
-      input->size * sizeof(unitree_go__msg__IMUState);
-    unitree_go__msg__IMUState * data =
-      (unitree_go__msg__IMUState *)realloc(output->data, allocation_size);
-    if (!data) {
-      return false;
-    }
-    for (size_t i = output->capacity; i < input->size; ++i) {
-      if (!unitree_go__msg__IMUState__init(&data[i])) {
-        /* free currently allocated and return false */
-        for (; i-- > output->capacity; ) {
-          unitree_go__msg__IMUState__fini(&data[i]);
-        }
-        free(data);
-        return false;
-      }
-    }
-    output->data = data;
-    output->capacity = input->size;
-  }
-  output->size = input->size;
-  for (size_t i = 0; i < input->size; ++i) {
-    if (!unitree_go__msg__IMUState__copy(
-        &(input->data[i]), &(output->data[i])))
-    {
-      return false;
-    }
-  }
-  return true;
-}
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/imu_state__functions.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/imu_state__functions.h
deleted file mode 100644
index c9d4485..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/imu_state__functions.h
+++ /dev/null
@@ -1,177 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__functions.h.em
-// with input from unitree_go:msg/IMUState.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__IMU_STATE__FUNCTIONS_H_
-#define UNITREE_GO__MSG__DETAIL__IMU_STATE__FUNCTIONS_H_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include <stdbool.h>
-#include <stdlib.h>
-
-#include "rosidl_runtime_c/visibility_control.h"
-#include "unitree_go/msg/rosidl_generator_c__visibility_control.h"
-
-#include "unitree_go/msg/detail/imu_state__struct.h"
-
-/// Initialize msg/IMUState message.
-/**
- * If the init function is called twice for the same message without
- * calling fini inbetween previously allocated memory will be leaked.
- * \param[in,out] msg The previously allocated message pointer.
- * Fields without a default value will not be initialized by this function.
- * You might want to call memset(msg, 0, sizeof(
- * unitree_go__msg__IMUState
- * )) before or use
- * unitree_go__msg__IMUState__create()
- * to allocate and initialize the message.
- * \return true if initialization was successful, otherwise false
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__IMUState__init(unitree_go__msg__IMUState * msg);
-
-/// Finalize msg/IMUState message.
-/**
- * \param[in,out] msg The allocated message pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-void
-unitree_go__msg__IMUState__fini(unitree_go__msg__IMUState * msg);
-
-/// Create msg/IMUState message.
-/**
- * It allocates the memory for the message, sets the memory to zero, and
- * calls
- * unitree_go__msg__IMUState__init().
- * \return The pointer to the initialized message if successful,
- * otherwise NULL
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-unitree_go__msg__IMUState *
-unitree_go__msg__IMUState__create();
-
-/// Destroy msg/IMUState message.
-/**
- * It calls
- * unitree_go__msg__IMUState__fini()
- * and frees the memory of the message.
- * \param[in,out] msg The allocated message pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-void
-unitree_go__msg__IMUState__destroy(unitree_go__msg__IMUState * msg);
-
-/// Check for msg/IMUState message equality.
-/**
- * \param[in] lhs The message on the left hand size of the equality operator.
- * \param[in] rhs The message on the right hand size of the equality operator.
- * \return true if messages are equal, otherwise false.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__IMUState__are_equal(const unitree_go__msg__IMUState * lhs, const unitree_go__msg__IMUState * rhs);
-
-/// Copy a msg/IMUState message.
-/**
- * This functions performs a deep copy, as opposed to the shallow copy that
- * plain assignment yields.
- *
- * \param[in] input The source message pointer.
- * \param[out] output The target message pointer, which must
- *   have been initialized before calling this function.
- * \return true if successful, or false if either pointer is null
- *   or memory allocation fails.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__IMUState__copy(
-  const unitree_go__msg__IMUState * input,
-  unitree_go__msg__IMUState * output);
-
-/// Initialize array of msg/IMUState messages.
-/**
- * It allocates the memory for the number of elements and calls
- * unitree_go__msg__IMUState__init()
- * for each element of the array.
- * \param[in,out] array The allocated array pointer.
- * \param[in] size The size / capacity of the array.
- * \return true if initialization was successful, otherwise false
- * If the array pointer is valid and the size is zero it is guaranteed
- # to return true.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__IMUState__Sequence__init(unitree_go__msg__IMUState__Sequence * array, size_t size);
-
-/// Finalize array of msg/IMUState messages.
-/**
- * It calls
- * unitree_go__msg__IMUState__fini()
- * for each element of the array and frees the memory for the number of
- * elements.
- * \param[in,out] array The initialized array pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-void
-unitree_go__msg__IMUState__Sequence__fini(unitree_go__msg__IMUState__Sequence * array);
-
-/// Create array of msg/IMUState messages.
-/**
- * It allocates the memory for the array and calls
- * unitree_go__msg__IMUState__Sequence__init().
- * \param[in] size The size / capacity of the array.
- * \return The pointer to the initialized array if successful, otherwise NULL
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-unitree_go__msg__IMUState__Sequence *
-unitree_go__msg__IMUState__Sequence__create(size_t size);
-
-/// Destroy array of msg/IMUState messages.
-/**
- * It calls
- * unitree_go__msg__IMUState__Sequence__fini()
- * on the array,
- * and frees the memory of the array.
- * \param[in,out] array The initialized array pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-void
-unitree_go__msg__IMUState__Sequence__destroy(unitree_go__msg__IMUState__Sequence * array);
-
-/// Check for msg/IMUState message array equality.
-/**
- * \param[in] lhs The message array on the left hand size of the equality operator.
- * \param[in] rhs The message array on the right hand size of the equality operator.
- * \return true if message arrays are equal in size and content, otherwise false.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__IMUState__Sequence__are_equal(const unitree_go__msg__IMUState__Sequence * lhs, const unitree_go__msg__IMUState__Sequence * rhs);
-
-/// Copy an array of msg/IMUState messages.
-/**
- * This functions performs a deep copy, as opposed to the shallow copy that
- * plain assignment yields.
- *
- * \param[in] input The source array pointer.
- * \param[out] output The target array pointer, which must
- *   have been initialized before calling this function.
- * \return true if successful, or false if either pointer
- *   is null or memory allocation fails.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__IMUState__Sequence__copy(
-  const unitree_go__msg__IMUState__Sequence * input,
-  unitree_go__msg__IMUState__Sequence * output);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__IMU_STATE__FUNCTIONS_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/imu_state__rosidl_typesupport_fastrtps_c.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/imu_state__rosidl_typesupport_fastrtps_c.h
deleted file mode 100644
index 90eface..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/imu_state__rosidl_typesupport_fastrtps_c.h
+++ /dev/null
@@ -1,36 +0,0 @@
-// generated from rosidl_typesupport_fastrtps_c/resource/idl__rosidl_typesupport_fastrtps_c.h.em
-// with input from unitree_go:msg/IMUState.idl
-// generated code does not contain a copyright notice
-#ifndef UNITREE_GO__MSG__DETAIL__IMU_STATE__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_
-#define UNITREE_GO__MSG__DETAIL__IMU_STATE__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_
-
-
-#include <stddef.h>
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_go/msg/rosidl_typesupport_fastrtps_c__visibility_control.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_go
-size_t get_serialized_size_unitree_go__msg__IMUState(
-  const void * untyped_ros_message,
-  size_t current_alignment);
-
-ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_go
-size_t max_serialized_size_unitree_go__msg__IMUState(
-  bool & full_bounded,
-  size_t current_alignment);
-
-ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_fastrtps_c, unitree_go, msg, IMUState)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__IMU_STATE__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/imu_state__rosidl_typesupport_fastrtps_cpp.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/imu_state__rosidl_typesupport_fastrtps_cpp.hpp
deleted file mode 100644
index eeb2a9b..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/imu_state__rosidl_typesupport_fastrtps_cpp.hpp
+++ /dev/null
@@ -1,79 +0,0 @@
-// generated from rosidl_typesupport_fastrtps_cpp/resource/idl__rosidl_typesupport_fastrtps_cpp.hpp.em
-// with input from unitree_go:msg/IMUState.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__IMU_STATE__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_
-#define UNITREE_GO__MSG__DETAIL__IMU_STATE__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_go/msg/rosidl_typesupport_fastrtps_cpp__visibility_control.h"
-#include "unitree_go/msg/detail/imu_state__struct.hpp"
-
-#ifndef _WIN32
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wunused-parameter"
-# ifdef __clang__
-#  pragma clang diagnostic ignored "-Wdeprecated-register"
-#  pragma clang diagnostic ignored "-Wreturn-type-c-linkage"
-# endif
-#endif
-#ifndef _WIN32
-# pragma GCC diagnostic pop
-#endif
-
-#include "fastcdr/Cdr.h"
-
-namespace unitree_go
-{
-
-namespace msg
-{
-
-namespace typesupport_fastrtps_cpp
-{
-
-bool
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-cdr_serialize(
-  const unitree_go::msg::IMUState & ros_message,
-  eprosima::fastcdr::Cdr & cdr);
-
-bool
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-cdr_deserialize(
-  eprosima::fastcdr::Cdr & cdr,
-  unitree_go::msg::IMUState & ros_message);
-
-size_t
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-get_serialized_size(
-  const unitree_go::msg::IMUState & ros_message,
-  size_t current_alignment);
-
-size_t
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-max_serialized_size_IMUState(
-  bool & full_bounded,
-  size_t current_alignment);
-
-}  // namespace typesupport_fastrtps_cpp
-
-}  // namespace msg
-
-}  // namespace unitree_go
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_fastrtps_cpp, unitree_go, msg, IMUState)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__IMU_STATE__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/imu_state__rosidl_typesupport_introspection_c.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/imu_state__rosidl_typesupport_introspection_c.h
deleted file mode 100644
index 0fcafb6..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/imu_state__rosidl_typesupport_introspection_c.h
+++ /dev/null
@@ -1,26 +0,0 @@
-// generated from rosidl_typesupport_introspection_c/resource/idl__rosidl_typesupport_introspection_c.h.em
-// with input from unitree_go:msg/IMUState.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__IMU_STATE__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
-#define UNITREE_GO__MSG__DETAIL__IMU_STATE__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_go/msg/rosidl_typesupport_introspection_c__visibility_control.h"
-
-ROSIDL_TYPESUPPORT_INTROSPECTION_C_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, unitree_go, msg, IMUState)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__IMU_STATE__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/imu_state__rosidl_typesupport_introspection_cpp.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/imu_state__rosidl_typesupport_introspection_cpp.hpp
deleted file mode 100644
index c956adc..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/imu_state__rosidl_typesupport_introspection_cpp.hpp
+++ /dev/null
@@ -1,27 +0,0 @@
-// generated from rosidl_typesupport_introspection_cpp/resource/idl__rosidl_typesupport_introspection_cpp.h.em
-// with input from unitree_go:msg/IMUState.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__IMU_STATE__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_
-#define UNITREE_GO__MSG__DETAIL__IMU_STATE__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_
-
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "rosidl_typesupport_introspection_cpp/visibility_control.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-// TODO(dirk-thomas) these visibility macros should be message package specific
-ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
-const rosidl_message_type_support_t *
-  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_cpp, unitree_go, msg, IMUState)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__IMU_STATE__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/imu_state__struct.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/imu_state__struct.h
deleted file mode 100644
index ad1d2c0..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/imu_state__struct.h
+++ /dev/null
@@ -1,44 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__struct.h.em
-// with input from unitree_go:msg/IMUState.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__IMU_STATE__STRUCT_H_
-#define UNITREE_GO__MSG__DETAIL__IMU_STATE__STRUCT_H_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include <stdbool.h>
-#include <stddef.h>
-#include <stdint.h>
-
-
-// Constants defined in the message
-
-// Struct defined in msg/IMUState in the package unitree_go.
-typedef struct unitree_go__msg__IMUState
-{
-  float quaternion[4];
-  float gyroscope[3];
-  float accelerometer[3];
-  float rpy[3];
-  int8_t temperature;
-} unitree_go__msg__IMUState;
-
-// Struct for a sequence of unitree_go__msg__IMUState.
-typedef struct unitree_go__msg__IMUState__Sequence
-{
-  unitree_go__msg__IMUState * data;
-  /// The number of valid items in data
-  size_t size;
-  /// The number of allocated items in data
-  size_t capacity;
-} unitree_go__msg__IMUState__Sequence;
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__IMU_STATE__STRUCT_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/imu_state__struct.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/imu_state__struct.hpp
deleted file mode 100644
index 2f71461..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/imu_state__struct.hpp
+++ /dev/null
@@ -1,189 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__struct.hpp.em
-// with input from unitree_go:msg/IMUState.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__IMU_STATE__STRUCT_HPP_
-#define UNITREE_GO__MSG__DETAIL__IMU_STATE__STRUCT_HPP_
-
-#include <rosidl_runtime_cpp/bounded_vector.hpp>
-#include <rosidl_runtime_cpp/message_initialization.hpp>
-#include <algorithm>
-#include <array>
-#include <memory>
-#include <string>
-#include <vector>
-
-
-#ifndef _WIN32
-# define DEPRECATED__unitree_go__msg__IMUState __attribute__((deprecated))
-#else
-# define DEPRECATED__unitree_go__msg__IMUState __declspec(deprecated)
-#endif
-
-namespace unitree_go
-{
-
-namespace msg
-{
-
-// message struct
-template<class ContainerAllocator>
-struct IMUState_
-{
-  using Type = IMUState_<ContainerAllocator>;
-
-  explicit IMUState_(rosidl_runtime_cpp::MessageInitialization _init = rosidl_runtime_cpp::MessageInitialization::ALL)
-  {
-    if (rosidl_runtime_cpp::MessageInitialization::ALL == _init ||
-      rosidl_runtime_cpp::MessageInitialization::ZERO == _init)
-    {
-      std::fill<typename std::array<float, 4>::iterator, float>(this->quaternion.begin(), this->quaternion.end(), 0.0f);
-      std::fill<typename std::array<float, 3>::iterator, float>(this->gyroscope.begin(), this->gyroscope.end(), 0.0f);
-      std::fill<typename std::array<float, 3>::iterator, float>(this->accelerometer.begin(), this->accelerometer.end(), 0.0f);
-      std::fill<typename std::array<float, 3>::iterator, float>(this->rpy.begin(), this->rpy.end(), 0.0f);
-      this->temperature = 0;
-    }
-  }
-
-  explicit IMUState_(const ContainerAllocator & _alloc, rosidl_runtime_cpp::MessageInitialization _init = rosidl_runtime_cpp::MessageInitialization::ALL)
-  : quaternion(_alloc),
-    gyroscope(_alloc),
-    accelerometer(_alloc),
-    rpy(_alloc)
-  {
-    if (rosidl_runtime_cpp::MessageInitialization::ALL == _init ||
-      rosidl_runtime_cpp::MessageInitialization::ZERO == _init)
-    {
-      std::fill<typename std::array<float, 4>::iterator, float>(this->quaternion.begin(), this->quaternion.end(), 0.0f);
-      std::fill<typename std::array<float, 3>::iterator, float>(this->gyroscope.begin(), this->gyroscope.end(), 0.0f);
-      std::fill<typename std::array<float, 3>::iterator, float>(this->accelerometer.begin(), this->accelerometer.end(), 0.0f);
-      std::fill<typename std::array<float, 3>::iterator, float>(this->rpy.begin(), this->rpy.end(), 0.0f);
-      this->temperature = 0;
-    }
-  }
-
-  // field types and members
-  using _quaternion_type =
-    std::array<float, 4>;
-  _quaternion_type quaternion;
-  using _gyroscope_type =
-    std::array<float, 3>;
-  _gyroscope_type gyroscope;
-  using _accelerometer_type =
-    std::array<float, 3>;
-  _accelerometer_type accelerometer;
-  using _rpy_type =
-    std::array<float, 3>;
-  _rpy_type rpy;
-  using _temperature_type =
-    int8_t;
-  _temperature_type temperature;
-
-  // setters for named parameter idiom
-  Type & set__quaternion(
-    const std::array<float, 4> & _arg)
-  {
-    this->quaternion = _arg;
-    return *this;
-  }
-  Type & set__gyroscope(
-    const std::array<float, 3> & _arg)
-  {
-    this->gyroscope = _arg;
-    return *this;
-  }
-  Type & set__accelerometer(
-    const std::array<float, 3> & _arg)
-  {
-    this->accelerometer = _arg;
-    return *this;
-  }
-  Type & set__rpy(
-    const std::array<float, 3> & _arg)
-  {
-    this->rpy = _arg;
-    return *this;
-  }
-  Type & set__temperature(
-    const int8_t & _arg)
-  {
-    this->temperature = _arg;
-    return *this;
-  }
-
-  // constant declarations
-
-  // pointer types
-  using RawPtr =
-    unitree_go::msg::IMUState_<ContainerAllocator> *;
-  using ConstRawPtr =
-    const unitree_go::msg::IMUState_<ContainerAllocator> *;
-  using SharedPtr =
-    std::shared_ptr<unitree_go::msg::IMUState_<ContainerAllocator>>;
-  using ConstSharedPtr =
-    std::shared_ptr<unitree_go::msg::IMUState_<ContainerAllocator> const>;
-
-  template<typename Deleter = std::default_delete<
-      unitree_go::msg::IMUState_<ContainerAllocator>>>
-  using UniquePtrWithDeleter =
-    std::unique_ptr<unitree_go::msg::IMUState_<ContainerAllocator>, Deleter>;
-
-  using UniquePtr = UniquePtrWithDeleter<>;
-
-  template<typename Deleter = std::default_delete<
-      unitree_go::msg::IMUState_<ContainerAllocator>>>
-  using ConstUniquePtrWithDeleter =
-    std::unique_ptr<unitree_go::msg::IMUState_<ContainerAllocator> const, Deleter>;
-  using ConstUniquePtr = ConstUniquePtrWithDeleter<>;
-
-  using WeakPtr =
-    std::weak_ptr<unitree_go::msg::IMUState_<ContainerAllocator>>;
-  using ConstWeakPtr =
-    std::weak_ptr<unitree_go::msg::IMUState_<ContainerAllocator> const>;
-
-  // pointer types similar to ROS 1, use SharedPtr / ConstSharedPtr instead
-  // NOTE: Can't use 'using' here because GNU C++ can't parse attributes properly
-  typedef DEPRECATED__unitree_go__msg__IMUState
-    std::shared_ptr<unitree_go::msg::IMUState_<ContainerAllocator>>
-    Ptr;
-  typedef DEPRECATED__unitree_go__msg__IMUState
-    std::shared_ptr<unitree_go::msg::IMUState_<ContainerAllocator> const>
-    ConstPtr;
-
-  // comparison operators
-  bool operator==(const IMUState_ & other) const
-  {
-    if (this->quaternion != other.quaternion) {
-      return false;
-    }
-    if (this->gyroscope != other.gyroscope) {
-      return false;
-    }
-    if (this->accelerometer != other.accelerometer) {
-      return false;
-    }
-    if (this->rpy != other.rpy) {
-      return false;
-    }
-    if (this->temperature != other.temperature) {
-      return false;
-    }
-    return true;
-  }
-  bool operator!=(const IMUState_ & other) const
-  {
-    return !this->operator==(other);
-  }
-};  // struct IMUState_
-
-// alias to use template instance with default allocator
-using IMUState =
-  unitree_go::msg::IMUState_<std::allocator<void>>;
-
-// constant definitions
-
-}  // namespace msg
-
-}  // namespace unitree_go
-
-#endif  // UNITREE_GO__MSG__DETAIL__IMU_STATE__STRUCT_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/imu_state__traits.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/imu_state__traits.hpp
deleted file mode 100644
index bc49936..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/imu_state__traits.hpp
+++ /dev/null
@@ -1,42 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__traits.hpp.em
-// with input from unitree_go:msg/IMUState.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__IMU_STATE__TRAITS_HPP_
-#define UNITREE_GO__MSG__DETAIL__IMU_STATE__TRAITS_HPP_
-
-#include "unitree_go/msg/detail/imu_state__struct.hpp"
-#include <rosidl_runtime_cpp/traits.hpp>
-#include <stdint.h>
-#include <type_traits>
-
-namespace rosidl_generator_traits
-{
-
-template<>
-inline const char * data_type<unitree_go::msg::IMUState>()
-{
-  return "unitree_go::msg::IMUState";
-}
-
-template<>
-inline const char * name<unitree_go::msg::IMUState>()
-{
-  return "unitree_go/msg/IMUState";
-}
-
-template<>
-struct has_fixed_size<unitree_go::msg::IMUState>
-  : std::integral_constant<bool, true> {};
-
-template<>
-struct has_bounded_size<unitree_go::msg::IMUState>
-  : std::integral_constant<bool, true> {};
-
-template<>
-struct is_message<unitree_go::msg::IMUState>
-  : std::true_type {};
-
-}  // namespace rosidl_generator_traits
-
-#endif  // UNITREE_GO__MSG__DETAIL__IMU_STATE__TRAITS_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/imu_state__type_support.c b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/imu_state__type_support.c
deleted file mode 100644
index c9006db..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/imu_state__type_support.c
+++ /dev/null
@@ -1,141 +0,0 @@
-// generated from rosidl_typesupport_introspection_c/resource/idl__type_support.c.em
-// with input from unitree_go:msg/IMUState.idl
-// generated code does not contain a copyright notice
-
-#include <stddef.h>
-#include "unitree_go/msg/detail/imu_state__rosidl_typesupport_introspection_c.h"
-#include "unitree_go/msg/rosidl_typesupport_introspection_c__visibility_control.h"
-#include "rosidl_typesupport_introspection_c/field_types.h"
-#include "rosidl_typesupport_introspection_c/identifier.h"
-#include "rosidl_typesupport_introspection_c/message_introspection.h"
-#include "unitree_go/msg/detail/imu_state__functions.h"
-#include "unitree_go/msg/detail/imu_state__struct.h"
-
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-void IMUState__rosidl_typesupport_introspection_c__IMUState_init_function(
-  void * message_memory, enum rosidl_runtime_c__message_initialization _init)
-{
-  // TODO(karsten1987): initializers are not yet implemented for typesupport c
-  // see https://github.com/ros2/ros2/issues/397
-  (void) _init;
-  unitree_go__msg__IMUState__init(message_memory);
-}
-
-void IMUState__rosidl_typesupport_introspection_c__IMUState_fini_function(void * message_memory)
-{
-  unitree_go__msg__IMUState__fini(message_memory);
-}
-
-static rosidl_typesupport_introspection_c__MessageMember IMUState__rosidl_typesupport_introspection_c__IMUState_message_member_array[5] = {
-  {
-    "quaternion",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    true,  // is array
-    4,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__IMUState, quaternion),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "gyroscope",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    true,  // is array
-    3,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__IMUState, gyroscope),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "accelerometer",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    true,  // is array
-    3,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__IMUState, accelerometer),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "rpy",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    true,  // is array
-    3,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__IMUState, rpy),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "temperature",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_INT8,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__IMUState, temperature),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  }
-};
-
-static const rosidl_typesupport_introspection_c__MessageMembers IMUState__rosidl_typesupport_introspection_c__IMUState_message_members = {
-  "unitree_go__msg",  // message namespace
-  "IMUState",  // message name
-  5,  // number of fields
-  sizeof(unitree_go__msg__IMUState),
-  IMUState__rosidl_typesupport_introspection_c__IMUState_message_member_array,  // message members
-  IMUState__rosidl_typesupport_introspection_c__IMUState_init_function,  // function to initialize message memory (memory has to be allocated)
-  IMUState__rosidl_typesupport_introspection_c__IMUState_fini_function  // function to terminate message instance (will not free memory)
-};
-
-// this is not const since it must be initialized on first access
-// since C does not allow non-integral compile-time constants
-static rosidl_message_type_support_t IMUState__rosidl_typesupport_introspection_c__IMUState_message_type_support_handle = {
-  0,
-  &IMUState__rosidl_typesupport_introspection_c__IMUState_message_members,
-  get_message_typesupport_handle_function,
-};
-
-ROSIDL_TYPESUPPORT_INTROSPECTION_C_EXPORT_unitree_go
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, unitree_go, msg, IMUState)() {
-  if (!IMUState__rosidl_typesupport_introspection_c__IMUState_message_type_support_handle.typesupport_identifier) {
-    IMUState__rosidl_typesupport_introspection_c__IMUState_message_type_support_handle.typesupport_identifier =
-      rosidl_typesupport_introspection_c__identifier;
-  }
-  return &IMUState__rosidl_typesupport_introspection_c__IMUState_message_type_support_handle;
-}
-#ifdef __cplusplus
-}
-#endif
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/imu_state__type_support.cpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/imu_state__type_support.cpp
deleted file mode 100644
index 19067c1..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/imu_state__type_support.cpp
+++ /dev/null
@@ -1,247 +0,0 @@
-// generated from rosidl_typesupport_introspection_cpp/resource/idl__type_support.cpp.em
-// with input from unitree_go:msg/IMUState.idl
-// generated code does not contain a copyright notice
-
-#include "array"
-#include "cstddef"
-#include "string"
-#include "vector"
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_cpp/message_type_support.hpp"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_go/msg/detail/imu_state__struct.hpp"
-#include "rosidl_typesupport_introspection_cpp/field_types.hpp"
-#include "rosidl_typesupport_introspection_cpp/identifier.hpp"
-#include "rosidl_typesupport_introspection_cpp/message_introspection.hpp"
-#include "rosidl_typesupport_introspection_cpp/message_type_support_decl.hpp"
-#include "rosidl_typesupport_introspection_cpp/visibility_control.h"
-
-namespace unitree_go
-{
-
-namespace msg
-{
-
-namespace rosidl_typesupport_introspection_cpp
-{
-
-void IMUState_init_function(
-  void * message_memory, rosidl_runtime_cpp::MessageInitialization _init)
-{
-  new (message_memory) unitree_go::msg::IMUState(_init);
-}
-
-void IMUState_fini_function(void * message_memory)
-{
-  auto typed_message = static_cast<unitree_go::msg::IMUState *>(message_memory);
-  typed_message->~IMUState();
-}
-
-size_t size_function__IMUState__quaternion(const void * untyped_member)
-{
-  (void)untyped_member;
-  return 4;
-}
-
-const void * get_const_function__IMUState__quaternion(const void * untyped_member, size_t index)
-{
-  const auto & member =
-    *reinterpret_cast<const std::array<float, 4> *>(untyped_member);
-  return &member[index];
-}
-
-void * get_function__IMUState__quaternion(void * untyped_member, size_t index)
-{
-  auto & member =
-    *reinterpret_cast<std::array<float, 4> *>(untyped_member);
-  return &member[index];
-}
-
-size_t size_function__IMUState__gyroscope(const void * untyped_member)
-{
-  (void)untyped_member;
-  return 3;
-}
-
-const void * get_const_function__IMUState__gyroscope(const void * untyped_member, size_t index)
-{
-  const auto & member =
-    *reinterpret_cast<const std::array<float, 3> *>(untyped_member);
-  return &member[index];
-}
-
-void * get_function__IMUState__gyroscope(void * untyped_member, size_t index)
-{
-  auto & member =
-    *reinterpret_cast<std::array<float, 3> *>(untyped_member);
-  return &member[index];
-}
-
-size_t size_function__IMUState__accelerometer(const void * untyped_member)
-{
-  (void)untyped_member;
-  return 3;
-}
-
-const void * get_const_function__IMUState__accelerometer(const void * untyped_member, size_t index)
-{
-  const auto & member =
-    *reinterpret_cast<const std::array<float, 3> *>(untyped_member);
-  return &member[index];
-}
-
-void * get_function__IMUState__accelerometer(void * untyped_member, size_t index)
-{
-  auto & member =
-    *reinterpret_cast<std::array<float, 3> *>(untyped_member);
-  return &member[index];
-}
-
-size_t size_function__IMUState__rpy(const void * untyped_member)
-{
-  (void)untyped_member;
-  return 3;
-}
-
-const void * get_const_function__IMUState__rpy(const void * untyped_member, size_t index)
-{
-  const auto & member =
-    *reinterpret_cast<const std::array<float, 3> *>(untyped_member);
-  return &member[index];
-}
-
-void * get_function__IMUState__rpy(void * untyped_member, size_t index)
-{
-  auto & member =
-    *reinterpret_cast<std::array<float, 3> *>(untyped_member);
-  return &member[index];
-}
-
-static const ::rosidl_typesupport_introspection_cpp::MessageMember IMUState_message_member_array[5] = {
-  {
-    "quaternion",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    true,  // is array
-    4,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::IMUState, quaternion),  // bytes offset in struct
-    nullptr,  // default value
-    size_function__IMUState__quaternion,  // size() function pointer
-    get_const_function__IMUState__quaternion,  // get_const(index) function pointer
-    get_function__IMUState__quaternion,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "gyroscope",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    true,  // is array
-    3,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::IMUState, gyroscope),  // bytes offset in struct
-    nullptr,  // default value
-    size_function__IMUState__gyroscope,  // size() function pointer
-    get_const_function__IMUState__gyroscope,  // get_const(index) function pointer
-    get_function__IMUState__gyroscope,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "accelerometer",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    true,  // is array
-    3,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::IMUState, accelerometer),  // bytes offset in struct
-    nullptr,  // default value
-    size_function__IMUState__accelerometer,  // size() function pointer
-    get_const_function__IMUState__accelerometer,  // get_const(index) function pointer
-    get_function__IMUState__accelerometer,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "rpy",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    true,  // is array
-    3,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::IMUState, rpy),  // bytes offset in struct
-    nullptr,  // default value
-    size_function__IMUState__rpy,  // size() function pointer
-    get_const_function__IMUState__rpy,  // get_const(index) function pointer
-    get_function__IMUState__rpy,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "temperature",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_INT8,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::IMUState, temperature),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  }
-};
-
-static const ::rosidl_typesupport_introspection_cpp::MessageMembers IMUState_message_members = {
-  "unitree_go::msg",  // message namespace
-  "IMUState",  // message name
-  5,  // number of fields
-  sizeof(unitree_go::msg::IMUState),
-  IMUState_message_member_array,  // message members
-  IMUState_init_function,  // function to initialize message memory (memory has to be allocated)
-  IMUState_fini_function  // function to terminate message instance (will not free memory)
-};
-
-static const rosidl_message_type_support_t IMUState_message_type_support_handle = {
-  ::rosidl_typesupport_introspection_cpp::typesupport_identifier,
-  &IMUState_message_members,
-  get_message_typesupport_handle_function,
-};
-
-}  // namespace rosidl_typesupport_introspection_cpp
-
-}  // namespace msg
-
-}  // namespace unitree_go
-
-
-namespace rosidl_typesupport_introspection_cpp
-{
-
-template<>
-ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
-const rosidl_message_type_support_t *
-get_message_type_support_handle<unitree_go::msg::IMUState>()
-{
-  return &::unitree_go::msg::rosidl_typesupport_introspection_cpp::IMUState_message_type_support_handle;
-}
-
-}  // namespace rosidl_typesupport_introspection_cpp
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_cpp, unitree_go, msg, IMUState)() {
-  return &::unitree_go::msg::rosidl_typesupport_introspection_cpp::IMUState_message_type_support_handle;
-}
-
-#ifdef __cplusplus
-}
-#endif
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/imu_state__type_support.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/imu_state__type_support.h
deleted file mode 100644
index 43fca1b..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/imu_state__type_support.h
+++ /dev/null
@@ -1,33 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__type_support.h.em
-// with input from unitree_go:msg/IMUState.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__IMU_STATE__TYPE_SUPPORT_H_
-#define UNITREE_GO__MSG__DETAIL__IMU_STATE__TYPE_SUPPORT_H_
-
-#include "rosidl_typesupport_interface/macros.h"
-
-#include "unitree_go/msg/rosidl_generator_c__visibility_control.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-
-// Forward declare the get type support functions for this type.
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
-  rosidl_typesupport_c,
-  unitree_go,
-  msg,
-  IMUState
-)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__IMU_STATE__TYPE_SUPPORT_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/imu_state__type_support.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/imu_state__type_support.hpp
deleted file mode 100644
index 4914aa9..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/imu_state__type_support.hpp
+++ /dev/null
@@ -1,31 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__type_support.hpp.em
-// with input from unitree_go:msg/IMUState.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__IMU_STATE__TYPE_SUPPORT_HPP_
-#define UNITREE_GO__MSG__DETAIL__IMU_STATE__TYPE_SUPPORT_HPP_
-
-#include "rosidl_typesupport_interface/macros.h"
-
-#include "unitree_go/msg/rosidl_generator_cpp__visibility_control.hpp"
-
-#include "rosidl_typesupport_cpp/message_type_support.hpp"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-// Forward declare the get type support functions for this type.
-ROSIDL_GENERATOR_CPP_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
-  rosidl_typesupport_cpp,
-  unitree_go,
-  msg,
-  IMUState
-)();
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__IMU_STATE__TYPE_SUPPORT_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/interface_config__builder.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/interface_config__builder.hpp
deleted file mode 100644
index 8da7e4e..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/interface_config__builder.hpp
+++ /dev/null
@@ -1,87 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__builder.hpp.em
-// with input from unitree_go:msg/InterfaceConfig.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__INTERFACE_CONFIG__BUILDER_HPP_
-#define UNITREE_GO__MSG__DETAIL__INTERFACE_CONFIG__BUILDER_HPP_
-
-#include "unitree_go/msg/detail/interface_config__struct.hpp"
-#include <rosidl_runtime_cpp/message_initialization.hpp>
-#include <algorithm>
-#include <utility>
-
-
-namespace unitree_go
-{
-
-namespace msg
-{
-
-namespace builder
-{
-
-class Init_InterfaceConfig_reserve
-{
-public:
-  explicit Init_InterfaceConfig_reserve(::unitree_go::msg::InterfaceConfig & msg)
-  : msg_(msg)
-  {}
-  ::unitree_go::msg::InterfaceConfig reserve(::unitree_go::msg::InterfaceConfig::_reserve_type arg)
-  {
-    msg_.reserve = std::move(arg);
-    return std::move(msg_);
-  }
-
-private:
-  ::unitree_go::msg::InterfaceConfig msg_;
-};
-
-class Init_InterfaceConfig_value
-{
-public:
-  explicit Init_InterfaceConfig_value(::unitree_go::msg::InterfaceConfig & msg)
-  : msg_(msg)
-  {}
-  Init_InterfaceConfig_reserve value(::unitree_go::msg::InterfaceConfig::_value_type arg)
-  {
-    msg_.value = std::move(arg);
-    return Init_InterfaceConfig_reserve(msg_);
-  }
-
-private:
-  ::unitree_go::msg::InterfaceConfig msg_;
-};
-
-class Init_InterfaceConfig_mode
-{
-public:
-  Init_InterfaceConfig_mode()
-  : msg_(::rosidl_runtime_cpp::MessageInitialization::SKIP)
-  {}
-  Init_InterfaceConfig_value mode(::unitree_go::msg::InterfaceConfig::_mode_type arg)
-  {
-    msg_.mode = std::move(arg);
-    return Init_InterfaceConfig_value(msg_);
-  }
-
-private:
-  ::unitree_go::msg::InterfaceConfig msg_;
-};
-
-}  // namespace builder
-
-}  // namespace msg
-
-template<typename MessageType>
-auto build();
-
-template<>
-inline
-auto build<::unitree_go::msg::InterfaceConfig>()
-{
-  return unitree_go::msg::builder::Init_InterfaceConfig_mode();
-}
-
-}  // namespace unitree_go
-
-#endif  // UNITREE_GO__MSG__DETAIL__INTERFACE_CONFIG__BUILDER_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/interface_config__functions.c b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/interface_config__functions.c
deleted file mode 100644
index 0a9503f..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/interface_config__functions.c
+++ /dev/null
@@ -1,251 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__functions.c.em
-// with input from unitree_go:msg/InterfaceConfig.idl
-// generated code does not contain a copyright notice
-#include "unitree_go/msg/detail/interface_config__functions.h"
-
-#include <assert.h>
-#include <stdbool.h>
-#include <stdlib.h>
-#include <string.h>
-
-#include "rcutils/allocator.h"
-
-
-bool
-unitree_go__msg__InterfaceConfig__init(unitree_go__msg__InterfaceConfig * msg)
-{
-  if (!msg) {
-    return false;
-  }
-  // mode
-  // value
-  // reserve
-  return true;
-}
-
-void
-unitree_go__msg__InterfaceConfig__fini(unitree_go__msg__InterfaceConfig * msg)
-{
-  if (!msg) {
-    return;
-  }
-  // mode
-  // value
-  // reserve
-}
-
-bool
-unitree_go__msg__InterfaceConfig__are_equal(const unitree_go__msg__InterfaceConfig * lhs, const unitree_go__msg__InterfaceConfig * rhs)
-{
-  if (!lhs || !rhs) {
-    return false;
-  }
-  // mode
-  if (lhs->mode != rhs->mode) {
-    return false;
-  }
-  // value
-  if (lhs->value != rhs->value) {
-    return false;
-  }
-  // reserve
-  for (size_t i = 0; i < 2; ++i) {
-    if (lhs->reserve[i] != rhs->reserve[i]) {
-      return false;
-    }
-  }
-  return true;
-}
-
-bool
-unitree_go__msg__InterfaceConfig__copy(
-  const unitree_go__msg__InterfaceConfig * input,
-  unitree_go__msg__InterfaceConfig * output)
-{
-  if (!input || !output) {
-    return false;
-  }
-  // mode
-  output->mode = input->mode;
-  // value
-  output->value = input->value;
-  // reserve
-  for (size_t i = 0; i < 2; ++i) {
-    output->reserve[i] = input->reserve[i];
-  }
-  return true;
-}
-
-unitree_go__msg__InterfaceConfig *
-unitree_go__msg__InterfaceConfig__create()
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  unitree_go__msg__InterfaceConfig * msg = (unitree_go__msg__InterfaceConfig *)allocator.allocate(sizeof(unitree_go__msg__InterfaceConfig), allocator.state);
-  if (!msg) {
-    return NULL;
-  }
-  memset(msg, 0, sizeof(unitree_go__msg__InterfaceConfig));
-  bool success = unitree_go__msg__InterfaceConfig__init(msg);
-  if (!success) {
-    allocator.deallocate(msg, allocator.state);
-    return NULL;
-  }
-  return msg;
-}
-
-void
-unitree_go__msg__InterfaceConfig__destroy(unitree_go__msg__InterfaceConfig * msg)
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  if (msg) {
-    unitree_go__msg__InterfaceConfig__fini(msg);
-  }
-  allocator.deallocate(msg, allocator.state);
-}
-
-
-bool
-unitree_go__msg__InterfaceConfig__Sequence__init(unitree_go__msg__InterfaceConfig__Sequence * array, size_t size)
-{
-  if (!array) {
-    return false;
-  }
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  unitree_go__msg__InterfaceConfig * data = NULL;
-
-  if (size) {
-    data = (unitree_go__msg__InterfaceConfig *)allocator.zero_allocate(size, sizeof(unitree_go__msg__InterfaceConfig), allocator.state);
-    if (!data) {
-      return false;
-    }
-    // initialize all array elements
-    size_t i;
-    for (i = 0; i < size; ++i) {
-      bool success = unitree_go__msg__InterfaceConfig__init(&data[i]);
-      if (!success) {
-        break;
-      }
-    }
-    if (i < size) {
-      // if initialization failed finalize the already initialized array elements
-      for (; i > 0; --i) {
-        unitree_go__msg__InterfaceConfig__fini(&data[i - 1]);
-      }
-      allocator.deallocate(data, allocator.state);
-      return false;
-    }
-  }
-  array->data = data;
-  array->size = size;
-  array->capacity = size;
-  return true;
-}
-
-void
-unitree_go__msg__InterfaceConfig__Sequence__fini(unitree_go__msg__InterfaceConfig__Sequence * array)
-{
-  if (!array) {
-    return;
-  }
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-
-  if (array->data) {
-    // ensure that data and capacity values are consistent
-    assert(array->capacity > 0);
-    // finalize all array elements
-    for (size_t i = 0; i < array->capacity; ++i) {
-      unitree_go__msg__InterfaceConfig__fini(&array->data[i]);
-    }
-    allocator.deallocate(array->data, allocator.state);
-    array->data = NULL;
-    array->size = 0;
-    array->capacity = 0;
-  } else {
-    // ensure that data, size, and capacity values are consistent
-    assert(0 == array->size);
-    assert(0 == array->capacity);
-  }
-}
-
-unitree_go__msg__InterfaceConfig__Sequence *
-unitree_go__msg__InterfaceConfig__Sequence__create(size_t size)
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  unitree_go__msg__InterfaceConfig__Sequence * array = (unitree_go__msg__InterfaceConfig__Sequence *)allocator.allocate(sizeof(unitree_go__msg__InterfaceConfig__Sequence), allocator.state);
-  if (!array) {
-    return NULL;
-  }
-  bool success = unitree_go__msg__InterfaceConfig__Sequence__init(array, size);
-  if (!success) {
-    allocator.deallocate(array, allocator.state);
-    return NULL;
-  }
-  return array;
-}
-
-void
-unitree_go__msg__InterfaceConfig__Sequence__destroy(unitree_go__msg__InterfaceConfig__Sequence * array)
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  if (array) {
-    unitree_go__msg__InterfaceConfig__Sequence__fini(array);
-  }
-  allocator.deallocate(array, allocator.state);
-}
-
-bool
-unitree_go__msg__InterfaceConfig__Sequence__are_equal(const unitree_go__msg__InterfaceConfig__Sequence * lhs, const unitree_go__msg__InterfaceConfig__Sequence * rhs)
-{
-  if (!lhs || !rhs) {
-    return false;
-  }
-  if (lhs->size != rhs->size) {
-    return false;
-  }
-  for (size_t i = 0; i < lhs->size; ++i) {
-    if (!unitree_go__msg__InterfaceConfig__are_equal(&(lhs->data[i]), &(rhs->data[i]))) {
-      return false;
-    }
-  }
-  return true;
-}
-
-bool
-unitree_go__msg__InterfaceConfig__Sequence__copy(
-  const unitree_go__msg__InterfaceConfig__Sequence * input,
-  unitree_go__msg__InterfaceConfig__Sequence * output)
-{
-  if (!input || !output) {
-    return false;
-  }
-  if (output->capacity < input->size) {
-    const size_t allocation_size =
-      input->size * sizeof(unitree_go__msg__InterfaceConfig);
-    unitree_go__msg__InterfaceConfig * data =
-      (unitree_go__msg__InterfaceConfig *)realloc(output->data, allocation_size);
-    if (!data) {
-      return false;
-    }
-    for (size_t i = output->capacity; i < input->size; ++i) {
-      if (!unitree_go__msg__InterfaceConfig__init(&data[i])) {
-        /* free currently allocated and return false */
-        for (; i-- > output->capacity; ) {
-          unitree_go__msg__InterfaceConfig__fini(&data[i]);
-        }
-        free(data);
-        return false;
-      }
-    }
-    output->data = data;
-    output->capacity = input->size;
-  }
-  output->size = input->size;
-  for (size_t i = 0; i < input->size; ++i) {
-    if (!unitree_go__msg__InterfaceConfig__copy(
-        &(input->data[i]), &(output->data[i])))
-    {
-      return false;
-    }
-  }
-  return true;
-}
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/interface_config__functions.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/interface_config__functions.h
deleted file mode 100644
index de103af..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/interface_config__functions.h
+++ /dev/null
@@ -1,177 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__functions.h.em
-// with input from unitree_go:msg/InterfaceConfig.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__INTERFACE_CONFIG__FUNCTIONS_H_
-#define UNITREE_GO__MSG__DETAIL__INTERFACE_CONFIG__FUNCTIONS_H_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include <stdbool.h>
-#include <stdlib.h>
-
-#include "rosidl_runtime_c/visibility_control.h"
-#include "unitree_go/msg/rosidl_generator_c__visibility_control.h"
-
-#include "unitree_go/msg/detail/interface_config__struct.h"
-
-/// Initialize msg/InterfaceConfig message.
-/**
- * If the init function is called twice for the same message without
- * calling fini inbetween previously allocated memory will be leaked.
- * \param[in,out] msg The previously allocated message pointer.
- * Fields without a default value will not be initialized by this function.
- * You might want to call memset(msg, 0, sizeof(
- * unitree_go__msg__InterfaceConfig
- * )) before or use
- * unitree_go__msg__InterfaceConfig__create()
- * to allocate and initialize the message.
- * \return true if initialization was successful, otherwise false
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__InterfaceConfig__init(unitree_go__msg__InterfaceConfig * msg);
-
-/// Finalize msg/InterfaceConfig message.
-/**
- * \param[in,out] msg The allocated message pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-void
-unitree_go__msg__InterfaceConfig__fini(unitree_go__msg__InterfaceConfig * msg);
-
-/// Create msg/InterfaceConfig message.
-/**
- * It allocates the memory for the message, sets the memory to zero, and
- * calls
- * unitree_go__msg__InterfaceConfig__init().
- * \return The pointer to the initialized message if successful,
- * otherwise NULL
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-unitree_go__msg__InterfaceConfig *
-unitree_go__msg__InterfaceConfig__create();
-
-/// Destroy msg/InterfaceConfig message.
-/**
- * It calls
- * unitree_go__msg__InterfaceConfig__fini()
- * and frees the memory of the message.
- * \param[in,out] msg The allocated message pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-void
-unitree_go__msg__InterfaceConfig__destroy(unitree_go__msg__InterfaceConfig * msg);
-
-/// Check for msg/InterfaceConfig message equality.
-/**
- * \param[in] lhs The message on the left hand size of the equality operator.
- * \param[in] rhs The message on the right hand size of the equality operator.
- * \return true if messages are equal, otherwise false.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__InterfaceConfig__are_equal(const unitree_go__msg__InterfaceConfig * lhs, const unitree_go__msg__InterfaceConfig * rhs);
-
-/// Copy a msg/InterfaceConfig message.
-/**
- * This functions performs a deep copy, as opposed to the shallow copy that
- * plain assignment yields.
- *
- * \param[in] input The source message pointer.
- * \param[out] output The target message pointer, which must
- *   have been initialized before calling this function.
- * \return true if successful, or false if either pointer is null
- *   or memory allocation fails.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__InterfaceConfig__copy(
-  const unitree_go__msg__InterfaceConfig * input,
-  unitree_go__msg__InterfaceConfig * output);
-
-/// Initialize array of msg/InterfaceConfig messages.
-/**
- * It allocates the memory for the number of elements and calls
- * unitree_go__msg__InterfaceConfig__init()
- * for each element of the array.
- * \param[in,out] array The allocated array pointer.
- * \param[in] size The size / capacity of the array.
- * \return true if initialization was successful, otherwise false
- * If the array pointer is valid and the size is zero it is guaranteed
- # to return true.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__InterfaceConfig__Sequence__init(unitree_go__msg__InterfaceConfig__Sequence * array, size_t size);
-
-/// Finalize array of msg/InterfaceConfig messages.
-/**
- * It calls
- * unitree_go__msg__InterfaceConfig__fini()
- * for each element of the array and frees the memory for the number of
- * elements.
- * \param[in,out] array The initialized array pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-void
-unitree_go__msg__InterfaceConfig__Sequence__fini(unitree_go__msg__InterfaceConfig__Sequence * array);
-
-/// Create array of msg/InterfaceConfig messages.
-/**
- * It allocates the memory for the array and calls
- * unitree_go__msg__InterfaceConfig__Sequence__init().
- * \param[in] size The size / capacity of the array.
- * \return The pointer to the initialized array if successful, otherwise NULL
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-unitree_go__msg__InterfaceConfig__Sequence *
-unitree_go__msg__InterfaceConfig__Sequence__create(size_t size);
-
-/// Destroy array of msg/InterfaceConfig messages.
-/**
- * It calls
- * unitree_go__msg__InterfaceConfig__Sequence__fini()
- * on the array,
- * and frees the memory of the array.
- * \param[in,out] array The initialized array pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-void
-unitree_go__msg__InterfaceConfig__Sequence__destroy(unitree_go__msg__InterfaceConfig__Sequence * array);
-
-/// Check for msg/InterfaceConfig message array equality.
-/**
- * \param[in] lhs The message array on the left hand size of the equality operator.
- * \param[in] rhs The message array on the right hand size of the equality operator.
- * \return true if message arrays are equal in size and content, otherwise false.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__InterfaceConfig__Sequence__are_equal(const unitree_go__msg__InterfaceConfig__Sequence * lhs, const unitree_go__msg__InterfaceConfig__Sequence * rhs);
-
-/// Copy an array of msg/InterfaceConfig messages.
-/**
- * This functions performs a deep copy, as opposed to the shallow copy that
- * plain assignment yields.
- *
- * \param[in] input The source array pointer.
- * \param[out] output The target array pointer, which must
- *   have been initialized before calling this function.
- * \return true if successful, or false if either pointer
- *   is null or memory allocation fails.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__InterfaceConfig__Sequence__copy(
-  const unitree_go__msg__InterfaceConfig__Sequence * input,
-  unitree_go__msg__InterfaceConfig__Sequence * output);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__INTERFACE_CONFIG__FUNCTIONS_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/interface_config__rosidl_typesupport_fastrtps_c.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/interface_config__rosidl_typesupport_fastrtps_c.h
deleted file mode 100644
index 0c54fcc..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/interface_config__rosidl_typesupport_fastrtps_c.h
+++ /dev/null
@@ -1,36 +0,0 @@
-// generated from rosidl_typesupport_fastrtps_c/resource/idl__rosidl_typesupport_fastrtps_c.h.em
-// with input from unitree_go:msg/InterfaceConfig.idl
-// generated code does not contain a copyright notice
-#ifndef UNITREE_GO__MSG__DETAIL__INTERFACE_CONFIG__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_
-#define UNITREE_GO__MSG__DETAIL__INTERFACE_CONFIG__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_
-
-
-#include <stddef.h>
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_go/msg/rosidl_typesupport_fastrtps_c__visibility_control.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_go
-size_t get_serialized_size_unitree_go__msg__InterfaceConfig(
-  const void * untyped_ros_message,
-  size_t current_alignment);
-
-ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_go
-size_t max_serialized_size_unitree_go__msg__InterfaceConfig(
-  bool & full_bounded,
-  size_t current_alignment);
-
-ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_fastrtps_c, unitree_go, msg, InterfaceConfig)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__INTERFACE_CONFIG__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/interface_config__rosidl_typesupport_fastrtps_cpp.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/interface_config__rosidl_typesupport_fastrtps_cpp.hpp
deleted file mode 100644
index 561b9ad..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/interface_config__rosidl_typesupport_fastrtps_cpp.hpp
+++ /dev/null
@@ -1,79 +0,0 @@
-// generated from rosidl_typesupport_fastrtps_cpp/resource/idl__rosidl_typesupport_fastrtps_cpp.hpp.em
-// with input from unitree_go:msg/InterfaceConfig.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__INTERFACE_CONFIG__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_
-#define UNITREE_GO__MSG__DETAIL__INTERFACE_CONFIG__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_go/msg/rosidl_typesupport_fastrtps_cpp__visibility_control.h"
-#include "unitree_go/msg/detail/interface_config__struct.hpp"
-
-#ifndef _WIN32
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wunused-parameter"
-# ifdef __clang__
-#  pragma clang diagnostic ignored "-Wdeprecated-register"
-#  pragma clang diagnostic ignored "-Wreturn-type-c-linkage"
-# endif
-#endif
-#ifndef _WIN32
-# pragma GCC diagnostic pop
-#endif
-
-#include "fastcdr/Cdr.h"
-
-namespace unitree_go
-{
-
-namespace msg
-{
-
-namespace typesupport_fastrtps_cpp
-{
-
-bool
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-cdr_serialize(
-  const unitree_go::msg::InterfaceConfig & ros_message,
-  eprosima::fastcdr::Cdr & cdr);
-
-bool
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-cdr_deserialize(
-  eprosima::fastcdr::Cdr & cdr,
-  unitree_go::msg::InterfaceConfig & ros_message);
-
-size_t
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-get_serialized_size(
-  const unitree_go::msg::InterfaceConfig & ros_message,
-  size_t current_alignment);
-
-size_t
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-max_serialized_size_InterfaceConfig(
-  bool & full_bounded,
-  size_t current_alignment);
-
-}  // namespace typesupport_fastrtps_cpp
-
-}  // namespace msg
-
-}  // namespace unitree_go
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_fastrtps_cpp, unitree_go, msg, InterfaceConfig)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__INTERFACE_CONFIG__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/interface_config__rosidl_typesupport_introspection_c.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/interface_config__rosidl_typesupport_introspection_c.h
deleted file mode 100644
index 42ddd98..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/interface_config__rosidl_typesupport_introspection_c.h
+++ /dev/null
@@ -1,26 +0,0 @@
-// generated from rosidl_typesupport_introspection_c/resource/idl__rosidl_typesupport_introspection_c.h.em
-// with input from unitree_go:msg/InterfaceConfig.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__INTERFACE_CONFIG__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
-#define UNITREE_GO__MSG__DETAIL__INTERFACE_CONFIG__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_go/msg/rosidl_typesupport_introspection_c__visibility_control.h"
-
-ROSIDL_TYPESUPPORT_INTROSPECTION_C_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, unitree_go, msg, InterfaceConfig)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__INTERFACE_CONFIG__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/interface_config__rosidl_typesupport_introspection_cpp.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/interface_config__rosidl_typesupport_introspection_cpp.hpp
deleted file mode 100644
index 3db771c..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/interface_config__rosidl_typesupport_introspection_cpp.hpp
+++ /dev/null
@@ -1,27 +0,0 @@
-// generated from rosidl_typesupport_introspection_cpp/resource/idl__rosidl_typesupport_introspection_cpp.h.em
-// with input from unitree_go:msg/InterfaceConfig.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__INTERFACE_CONFIG__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_
-#define UNITREE_GO__MSG__DETAIL__INTERFACE_CONFIG__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_
-
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "rosidl_typesupport_introspection_cpp/visibility_control.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-// TODO(dirk-thomas) these visibility macros should be message package specific
-ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
-const rosidl_message_type_support_t *
-  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_cpp, unitree_go, msg, InterfaceConfig)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__INTERFACE_CONFIG__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/interface_config__struct.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/interface_config__struct.h
deleted file mode 100644
index 44d940a..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/interface_config__struct.h
+++ /dev/null
@@ -1,42 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__struct.h.em
-// with input from unitree_go:msg/InterfaceConfig.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__INTERFACE_CONFIG__STRUCT_H_
-#define UNITREE_GO__MSG__DETAIL__INTERFACE_CONFIG__STRUCT_H_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include <stdbool.h>
-#include <stddef.h>
-#include <stdint.h>
-
-
-// Constants defined in the message
-
-// Struct defined in msg/InterfaceConfig in the package unitree_go.
-typedef struct unitree_go__msg__InterfaceConfig
-{
-  uint8_t mode;
-  uint8_t value;
-  uint8_t reserve[2];
-} unitree_go__msg__InterfaceConfig;
-
-// Struct for a sequence of unitree_go__msg__InterfaceConfig.
-typedef struct unitree_go__msg__InterfaceConfig__Sequence
-{
-  unitree_go__msg__InterfaceConfig * data;
-  /// The number of valid items in data
-  size_t size;
-  /// The number of allocated items in data
-  size_t capacity;
-} unitree_go__msg__InterfaceConfig__Sequence;
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__INTERFACE_CONFIG__STRUCT_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/interface_config__struct.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/interface_config__struct.hpp
deleted file mode 100644
index 835c98e..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/interface_config__struct.hpp
+++ /dev/null
@@ -1,158 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__struct.hpp.em
-// with input from unitree_go:msg/InterfaceConfig.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__INTERFACE_CONFIG__STRUCT_HPP_
-#define UNITREE_GO__MSG__DETAIL__INTERFACE_CONFIG__STRUCT_HPP_
-
-#include <rosidl_runtime_cpp/bounded_vector.hpp>
-#include <rosidl_runtime_cpp/message_initialization.hpp>
-#include <algorithm>
-#include <array>
-#include <memory>
-#include <string>
-#include <vector>
-
-
-#ifndef _WIN32
-# define DEPRECATED__unitree_go__msg__InterfaceConfig __attribute__((deprecated))
-#else
-# define DEPRECATED__unitree_go__msg__InterfaceConfig __declspec(deprecated)
-#endif
-
-namespace unitree_go
-{
-
-namespace msg
-{
-
-// message struct
-template<class ContainerAllocator>
-struct InterfaceConfig_
-{
-  using Type = InterfaceConfig_<ContainerAllocator>;
-
-  explicit InterfaceConfig_(rosidl_runtime_cpp::MessageInitialization _init = rosidl_runtime_cpp::MessageInitialization::ALL)
-  {
-    if (rosidl_runtime_cpp::MessageInitialization::ALL == _init ||
-      rosidl_runtime_cpp::MessageInitialization::ZERO == _init)
-    {
-      this->mode = 0;
-      this->value = 0;
-      std::fill<typename std::array<uint8_t, 2>::iterator, uint8_t>(this->reserve.begin(), this->reserve.end(), 0);
-    }
-  }
-
-  explicit InterfaceConfig_(const ContainerAllocator & _alloc, rosidl_runtime_cpp::MessageInitialization _init = rosidl_runtime_cpp::MessageInitialization::ALL)
-  : reserve(_alloc)
-  {
-    if (rosidl_runtime_cpp::MessageInitialization::ALL == _init ||
-      rosidl_runtime_cpp::MessageInitialization::ZERO == _init)
-    {
-      this->mode = 0;
-      this->value = 0;
-      std::fill<typename std::array<uint8_t, 2>::iterator, uint8_t>(this->reserve.begin(), this->reserve.end(), 0);
-    }
-  }
-
-  // field types and members
-  using _mode_type =
-    uint8_t;
-  _mode_type mode;
-  using _value_type =
-    uint8_t;
-  _value_type value;
-  using _reserve_type =
-    std::array<uint8_t, 2>;
-  _reserve_type reserve;
-
-  // setters for named parameter idiom
-  Type & set__mode(
-    const uint8_t & _arg)
-  {
-    this->mode = _arg;
-    return *this;
-  }
-  Type & set__value(
-    const uint8_t & _arg)
-  {
-    this->value = _arg;
-    return *this;
-  }
-  Type & set__reserve(
-    const std::array<uint8_t, 2> & _arg)
-  {
-    this->reserve = _arg;
-    return *this;
-  }
-
-  // constant declarations
-
-  // pointer types
-  using RawPtr =
-    unitree_go::msg::InterfaceConfig_<ContainerAllocator> *;
-  using ConstRawPtr =
-    const unitree_go::msg::InterfaceConfig_<ContainerAllocator> *;
-  using SharedPtr =
-    std::shared_ptr<unitree_go::msg::InterfaceConfig_<ContainerAllocator>>;
-  using ConstSharedPtr =
-    std::shared_ptr<unitree_go::msg::InterfaceConfig_<ContainerAllocator> const>;
-
-  template<typename Deleter = std::default_delete<
-      unitree_go::msg::InterfaceConfig_<ContainerAllocator>>>
-  using UniquePtrWithDeleter =
-    std::unique_ptr<unitree_go::msg::InterfaceConfig_<ContainerAllocator>, Deleter>;
-
-  using UniquePtr = UniquePtrWithDeleter<>;
-
-  template<typename Deleter = std::default_delete<
-      unitree_go::msg::InterfaceConfig_<ContainerAllocator>>>
-  using ConstUniquePtrWithDeleter =
-    std::unique_ptr<unitree_go::msg::InterfaceConfig_<ContainerAllocator> const, Deleter>;
-  using ConstUniquePtr = ConstUniquePtrWithDeleter<>;
-
-  using WeakPtr =
-    std::weak_ptr<unitree_go::msg::InterfaceConfig_<ContainerAllocator>>;
-  using ConstWeakPtr =
-    std::weak_ptr<unitree_go::msg::InterfaceConfig_<ContainerAllocator> const>;
-
-  // pointer types similar to ROS 1, use SharedPtr / ConstSharedPtr instead
-  // NOTE: Can't use 'using' here because GNU C++ can't parse attributes properly
-  typedef DEPRECATED__unitree_go__msg__InterfaceConfig
-    std::shared_ptr<unitree_go::msg::InterfaceConfig_<ContainerAllocator>>
-    Ptr;
-  typedef DEPRECATED__unitree_go__msg__InterfaceConfig
-    std::shared_ptr<unitree_go::msg::InterfaceConfig_<ContainerAllocator> const>
-    ConstPtr;
-
-  // comparison operators
-  bool operator==(const InterfaceConfig_ & other) const
-  {
-    if (this->mode != other.mode) {
-      return false;
-    }
-    if (this->value != other.value) {
-      return false;
-    }
-    if (this->reserve != other.reserve) {
-      return false;
-    }
-    return true;
-  }
-  bool operator!=(const InterfaceConfig_ & other) const
-  {
-    return !this->operator==(other);
-  }
-};  // struct InterfaceConfig_
-
-// alias to use template instance with default allocator
-using InterfaceConfig =
-  unitree_go::msg::InterfaceConfig_<std::allocator<void>>;
-
-// constant definitions
-
-}  // namespace msg
-
-}  // namespace unitree_go
-
-#endif  // UNITREE_GO__MSG__DETAIL__INTERFACE_CONFIG__STRUCT_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/interface_config__traits.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/interface_config__traits.hpp
deleted file mode 100644
index 47932e3..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/interface_config__traits.hpp
+++ /dev/null
@@ -1,42 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__traits.hpp.em
-// with input from unitree_go:msg/InterfaceConfig.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__INTERFACE_CONFIG__TRAITS_HPP_
-#define UNITREE_GO__MSG__DETAIL__INTERFACE_CONFIG__TRAITS_HPP_
-
-#include "unitree_go/msg/detail/interface_config__struct.hpp"
-#include <rosidl_runtime_cpp/traits.hpp>
-#include <stdint.h>
-#include <type_traits>
-
-namespace rosidl_generator_traits
-{
-
-template<>
-inline const char * data_type<unitree_go::msg::InterfaceConfig>()
-{
-  return "unitree_go::msg::InterfaceConfig";
-}
-
-template<>
-inline const char * name<unitree_go::msg::InterfaceConfig>()
-{
-  return "unitree_go/msg/InterfaceConfig";
-}
-
-template<>
-struct has_fixed_size<unitree_go::msg::InterfaceConfig>
-  : std::integral_constant<bool, true> {};
-
-template<>
-struct has_bounded_size<unitree_go::msg::InterfaceConfig>
-  : std::integral_constant<bool, true> {};
-
-template<>
-struct is_message<unitree_go::msg::InterfaceConfig>
-  : std::true_type {};
-
-}  // namespace rosidl_generator_traits
-
-#endif  // UNITREE_GO__MSG__DETAIL__INTERFACE_CONFIG__TRAITS_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/interface_config__type_support.c b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/interface_config__type_support.c
deleted file mode 100644
index b6998ee..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/interface_config__type_support.c
+++ /dev/null
@@ -1,111 +0,0 @@
-// generated from rosidl_typesupport_introspection_c/resource/idl__type_support.c.em
-// with input from unitree_go:msg/InterfaceConfig.idl
-// generated code does not contain a copyright notice
-
-#include <stddef.h>
-#include "unitree_go/msg/detail/interface_config__rosidl_typesupport_introspection_c.h"
-#include "unitree_go/msg/rosidl_typesupport_introspection_c__visibility_control.h"
-#include "rosidl_typesupport_introspection_c/field_types.h"
-#include "rosidl_typesupport_introspection_c/identifier.h"
-#include "rosidl_typesupport_introspection_c/message_introspection.h"
-#include "unitree_go/msg/detail/interface_config__functions.h"
-#include "unitree_go/msg/detail/interface_config__struct.h"
-
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-void InterfaceConfig__rosidl_typesupport_introspection_c__InterfaceConfig_init_function(
-  void * message_memory, enum rosidl_runtime_c__message_initialization _init)
-{
-  // TODO(karsten1987): initializers are not yet implemented for typesupport c
-  // see https://github.com/ros2/ros2/issues/397
-  (void) _init;
-  unitree_go__msg__InterfaceConfig__init(message_memory);
-}
-
-void InterfaceConfig__rosidl_typesupport_introspection_c__InterfaceConfig_fini_function(void * message_memory)
-{
-  unitree_go__msg__InterfaceConfig__fini(message_memory);
-}
-
-static rosidl_typesupport_introspection_c__MessageMember InterfaceConfig__rosidl_typesupport_introspection_c__InterfaceConfig_message_member_array[3] = {
-  {
-    "mode",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_UINT8,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__InterfaceConfig, mode),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "value",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_UINT8,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__InterfaceConfig, value),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "reserve",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_UINT8,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    true,  // is array
-    2,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__InterfaceConfig, reserve),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  }
-};
-
-static const rosidl_typesupport_introspection_c__MessageMembers InterfaceConfig__rosidl_typesupport_introspection_c__InterfaceConfig_message_members = {
-  "unitree_go__msg",  // message namespace
-  "InterfaceConfig",  // message name
-  3,  // number of fields
-  sizeof(unitree_go__msg__InterfaceConfig),
-  InterfaceConfig__rosidl_typesupport_introspection_c__InterfaceConfig_message_member_array,  // message members
-  InterfaceConfig__rosidl_typesupport_introspection_c__InterfaceConfig_init_function,  // function to initialize message memory (memory has to be allocated)
-  InterfaceConfig__rosidl_typesupport_introspection_c__InterfaceConfig_fini_function  // function to terminate message instance (will not free memory)
-};
-
-// this is not const since it must be initialized on first access
-// since C does not allow non-integral compile-time constants
-static rosidl_message_type_support_t InterfaceConfig__rosidl_typesupport_introspection_c__InterfaceConfig_message_type_support_handle = {
-  0,
-  &InterfaceConfig__rosidl_typesupport_introspection_c__InterfaceConfig_message_members,
-  get_message_typesupport_handle_function,
-};
-
-ROSIDL_TYPESUPPORT_INTROSPECTION_C_EXPORT_unitree_go
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, unitree_go, msg, InterfaceConfig)() {
-  if (!InterfaceConfig__rosidl_typesupport_introspection_c__InterfaceConfig_message_type_support_handle.typesupport_identifier) {
-    InterfaceConfig__rosidl_typesupport_introspection_c__InterfaceConfig_message_type_support_handle.typesupport_identifier =
-      rosidl_typesupport_introspection_c__identifier;
-  }
-  return &InterfaceConfig__rosidl_typesupport_introspection_c__InterfaceConfig_message_type_support_handle;
-}
-#ifdef __cplusplus
-}
-#endif
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/interface_config__type_support.cpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/interface_config__type_support.cpp
deleted file mode 100644
index 123f226..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/interface_config__type_support.cpp
+++ /dev/null
@@ -1,157 +0,0 @@
-// generated from rosidl_typesupport_introspection_cpp/resource/idl__type_support.cpp.em
-// with input from unitree_go:msg/InterfaceConfig.idl
-// generated code does not contain a copyright notice
-
-#include "array"
-#include "cstddef"
-#include "string"
-#include "vector"
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_cpp/message_type_support.hpp"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_go/msg/detail/interface_config__struct.hpp"
-#include "rosidl_typesupport_introspection_cpp/field_types.hpp"
-#include "rosidl_typesupport_introspection_cpp/identifier.hpp"
-#include "rosidl_typesupport_introspection_cpp/message_introspection.hpp"
-#include "rosidl_typesupport_introspection_cpp/message_type_support_decl.hpp"
-#include "rosidl_typesupport_introspection_cpp/visibility_control.h"
-
-namespace unitree_go
-{
-
-namespace msg
-{
-
-namespace rosidl_typesupport_introspection_cpp
-{
-
-void InterfaceConfig_init_function(
-  void * message_memory, rosidl_runtime_cpp::MessageInitialization _init)
-{
-  new (message_memory) unitree_go::msg::InterfaceConfig(_init);
-}
-
-void InterfaceConfig_fini_function(void * message_memory)
-{
-  auto typed_message = static_cast<unitree_go::msg::InterfaceConfig *>(message_memory);
-  typed_message->~InterfaceConfig();
-}
-
-size_t size_function__InterfaceConfig__reserve(const void * untyped_member)
-{
-  (void)untyped_member;
-  return 2;
-}
-
-const void * get_const_function__InterfaceConfig__reserve(const void * untyped_member, size_t index)
-{
-  const auto & member =
-    *reinterpret_cast<const std::array<uint8_t, 2> *>(untyped_member);
-  return &member[index];
-}
-
-void * get_function__InterfaceConfig__reserve(void * untyped_member, size_t index)
-{
-  auto & member =
-    *reinterpret_cast<std::array<uint8_t, 2> *>(untyped_member);
-  return &member[index];
-}
-
-static const ::rosidl_typesupport_introspection_cpp::MessageMember InterfaceConfig_message_member_array[3] = {
-  {
-    "mode",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT8,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::InterfaceConfig, mode),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "value",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT8,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::InterfaceConfig, value),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "reserve",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT8,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    true,  // is array
-    2,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::InterfaceConfig, reserve),  // bytes offset in struct
-    nullptr,  // default value
-    size_function__InterfaceConfig__reserve,  // size() function pointer
-    get_const_function__InterfaceConfig__reserve,  // get_const(index) function pointer
-    get_function__InterfaceConfig__reserve,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  }
-};
-
-static const ::rosidl_typesupport_introspection_cpp::MessageMembers InterfaceConfig_message_members = {
-  "unitree_go::msg",  // message namespace
-  "InterfaceConfig",  // message name
-  3,  // number of fields
-  sizeof(unitree_go::msg::InterfaceConfig),
-  InterfaceConfig_message_member_array,  // message members
-  InterfaceConfig_init_function,  // function to initialize message memory (memory has to be allocated)
-  InterfaceConfig_fini_function  // function to terminate message instance (will not free memory)
-};
-
-static const rosidl_message_type_support_t InterfaceConfig_message_type_support_handle = {
-  ::rosidl_typesupport_introspection_cpp::typesupport_identifier,
-  &InterfaceConfig_message_members,
-  get_message_typesupport_handle_function,
-};
-
-}  // namespace rosidl_typesupport_introspection_cpp
-
-}  // namespace msg
-
-}  // namespace unitree_go
-
-
-namespace rosidl_typesupport_introspection_cpp
-{
-
-template<>
-ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
-const rosidl_message_type_support_t *
-get_message_type_support_handle<unitree_go::msg::InterfaceConfig>()
-{
-  return &::unitree_go::msg::rosidl_typesupport_introspection_cpp::InterfaceConfig_message_type_support_handle;
-}
-
-}  // namespace rosidl_typesupport_introspection_cpp
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_cpp, unitree_go, msg, InterfaceConfig)() {
-  return &::unitree_go::msg::rosidl_typesupport_introspection_cpp::InterfaceConfig_message_type_support_handle;
-}
-
-#ifdef __cplusplus
-}
-#endif
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/interface_config__type_support.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/interface_config__type_support.h
deleted file mode 100644
index e0e628f..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/interface_config__type_support.h
+++ /dev/null
@@ -1,33 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__type_support.h.em
-// with input from unitree_go:msg/InterfaceConfig.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__INTERFACE_CONFIG__TYPE_SUPPORT_H_
-#define UNITREE_GO__MSG__DETAIL__INTERFACE_CONFIG__TYPE_SUPPORT_H_
-
-#include "rosidl_typesupport_interface/macros.h"
-
-#include "unitree_go/msg/rosidl_generator_c__visibility_control.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-
-// Forward declare the get type support functions for this type.
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
-  rosidl_typesupport_c,
-  unitree_go,
-  msg,
-  InterfaceConfig
-)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__INTERFACE_CONFIG__TYPE_SUPPORT_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/interface_config__type_support.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/interface_config__type_support.hpp
deleted file mode 100644
index 5e96d7c..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/interface_config__type_support.hpp
+++ /dev/null
@@ -1,31 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__type_support.hpp.em
-// with input from unitree_go:msg/InterfaceConfig.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__INTERFACE_CONFIG__TYPE_SUPPORT_HPP_
-#define UNITREE_GO__MSG__DETAIL__INTERFACE_CONFIG__TYPE_SUPPORT_HPP_
-
-#include "rosidl_typesupport_interface/macros.h"
-
-#include "unitree_go/msg/rosidl_generator_cpp__visibility_control.hpp"
-
-#include "rosidl_typesupport_cpp/message_type_support.hpp"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-// Forward declare the get type support functions for this type.
-ROSIDL_GENERATOR_CPP_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
-  rosidl_typesupport_cpp,
-  unitree_go,
-  msg,
-  InterfaceConfig
-)();
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__INTERFACE_CONFIG__TYPE_SUPPORT_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/lidar_state__builder.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/lidar_state__builder.hpp
deleted file mode 100644
index b6689b9..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/lidar_state__builder.hpp
+++ /dev/null
@@ -1,311 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__builder.hpp.em
-// with input from unitree_go:msg/LidarState.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__LIDAR_STATE__BUILDER_HPP_
-#define UNITREE_GO__MSG__DETAIL__LIDAR_STATE__BUILDER_HPP_
-
-#include "unitree_go/msg/detail/lidar_state__struct.hpp"
-#include <rosidl_runtime_cpp/message_initialization.hpp>
-#include <algorithm>
-#include <utility>
-
-
-namespace unitree_go
-{
-
-namespace msg
-{
-
-namespace builder
-{
-
-class Init_LidarState_serial_buffer_read
-{
-public:
-  explicit Init_LidarState_serial_buffer_read(::unitree_go::msg::LidarState & msg)
-  : msg_(msg)
-  {}
-  ::unitree_go::msg::LidarState serial_buffer_read(::unitree_go::msg::LidarState::_serial_buffer_read_type arg)
-  {
-    msg_.serial_buffer_read = std::move(arg);
-    return std::move(msg_);
-  }
-
-private:
-  ::unitree_go::msg::LidarState msg_;
-};
-
-class Init_LidarState_serial_buffer_size
-{
-public:
-  explicit Init_LidarState_serial_buffer_size(::unitree_go::msg::LidarState & msg)
-  : msg_(msg)
-  {}
-  Init_LidarState_serial_buffer_read serial_buffer_size(::unitree_go::msg::LidarState::_serial_buffer_size_type arg)
-  {
-    msg_.serial_buffer_size = std::move(arg);
-    return Init_LidarState_serial_buffer_read(msg_);
-  }
-
-private:
-  ::unitree_go::msg::LidarState msg_;
-};
-
-class Init_LidarState_serial_recv_stamp
-{
-public:
-  explicit Init_LidarState_serial_recv_stamp(::unitree_go::msg::LidarState & msg)
-  : msg_(msg)
-  {}
-  Init_LidarState_serial_buffer_size serial_recv_stamp(::unitree_go::msg::LidarState::_serial_recv_stamp_type arg)
-  {
-    msg_.serial_recv_stamp = std::move(arg);
-    return Init_LidarState_serial_buffer_size(msg_);
-  }
-
-private:
-  ::unitree_go::msg::LidarState msg_;
-};
-
-class Init_LidarState_imu_rpy
-{
-public:
-  explicit Init_LidarState_imu_rpy(::unitree_go::msg::LidarState & msg)
-  : msg_(msg)
-  {}
-  Init_LidarState_serial_recv_stamp imu_rpy(::unitree_go::msg::LidarState::_imu_rpy_type arg)
-  {
-    msg_.imu_rpy = std::move(arg);
-    return Init_LidarState_serial_recv_stamp(msg_);
-  }
-
-private:
-  ::unitree_go::msg::LidarState msg_;
-};
-
-class Init_LidarState_imu_packet_loss_rate
-{
-public:
-  explicit Init_LidarState_imu_packet_loss_rate(::unitree_go::msg::LidarState & msg)
-  : msg_(msg)
-  {}
-  Init_LidarState_imu_rpy imu_packet_loss_rate(::unitree_go::msg::LidarState::_imu_packet_loss_rate_type arg)
-  {
-    msg_.imu_packet_loss_rate = std::move(arg);
-    return Init_LidarState_imu_rpy(msg_);
-  }
-
-private:
-  ::unitree_go::msg::LidarState msg_;
-};
-
-class Init_LidarState_imu_frequency
-{
-public:
-  explicit Init_LidarState_imu_frequency(::unitree_go::msg::LidarState & msg)
-  : msg_(msg)
-  {}
-  Init_LidarState_imu_packet_loss_rate imu_frequency(::unitree_go::msg::LidarState::_imu_frequency_type arg)
-  {
-    msg_.imu_frequency = std::move(arg);
-    return Init_LidarState_imu_packet_loss_rate(msg_);
-  }
-
-private:
-  ::unitree_go::msg::LidarState msg_;
-};
-
-class Init_LidarState_cloud_scan_num
-{
-public:
-  explicit Init_LidarState_cloud_scan_num(::unitree_go::msg::LidarState & msg)
-  : msg_(msg)
-  {}
-  Init_LidarState_imu_frequency cloud_scan_num(::unitree_go::msg::LidarState::_cloud_scan_num_type arg)
-  {
-    msg_.cloud_scan_num = std::move(arg);
-    return Init_LidarState_imu_frequency(msg_);
-  }
-
-private:
-  ::unitree_go::msg::LidarState msg_;
-};
-
-class Init_LidarState_cloud_size
-{
-public:
-  explicit Init_LidarState_cloud_size(::unitree_go::msg::LidarState & msg)
-  : msg_(msg)
-  {}
-  Init_LidarState_cloud_scan_num cloud_size(::unitree_go::msg::LidarState::_cloud_size_type arg)
-  {
-    msg_.cloud_size = std::move(arg);
-    return Init_LidarState_cloud_scan_num(msg_);
-  }
-
-private:
-  ::unitree_go::msg::LidarState msg_;
-};
-
-class Init_LidarState_cloud_packet_loss_rate
-{
-public:
-  explicit Init_LidarState_cloud_packet_loss_rate(::unitree_go::msg::LidarState & msg)
-  : msg_(msg)
-  {}
-  Init_LidarState_cloud_size cloud_packet_loss_rate(::unitree_go::msg::LidarState::_cloud_packet_loss_rate_type arg)
-  {
-    msg_.cloud_packet_loss_rate = std::move(arg);
-    return Init_LidarState_cloud_size(msg_);
-  }
-
-private:
-  ::unitree_go::msg::LidarState msg_;
-};
-
-class Init_LidarState_cloud_frequency
-{
-public:
-  explicit Init_LidarState_cloud_frequency(::unitree_go::msg::LidarState & msg)
-  : msg_(msg)
-  {}
-  Init_LidarState_cloud_packet_loss_rate cloud_frequency(::unitree_go::msg::LidarState::_cloud_frequency_type arg)
-  {
-    msg_.cloud_frequency = std::move(arg);
-    return Init_LidarState_cloud_packet_loss_rate(msg_);
-  }
-
-private:
-  ::unitree_go::msg::LidarState msg_;
-};
-
-class Init_LidarState_error_state
-{
-public:
-  explicit Init_LidarState_error_state(::unitree_go::msg::LidarState & msg)
-  : msg_(msg)
-  {}
-  Init_LidarState_cloud_frequency error_state(::unitree_go::msg::LidarState::_error_state_type arg)
-  {
-    msg_.error_state = std::move(arg);
-    return Init_LidarState_cloud_frequency(msg_);
-  }
-
-private:
-  ::unitree_go::msg::LidarState msg_;
-};
-
-class Init_LidarState_com_rotation_speed
-{
-public:
-  explicit Init_LidarState_com_rotation_speed(::unitree_go::msg::LidarState & msg)
-  : msg_(msg)
-  {}
-  Init_LidarState_error_state com_rotation_speed(::unitree_go::msg::LidarState::_com_rotation_speed_type arg)
-  {
-    msg_.com_rotation_speed = std::move(arg);
-    return Init_LidarState_error_state(msg_);
-  }
-
-private:
-  ::unitree_go::msg::LidarState msg_;
-};
-
-class Init_LidarState_sys_rotation_speed
-{
-public:
-  explicit Init_LidarState_sys_rotation_speed(::unitree_go::msg::LidarState & msg)
-  : msg_(msg)
-  {}
-  Init_LidarState_com_rotation_speed sys_rotation_speed(::unitree_go::msg::LidarState::_sys_rotation_speed_type arg)
-  {
-    msg_.sys_rotation_speed = std::move(arg);
-    return Init_LidarState_com_rotation_speed(msg_);
-  }
-
-private:
-  ::unitree_go::msg::LidarState msg_;
-};
-
-class Init_LidarState_sdk_version
-{
-public:
-  explicit Init_LidarState_sdk_version(::unitree_go::msg::LidarState & msg)
-  : msg_(msg)
-  {}
-  Init_LidarState_sys_rotation_speed sdk_version(::unitree_go::msg::LidarState::_sdk_version_type arg)
-  {
-    msg_.sdk_version = std::move(arg);
-    return Init_LidarState_sys_rotation_speed(msg_);
-  }
-
-private:
-  ::unitree_go::msg::LidarState msg_;
-};
-
-class Init_LidarState_software_version
-{
-public:
-  explicit Init_LidarState_software_version(::unitree_go::msg::LidarState & msg)
-  : msg_(msg)
-  {}
-  Init_LidarState_sdk_version software_version(::unitree_go::msg::LidarState::_software_version_type arg)
-  {
-    msg_.software_version = std::move(arg);
-    return Init_LidarState_sdk_version(msg_);
-  }
-
-private:
-  ::unitree_go::msg::LidarState msg_;
-};
-
-class Init_LidarState_firmware_version
-{
-public:
-  explicit Init_LidarState_firmware_version(::unitree_go::msg::LidarState & msg)
-  : msg_(msg)
-  {}
-  Init_LidarState_software_version firmware_version(::unitree_go::msg::LidarState::_firmware_version_type arg)
-  {
-    msg_.firmware_version = std::move(arg);
-    return Init_LidarState_software_version(msg_);
-  }
-
-private:
-  ::unitree_go::msg::LidarState msg_;
-};
-
-class Init_LidarState_stamp
-{
-public:
-  Init_LidarState_stamp()
-  : msg_(::rosidl_runtime_cpp::MessageInitialization::SKIP)
-  {}
-  Init_LidarState_firmware_version stamp(::unitree_go::msg::LidarState::_stamp_type arg)
-  {
-    msg_.stamp = std::move(arg);
-    return Init_LidarState_firmware_version(msg_);
-  }
-
-private:
-  ::unitree_go::msg::LidarState msg_;
-};
-
-}  // namespace builder
-
-}  // namespace msg
-
-template<typename MessageType>
-auto build();
-
-template<>
-inline
-auto build<::unitree_go::msg::LidarState>()
-{
-  return unitree_go::msg::builder::Init_LidarState_stamp();
-}
-
-}  // namespace unitree_go
-
-#endif  // UNITREE_GO__MSG__DETAIL__LIDAR_STATE__BUILDER_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/lidar_state__functions.c b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/lidar_state__functions.c
deleted file mode 100644
index 86a7388..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/lidar_state__functions.c
+++ /dev/null
@@ -1,402 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__functions.c.em
-// with input from unitree_go:msg/LidarState.idl
-// generated code does not contain a copyright notice
-#include "unitree_go/msg/detail/lidar_state__functions.h"
-
-#include <assert.h>
-#include <stdbool.h>
-#include <stdlib.h>
-#include <string.h>
-
-#include "rcutils/allocator.h"
-
-
-// Include directives for member types
-// Member `firmware_version`
-// Member `software_version`
-// Member `sdk_version`
-#include "rosidl_runtime_c/string_functions.h"
-
-bool
-unitree_go__msg__LidarState__init(unitree_go__msg__LidarState * msg)
-{
-  if (!msg) {
-    return false;
-  }
-  // stamp
-  // firmware_version
-  if (!rosidl_runtime_c__String__init(&msg->firmware_version)) {
-    unitree_go__msg__LidarState__fini(msg);
-    return false;
-  }
-  // software_version
-  if (!rosidl_runtime_c__String__init(&msg->software_version)) {
-    unitree_go__msg__LidarState__fini(msg);
-    return false;
-  }
-  // sdk_version
-  if (!rosidl_runtime_c__String__init(&msg->sdk_version)) {
-    unitree_go__msg__LidarState__fini(msg);
-    return false;
-  }
-  // sys_rotation_speed
-  // com_rotation_speed
-  // error_state
-  // cloud_frequency
-  // cloud_packet_loss_rate
-  // cloud_size
-  // cloud_scan_num
-  // imu_frequency
-  // imu_packet_loss_rate
-  // imu_rpy
-  // serial_recv_stamp
-  // serial_buffer_size
-  // serial_buffer_read
-  return true;
-}
-
-void
-unitree_go__msg__LidarState__fini(unitree_go__msg__LidarState * msg)
-{
-  if (!msg) {
-    return;
-  }
-  // stamp
-  // firmware_version
-  rosidl_runtime_c__String__fini(&msg->firmware_version);
-  // software_version
-  rosidl_runtime_c__String__fini(&msg->software_version);
-  // sdk_version
-  rosidl_runtime_c__String__fini(&msg->sdk_version);
-  // sys_rotation_speed
-  // com_rotation_speed
-  // error_state
-  // cloud_frequency
-  // cloud_packet_loss_rate
-  // cloud_size
-  // cloud_scan_num
-  // imu_frequency
-  // imu_packet_loss_rate
-  // imu_rpy
-  // serial_recv_stamp
-  // serial_buffer_size
-  // serial_buffer_read
-}
-
-bool
-unitree_go__msg__LidarState__are_equal(const unitree_go__msg__LidarState * lhs, const unitree_go__msg__LidarState * rhs)
-{
-  if (!lhs || !rhs) {
-    return false;
-  }
-  // stamp
-  if (lhs->stamp != rhs->stamp) {
-    return false;
-  }
-  // firmware_version
-  if (!rosidl_runtime_c__String__are_equal(
-      &(lhs->firmware_version), &(rhs->firmware_version)))
-  {
-    return false;
-  }
-  // software_version
-  if (!rosidl_runtime_c__String__are_equal(
-      &(lhs->software_version), &(rhs->software_version)))
-  {
-    return false;
-  }
-  // sdk_version
-  if (!rosidl_runtime_c__String__are_equal(
-      &(lhs->sdk_version), &(rhs->sdk_version)))
-  {
-    return false;
-  }
-  // sys_rotation_speed
-  if (lhs->sys_rotation_speed != rhs->sys_rotation_speed) {
-    return false;
-  }
-  // com_rotation_speed
-  if (lhs->com_rotation_speed != rhs->com_rotation_speed) {
-    return false;
-  }
-  // error_state
-  if (lhs->error_state != rhs->error_state) {
-    return false;
-  }
-  // cloud_frequency
-  if (lhs->cloud_frequency != rhs->cloud_frequency) {
-    return false;
-  }
-  // cloud_packet_loss_rate
-  if (lhs->cloud_packet_loss_rate != rhs->cloud_packet_loss_rate) {
-    return false;
-  }
-  // cloud_size
-  if (lhs->cloud_size != rhs->cloud_size) {
-    return false;
-  }
-  // cloud_scan_num
-  if (lhs->cloud_scan_num != rhs->cloud_scan_num) {
-    return false;
-  }
-  // imu_frequency
-  if (lhs->imu_frequency != rhs->imu_frequency) {
-    return false;
-  }
-  // imu_packet_loss_rate
-  if (lhs->imu_packet_loss_rate != rhs->imu_packet_loss_rate) {
-    return false;
-  }
-  // imu_rpy
-  for (size_t i = 0; i < 3; ++i) {
-    if (lhs->imu_rpy[i] != rhs->imu_rpy[i]) {
-      return false;
-    }
-  }
-  // serial_recv_stamp
-  if (lhs->serial_recv_stamp != rhs->serial_recv_stamp) {
-    return false;
-  }
-  // serial_buffer_size
-  if (lhs->serial_buffer_size != rhs->serial_buffer_size) {
-    return false;
-  }
-  // serial_buffer_read
-  if (lhs->serial_buffer_read != rhs->serial_buffer_read) {
-    return false;
-  }
-  return true;
-}
-
-bool
-unitree_go__msg__LidarState__copy(
-  const unitree_go__msg__LidarState * input,
-  unitree_go__msg__LidarState * output)
-{
-  if (!input || !output) {
-    return false;
-  }
-  // stamp
-  output->stamp = input->stamp;
-  // firmware_version
-  if (!rosidl_runtime_c__String__copy(
-      &(input->firmware_version), &(output->firmware_version)))
-  {
-    return false;
-  }
-  // software_version
-  if (!rosidl_runtime_c__String__copy(
-      &(input->software_version), &(output->software_version)))
-  {
-    return false;
-  }
-  // sdk_version
-  if (!rosidl_runtime_c__String__copy(
-      &(input->sdk_version), &(output->sdk_version)))
-  {
-    return false;
-  }
-  // sys_rotation_speed
-  output->sys_rotation_speed = input->sys_rotation_speed;
-  // com_rotation_speed
-  output->com_rotation_speed = input->com_rotation_speed;
-  // error_state
-  output->error_state = input->error_state;
-  // cloud_frequency
-  output->cloud_frequency = input->cloud_frequency;
-  // cloud_packet_loss_rate
-  output->cloud_packet_loss_rate = input->cloud_packet_loss_rate;
-  // cloud_size
-  output->cloud_size = input->cloud_size;
-  // cloud_scan_num
-  output->cloud_scan_num = input->cloud_scan_num;
-  // imu_frequency
-  output->imu_frequency = input->imu_frequency;
-  // imu_packet_loss_rate
-  output->imu_packet_loss_rate = input->imu_packet_loss_rate;
-  // imu_rpy
-  for (size_t i = 0; i < 3; ++i) {
-    output->imu_rpy[i] = input->imu_rpy[i];
-  }
-  // serial_recv_stamp
-  output->serial_recv_stamp = input->serial_recv_stamp;
-  // serial_buffer_size
-  output->serial_buffer_size = input->serial_buffer_size;
-  // serial_buffer_read
-  output->serial_buffer_read = input->serial_buffer_read;
-  return true;
-}
-
-unitree_go__msg__LidarState *
-unitree_go__msg__LidarState__create()
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  unitree_go__msg__LidarState * msg = (unitree_go__msg__LidarState *)allocator.allocate(sizeof(unitree_go__msg__LidarState), allocator.state);
-  if (!msg) {
-    return NULL;
-  }
-  memset(msg, 0, sizeof(unitree_go__msg__LidarState));
-  bool success = unitree_go__msg__LidarState__init(msg);
-  if (!success) {
-    allocator.deallocate(msg, allocator.state);
-    return NULL;
-  }
-  return msg;
-}
-
-void
-unitree_go__msg__LidarState__destroy(unitree_go__msg__LidarState * msg)
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  if (msg) {
-    unitree_go__msg__LidarState__fini(msg);
-  }
-  allocator.deallocate(msg, allocator.state);
-}
-
-
-bool
-unitree_go__msg__LidarState__Sequence__init(unitree_go__msg__LidarState__Sequence * array, size_t size)
-{
-  if (!array) {
-    return false;
-  }
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  unitree_go__msg__LidarState * data = NULL;
-
-  if (size) {
-    data = (unitree_go__msg__LidarState *)allocator.zero_allocate(size, sizeof(unitree_go__msg__LidarState), allocator.state);
-    if (!data) {
-      return false;
-    }
-    // initialize all array elements
-    size_t i;
-    for (i = 0; i < size; ++i) {
-      bool success = unitree_go__msg__LidarState__init(&data[i]);
-      if (!success) {
-        break;
-      }
-    }
-    if (i < size) {
-      // if initialization failed finalize the already initialized array elements
-      for (; i > 0; --i) {
-        unitree_go__msg__LidarState__fini(&data[i - 1]);
-      }
-      allocator.deallocate(data, allocator.state);
-      return false;
-    }
-  }
-  array->data = data;
-  array->size = size;
-  array->capacity = size;
-  return true;
-}
-
-void
-unitree_go__msg__LidarState__Sequence__fini(unitree_go__msg__LidarState__Sequence * array)
-{
-  if (!array) {
-    return;
-  }
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-
-  if (array->data) {
-    // ensure that data and capacity values are consistent
-    assert(array->capacity > 0);
-    // finalize all array elements
-    for (size_t i = 0; i < array->capacity; ++i) {
-      unitree_go__msg__LidarState__fini(&array->data[i]);
-    }
-    allocator.deallocate(array->data, allocator.state);
-    array->data = NULL;
-    array->size = 0;
-    array->capacity = 0;
-  } else {
-    // ensure that data, size, and capacity values are consistent
-    assert(0 == array->size);
-    assert(0 == array->capacity);
-  }
-}
-
-unitree_go__msg__LidarState__Sequence *
-unitree_go__msg__LidarState__Sequence__create(size_t size)
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  unitree_go__msg__LidarState__Sequence * array = (unitree_go__msg__LidarState__Sequence *)allocator.allocate(sizeof(unitree_go__msg__LidarState__Sequence), allocator.state);
-  if (!array) {
-    return NULL;
-  }
-  bool success = unitree_go__msg__LidarState__Sequence__init(array, size);
-  if (!success) {
-    allocator.deallocate(array, allocator.state);
-    return NULL;
-  }
-  return array;
-}
-
-void
-unitree_go__msg__LidarState__Sequence__destroy(unitree_go__msg__LidarState__Sequence * array)
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  if (array) {
-    unitree_go__msg__LidarState__Sequence__fini(array);
-  }
-  allocator.deallocate(array, allocator.state);
-}
-
-bool
-unitree_go__msg__LidarState__Sequence__are_equal(const unitree_go__msg__LidarState__Sequence * lhs, const unitree_go__msg__LidarState__Sequence * rhs)
-{
-  if (!lhs || !rhs) {
-    return false;
-  }
-  if (lhs->size != rhs->size) {
-    return false;
-  }
-  for (size_t i = 0; i < lhs->size; ++i) {
-    if (!unitree_go__msg__LidarState__are_equal(&(lhs->data[i]), &(rhs->data[i]))) {
-      return false;
-    }
-  }
-  return true;
-}
-
-bool
-unitree_go__msg__LidarState__Sequence__copy(
-  const unitree_go__msg__LidarState__Sequence * input,
-  unitree_go__msg__LidarState__Sequence * output)
-{
-  if (!input || !output) {
-    return false;
-  }
-  if (output->capacity < input->size) {
-    const size_t allocation_size =
-      input->size * sizeof(unitree_go__msg__LidarState);
-    unitree_go__msg__LidarState * data =
-      (unitree_go__msg__LidarState *)realloc(output->data, allocation_size);
-    if (!data) {
-      return false;
-    }
-    for (size_t i = output->capacity; i < input->size; ++i) {
-      if (!unitree_go__msg__LidarState__init(&data[i])) {
-        /* free currently allocated and return false */
-        for (; i-- > output->capacity; ) {
-          unitree_go__msg__LidarState__fini(&data[i]);
-        }
-        free(data);
-        return false;
-      }
-    }
-    output->data = data;
-    output->capacity = input->size;
-  }
-  output->size = input->size;
-  for (size_t i = 0; i < input->size; ++i) {
-    if (!unitree_go__msg__LidarState__copy(
-        &(input->data[i]), &(output->data[i])))
-    {
-      return false;
-    }
-  }
-  return true;
-}
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/lidar_state__functions.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/lidar_state__functions.h
deleted file mode 100644
index fd634b8..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/lidar_state__functions.h
+++ /dev/null
@@ -1,177 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__functions.h.em
-// with input from unitree_go:msg/LidarState.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__LIDAR_STATE__FUNCTIONS_H_
-#define UNITREE_GO__MSG__DETAIL__LIDAR_STATE__FUNCTIONS_H_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include <stdbool.h>
-#include <stdlib.h>
-
-#include "rosidl_runtime_c/visibility_control.h"
-#include "unitree_go/msg/rosidl_generator_c__visibility_control.h"
-
-#include "unitree_go/msg/detail/lidar_state__struct.h"
-
-/// Initialize msg/LidarState message.
-/**
- * If the init function is called twice for the same message without
- * calling fini inbetween previously allocated memory will be leaked.
- * \param[in,out] msg The previously allocated message pointer.
- * Fields without a default value will not be initialized by this function.
- * You might want to call memset(msg, 0, sizeof(
- * unitree_go__msg__LidarState
- * )) before or use
- * unitree_go__msg__LidarState__create()
- * to allocate and initialize the message.
- * \return true if initialization was successful, otherwise false
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__LidarState__init(unitree_go__msg__LidarState * msg);
-
-/// Finalize msg/LidarState message.
-/**
- * \param[in,out] msg The allocated message pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-void
-unitree_go__msg__LidarState__fini(unitree_go__msg__LidarState * msg);
-
-/// Create msg/LidarState message.
-/**
- * It allocates the memory for the message, sets the memory to zero, and
- * calls
- * unitree_go__msg__LidarState__init().
- * \return The pointer to the initialized message if successful,
- * otherwise NULL
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-unitree_go__msg__LidarState *
-unitree_go__msg__LidarState__create();
-
-/// Destroy msg/LidarState message.
-/**
- * It calls
- * unitree_go__msg__LidarState__fini()
- * and frees the memory of the message.
- * \param[in,out] msg The allocated message pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-void
-unitree_go__msg__LidarState__destroy(unitree_go__msg__LidarState * msg);
-
-/// Check for msg/LidarState message equality.
-/**
- * \param[in] lhs The message on the left hand size of the equality operator.
- * \param[in] rhs The message on the right hand size of the equality operator.
- * \return true if messages are equal, otherwise false.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__LidarState__are_equal(const unitree_go__msg__LidarState * lhs, const unitree_go__msg__LidarState * rhs);
-
-/// Copy a msg/LidarState message.
-/**
- * This functions performs a deep copy, as opposed to the shallow copy that
- * plain assignment yields.
- *
- * \param[in] input The source message pointer.
- * \param[out] output The target message pointer, which must
- *   have been initialized before calling this function.
- * \return true if successful, or false if either pointer is null
- *   or memory allocation fails.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__LidarState__copy(
-  const unitree_go__msg__LidarState * input,
-  unitree_go__msg__LidarState * output);
-
-/// Initialize array of msg/LidarState messages.
-/**
- * It allocates the memory for the number of elements and calls
- * unitree_go__msg__LidarState__init()
- * for each element of the array.
- * \param[in,out] array The allocated array pointer.
- * \param[in] size The size / capacity of the array.
- * \return true if initialization was successful, otherwise false
- * If the array pointer is valid and the size is zero it is guaranteed
- # to return true.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__LidarState__Sequence__init(unitree_go__msg__LidarState__Sequence * array, size_t size);
-
-/// Finalize array of msg/LidarState messages.
-/**
- * It calls
- * unitree_go__msg__LidarState__fini()
- * for each element of the array and frees the memory for the number of
- * elements.
- * \param[in,out] array The initialized array pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-void
-unitree_go__msg__LidarState__Sequence__fini(unitree_go__msg__LidarState__Sequence * array);
-
-/// Create array of msg/LidarState messages.
-/**
- * It allocates the memory for the array and calls
- * unitree_go__msg__LidarState__Sequence__init().
- * \param[in] size The size / capacity of the array.
- * \return The pointer to the initialized array if successful, otherwise NULL
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-unitree_go__msg__LidarState__Sequence *
-unitree_go__msg__LidarState__Sequence__create(size_t size);
-
-/// Destroy array of msg/LidarState messages.
-/**
- * It calls
- * unitree_go__msg__LidarState__Sequence__fini()
- * on the array,
- * and frees the memory of the array.
- * \param[in,out] array The initialized array pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-void
-unitree_go__msg__LidarState__Sequence__destroy(unitree_go__msg__LidarState__Sequence * array);
-
-/// Check for msg/LidarState message array equality.
-/**
- * \param[in] lhs The message array on the left hand size of the equality operator.
- * \param[in] rhs The message array on the right hand size of the equality operator.
- * \return true if message arrays are equal in size and content, otherwise false.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__LidarState__Sequence__are_equal(const unitree_go__msg__LidarState__Sequence * lhs, const unitree_go__msg__LidarState__Sequence * rhs);
-
-/// Copy an array of msg/LidarState messages.
-/**
- * This functions performs a deep copy, as opposed to the shallow copy that
- * plain assignment yields.
- *
- * \param[in] input The source array pointer.
- * \param[out] output The target array pointer, which must
- *   have been initialized before calling this function.
- * \return true if successful, or false if either pointer
- *   is null or memory allocation fails.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__LidarState__Sequence__copy(
-  const unitree_go__msg__LidarState__Sequence * input,
-  unitree_go__msg__LidarState__Sequence * output);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__LIDAR_STATE__FUNCTIONS_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/lidar_state__rosidl_typesupport_fastrtps_c.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/lidar_state__rosidl_typesupport_fastrtps_c.h
deleted file mode 100644
index 54e4d69..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/lidar_state__rosidl_typesupport_fastrtps_c.h
+++ /dev/null
@@ -1,36 +0,0 @@
-// generated from rosidl_typesupport_fastrtps_c/resource/idl__rosidl_typesupport_fastrtps_c.h.em
-// with input from unitree_go:msg/LidarState.idl
-// generated code does not contain a copyright notice
-#ifndef UNITREE_GO__MSG__DETAIL__LIDAR_STATE__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_
-#define UNITREE_GO__MSG__DETAIL__LIDAR_STATE__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_
-
-
-#include <stddef.h>
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_go/msg/rosidl_typesupport_fastrtps_c__visibility_control.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_go
-size_t get_serialized_size_unitree_go__msg__LidarState(
-  const void * untyped_ros_message,
-  size_t current_alignment);
-
-ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_go
-size_t max_serialized_size_unitree_go__msg__LidarState(
-  bool & full_bounded,
-  size_t current_alignment);
-
-ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_fastrtps_c, unitree_go, msg, LidarState)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__LIDAR_STATE__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/lidar_state__rosidl_typesupport_fastrtps_cpp.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/lidar_state__rosidl_typesupport_fastrtps_cpp.hpp
deleted file mode 100644
index 1ea1cc1..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/lidar_state__rosidl_typesupport_fastrtps_cpp.hpp
+++ /dev/null
@@ -1,79 +0,0 @@
-// generated from rosidl_typesupport_fastrtps_cpp/resource/idl__rosidl_typesupport_fastrtps_cpp.hpp.em
-// with input from unitree_go:msg/LidarState.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__LIDAR_STATE__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_
-#define UNITREE_GO__MSG__DETAIL__LIDAR_STATE__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_go/msg/rosidl_typesupport_fastrtps_cpp__visibility_control.h"
-#include "unitree_go/msg/detail/lidar_state__struct.hpp"
-
-#ifndef _WIN32
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wunused-parameter"
-# ifdef __clang__
-#  pragma clang diagnostic ignored "-Wdeprecated-register"
-#  pragma clang diagnostic ignored "-Wreturn-type-c-linkage"
-# endif
-#endif
-#ifndef _WIN32
-# pragma GCC diagnostic pop
-#endif
-
-#include "fastcdr/Cdr.h"
-
-namespace unitree_go
-{
-
-namespace msg
-{
-
-namespace typesupport_fastrtps_cpp
-{
-
-bool
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-cdr_serialize(
-  const unitree_go::msg::LidarState & ros_message,
-  eprosima::fastcdr::Cdr & cdr);
-
-bool
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-cdr_deserialize(
-  eprosima::fastcdr::Cdr & cdr,
-  unitree_go::msg::LidarState & ros_message);
-
-size_t
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-get_serialized_size(
-  const unitree_go::msg::LidarState & ros_message,
-  size_t current_alignment);
-
-size_t
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-max_serialized_size_LidarState(
-  bool & full_bounded,
-  size_t current_alignment);
-
-}  // namespace typesupport_fastrtps_cpp
-
-}  // namespace msg
-
-}  // namespace unitree_go
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_fastrtps_cpp, unitree_go, msg, LidarState)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__LIDAR_STATE__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/lidar_state__rosidl_typesupport_introspection_c.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/lidar_state__rosidl_typesupport_introspection_c.h
deleted file mode 100644
index 322636c..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/lidar_state__rosidl_typesupport_introspection_c.h
+++ /dev/null
@@ -1,26 +0,0 @@
-// generated from rosidl_typesupport_introspection_c/resource/idl__rosidl_typesupport_introspection_c.h.em
-// with input from unitree_go:msg/LidarState.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__LIDAR_STATE__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
-#define UNITREE_GO__MSG__DETAIL__LIDAR_STATE__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_go/msg/rosidl_typesupport_introspection_c__visibility_control.h"
-
-ROSIDL_TYPESUPPORT_INTROSPECTION_C_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, unitree_go, msg, LidarState)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__LIDAR_STATE__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/lidar_state__rosidl_typesupport_introspection_cpp.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/lidar_state__rosidl_typesupport_introspection_cpp.hpp
deleted file mode 100644
index 460abde..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/lidar_state__rosidl_typesupport_introspection_cpp.hpp
+++ /dev/null
@@ -1,27 +0,0 @@
-// generated from rosidl_typesupport_introspection_cpp/resource/idl__rosidl_typesupport_introspection_cpp.h.em
-// with input from unitree_go:msg/LidarState.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__LIDAR_STATE__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_
-#define UNITREE_GO__MSG__DETAIL__LIDAR_STATE__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_
-
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "rosidl_typesupport_introspection_cpp/visibility_control.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-// TODO(dirk-thomas) these visibility macros should be message package specific
-ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
-const rosidl_message_type_support_t *
-  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_cpp, unitree_go, msg, LidarState)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__LIDAR_STATE__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/lidar_state__struct.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/lidar_state__struct.h
deleted file mode 100644
index b7929f1..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/lidar_state__struct.h
+++ /dev/null
@@ -1,62 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__struct.h.em
-// with input from unitree_go:msg/LidarState.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__LIDAR_STATE__STRUCT_H_
-#define UNITREE_GO__MSG__DETAIL__LIDAR_STATE__STRUCT_H_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include <stdbool.h>
-#include <stddef.h>
-#include <stdint.h>
-
-
-// Constants defined in the message
-
-// Include directives for member types
-// Member 'firmware_version'
-// Member 'software_version'
-// Member 'sdk_version'
-#include "rosidl_runtime_c/string.h"
-
-// Struct defined in msg/LidarState in the package unitree_go.
-typedef struct unitree_go__msg__LidarState
-{
-  double stamp;
-  rosidl_runtime_c__String firmware_version;
-  rosidl_runtime_c__String software_version;
-  rosidl_runtime_c__String sdk_version;
-  float sys_rotation_speed;
-  float com_rotation_speed;
-  uint8_t error_state;
-  float cloud_frequency;
-  float cloud_packet_loss_rate;
-  uint32_t cloud_size;
-  uint32_t cloud_scan_num;
-  float imu_frequency;
-  float imu_packet_loss_rate;
-  float imu_rpy[3];
-  double serial_recv_stamp;
-  uint32_t serial_buffer_size;
-  uint32_t serial_buffer_read;
-} unitree_go__msg__LidarState;
-
-// Struct for a sequence of unitree_go__msg__LidarState.
-typedef struct unitree_go__msg__LidarState__Sequence
-{
-  unitree_go__msg__LidarState * data;
-  /// The number of valid items in data
-  size_t size;
-  /// The number of allocated items in data
-  size_t capacity;
-} unitree_go__msg__LidarState__Sequence;
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__LIDAR_STATE__STRUCT_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/lidar_state__struct.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/lidar_state__struct.hpp
deleted file mode 100644
index d2726c5..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/lidar_state__struct.hpp
+++ /dev/null
@@ -1,357 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__struct.hpp.em
-// with input from unitree_go:msg/LidarState.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__LIDAR_STATE__STRUCT_HPP_
-#define UNITREE_GO__MSG__DETAIL__LIDAR_STATE__STRUCT_HPP_
-
-#include <rosidl_runtime_cpp/bounded_vector.hpp>
-#include <rosidl_runtime_cpp/message_initialization.hpp>
-#include <algorithm>
-#include <array>
-#include <memory>
-#include <string>
-#include <vector>
-
-
-#ifndef _WIN32
-# define DEPRECATED__unitree_go__msg__LidarState __attribute__((deprecated))
-#else
-# define DEPRECATED__unitree_go__msg__LidarState __declspec(deprecated)
-#endif
-
-namespace unitree_go
-{
-
-namespace msg
-{
-
-// message struct
-template<class ContainerAllocator>
-struct LidarState_
-{
-  using Type = LidarState_<ContainerAllocator>;
-
-  explicit LidarState_(rosidl_runtime_cpp::MessageInitialization _init = rosidl_runtime_cpp::MessageInitialization::ALL)
-  {
-    if (rosidl_runtime_cpp::MessageInitialization::ALL == _init ||
-      rosidl_runtime_cpp::MessageInitialization::ZERO == _init)
-    {
-      this->stamp = 0.0;
-      this->firmware_version = "";
-      this->software_version = "";
-      this->sdk_version = "";
-      this->sys_rotation_speed = 0.0f;
-      this->com_rotation_speed = 0.0f;
-      this->error_state = 0;
-      this->cloud_frequency = 0.0f;
-      this->cloud_packet_loss_rate = 0.0f;
-      this->cloud_size = 0ul;
-      this->cloud_scan_num = 0ul;
-      this->imu_frequency = 0.0f;
-      this->imu_packet_loss_rate = 0.0f;
-      std::fill<typename std::array<float, 3>::iterator, float>(this->imu_rpy.begin(), this->imu_rpy.end(), 0.0f);
-      this->serial_recv_stamp = 0.0;
-      this->serial_buffer_size = 0ul;
-      this->serial_buffer_read = 0ul;
-    }
-  }
-
-  explicit LidarState_(const ContainerAllocator & _alloc, rosidl_runtime_cpp::MessageInitialization _init = rosidl_runtime_cpp::MessageInitialization::ALL)
-  : firmware_version(_alloc),
-    software_version(_alloc),
-    sdk_version(_alloc),
-    imu_rpy(_alloc)
-  {
-    if (rosidl_runtime_cpp::MessageInitialization::ALL == _init ||
-      rosidl_runtime_cpp::MessageInitialization::ZERO == _init)
-    {
-      this->stamp = 0.0;
-      this->firmware_version = "";
-      this->software_version = "";
-      this->sdk_version = "";
-      this->sys_rotation_speed = 0.0f;
-      this->com_rotation_speed = 0.0f;
-      this->error_state = 0;
-      this->cloud_frequency = 0.0f;
-      this->cloud_packet_loss_rate = 0.0f;
-      this->cloud_size = 0ul;
-      this->cloud_scan_num = 0ul;
-      this->imu_frequency = 0.0f;
-      this->imu_packet_loss_rate = 0.0f;
-      std::fill<typename std::array<float, 3>::iterator, float>(this->imu_rpy.begin(), this->imu_rpy.end(), 0.0f);
-      this->serial_recv_stamp = 0.0;
-      this->serial_buffer_size = 0ul;
-      this->serial_buffer_read = 0ul;
-    }
-  }
-
-  // field types and members
-  using _stamp_type =
-    double;
-  _stamp_type stamp;
-  using _firmware_version_type =
-    std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other>;
-  _firmware_version_type firmware_version;
-  using _software_version_type =
-    std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other>;
-  _software_version_type software_version;
-  using _sdk_version_type =
-    std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other>;
-  _sdk_version_type sdk_version;
-  using _sys_rotation_speed_type =
-    float;
-  _sys_rotation_speed_type sys_rotation_speed;
-  using _com_rotation_speed_type =
-    float;
-  _com_rotation_speed_type com_rotation_speed;
-  using _error_state_type =
-    uint8_t;
-  _error_state_type error_state;
-  using _cloud_frequency_type =
-    float;
-  _cloud_frequency_type cloud_frequency;
-  using _cloud_packet_loss_rate_type =
-    float;
-  _cloud_packet_loss_rate_type cloud_packet_loss_rate;
-  using _cloud_size_type =
-    uint32_t;
-  _cloud_size_type cloud_size;
-  using _cloud_scan_num_type =
-    uint32_t;
-  _cloud_scan_num_type cloud_scan_num;
-  using _imu_frequency_type =
-    float;
-  _imu_frequency_type imu_frequency;
-  using _imu_packet_loss_rate_type =
-    float;
-  _imu_packet_loss_rate_type imu_packet_loss_rate;
-  using _imu_rpy_type =
-    std::array<float, 3>;
-  _imu_rpy_type imu_rpy;
-  using _serial_recv_stamp_type =
-    double;
-  _serial_recv_stamp_type serial_recv_stamp;
-  using _serial_buffer_size_type =
-    uint32_t;
-  _serial_buffer_size_type serial_buffer_size;
-  using _serial_buffer_read_type =
-    uint32_t;
-  _serial_buffer_read_type serial_buffer_read;
-
-  // setters for named parameter idiom
-  Type & set__stamp(
-    const double & _arg)
-  {
-    this->stamp = _arg;
-    return *this;
-  }
-  Type & set__firmware_version(
-    const std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other> & _arg)
-  {
-    this->firmware_version = _arg;
-    return *this;
-  }
-  Type & set__software_version(
-    const std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other> & _arg)
-  {
-    this->software_version = _arg;
-    return *this;
-  }
-  Type & set__sdk_version(
-    const std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other> & _arg)
-  {
-    this->sdk_version = _arg;
-    return *this;
-  }
-  Type & set__sys_rotation_speed(
-    const float & _arg)
-  {
-    this->sys_rotation_speed = _arg;
-    return *this;
-  }
-  Type & set__com_rotation_speed(
-    const float & _arg)
-  {
-    this->com_rotation_speed = _arg;
-    return *this;
-  }
-  Type & set__error_state(
-    const uint8_t & _arg)
-  {
-    this->error_state = _arg;
-    return *this;
-  }
-  Type & set__cloud_frequency(
-    const float & _arg)
-  {
-    this->cloud_frequency = _arg;
-    return *this;
-  }
-  Type & set__cloud_packet_loss_rate(
-    const float & _arg)
-  {
-    this->cloud_packet_loss_rate = _arg;
-    return *this;
-  }
-  Type & set__cloud_size(
-    const uint32_t & _arg)
-  {
-    this->cloud_size = _arg;
-    return *this;
-  }
-  Type & set__cloud_scan_num(
-    const uint32_t & _arg)
-  {
-    this->cloud_scan_num = _arg;
-    return *this;
-  }
-  Type & set__imu_frequency(
-    const float & _arg)
-  {
-    this->imu_frequency = _arg;
-    return *this;
-  }
-  Type & set__imu_packet_loss_rate(
-    const float & _arg)
-  {
-    this->imu_packet_loss_rate = _arg;
-    return *this;
-  }
-  Type & set__imu_rpy(
-    const std::array<float, 3> & _arg)
-  {
-    this->imu_rpy = _arg;
-    return *this;
-  }
-  Type & set__serial_recv_stamp(
-    const double & _arg)
-  {
-    this->serial_recv_stamp = _arg;
-    return *this;
-  }
-  Type & set__serial_buffer_size(
-    const uint32_t & _arg)
-  {
-    this->serial_buffer_size = _arg;
-    return *this;
-  }
-  Type & set__serial_buffer_read(
-    const uint32_t & _arg)
-  {
-    this->serial_buffer_read = _arg;
-    return *this;
-  }
-
-  // constant declarations
-
-  // pointer types
-  using RawPtr =
-    unitree_go::msg::LidarState_<ContainerAllocator> *;
-  using ConstRawPtr =
-    const unitree_go::msg::LidarState_<ContainerAllocator> *;
-  using SharedPtr =
-    std::shared_ptr<unitree_go::msg::LidarState_<ContainerAllocator>>;
-  using ConstSharedPtr =
-    std::shared_ptr<unitree_go::msg::LidarState_<ContainerAllocator> const>;
-
-  template<typename Deleter = std::default_delete<
-      unitree_go::msg::LidarState_<ContainerAllocator>>>
-  using UniquePtrWithDeleter =
-    std::unique_ptr<unitree_go::msg::LidarState_<ContainerAllocator>, Deleter>;
-
-  using UniquePtr = UniquePtrWithDeleter<>;
-
-  template<typename Deleter = std::default_delete<
-      unitree_go::msg::LidarState_<ContainerAllocator>>>
-  using ConstUniquePtrWithDeleter =
-    std::unique_ptr<unitree_go::msg::LidarState_<ContainerAllocator> const, Deleter>;
-  using ConstUniquePtr = ConstUniquePtrWithDeleter<>;
-
-  using WeakPtr =
-    std::weak_ptr<unitree_go::msg::LidarState_<ContainerAllocator>>;
-  using ConstWeakPtr =
-    std::weak_ptr<unitree_go::msg::LidarState_<ContainerAllocator> const>;
-
-  // pointer types similar to ROS 1, use SharedPtr / ConstSharedPtr instead
-  // NOTE: Can't use 'using' here because GNU C++ can't parse attributes properly
-  typedef DEPRECATED__unitree_go__msg__LidarState
-    std::shared_ptr<unitree_go::msg::LidarState_<ContainerAllocator>>
-    Ptr;
-  typedef DEPRECATED__unitree_go__msg__LidarState
-    std::shared_ptr<unitree_go::msg::LidarState_<ContainerAllocator> const>
-    ConstPtr;
-
-  // comparison operators
-  bool operator==(const LidarState_ & other) const
-  {
-    if (this->stamp != other.stamp) {
-      return false;
-    }
-    if (this->firmware_version != other.firmware_version) {
-      return false;
-    }
-    if (this->software_version != other.software_version) {
-      return false;
-    }
-    if (this->sdk_version != other.sdk_version) {
-      return false;
-    }
-    if (this->sys_rotation_speed != other.sys_rotation_speed) {
-      return false;
-    }
-    if (this->com_rotation_speed != other.com_rotation_speed) {
-      return false;
-    }
-    if (this->error_state != other.error_state) {
-      return false;
-    }
-    if (this->cloud_frequency != other.cloud_frequency) {
-      return false;
-    }
-    if (this->cloud_packet_loss_rate != other.cloud_packet_loss_rate) {
-      return false;
-    }
-    if (this->cloud_size != other.cloud_size) {
-      return false;
-    }
-    if (this->cloud_scan_num != other.cloud_scan_num) {
-      return false;
-    }
-    if (this->imu_frequency != other.imu_frequency) {
-      return false;
-    }
-    if (this->imu_packet_loss_rate != other.imu_packet_loss_rate) {
-      return false;
-    }
-    if (this->imu_rpy != other.imu_rpy) {
-      return false;
-    }
-    if (this->serial_recv_stamp != other.serial_recv_stamp) {
-      return false;
-    }
-    if (this->serial_buffer_size != other.serial_buffer_size) {
-      return false;
-    }
-    if (this->serial_buffer_read != other.serial_buffer_read) {
-      return false;
-    }
-    return true;
-  }
-  bool operator!=(const LidarState_ & other) const
-  {
-    return !this->operator==(other);
-  }
-};  // struct LidarState_
-
-// alias to use template instance with default allocator
-using LidarState =
-  unitree_go::msg::LidarState_<std::allocator<void>>;
-
-// constant definitions
-
-}  // namespace msg
-
-}  // namespace unitree_go
-
-#endif  // UNITREE_GO__MSG__DETAIL__LIDAR_STATE__STRUCT_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/lidar_state__traits.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/lidar_state__traits.hpp
deleted file mode 100644
index 038aac7..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/lidar_state__traits.hpp
+++ /dev/null
@@ -1,42 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__traits.hpp.em
-// with input from unitree_go:msg/LidarState.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__LIDAR_STATE__TRAITS_HPP_
-#define UNITREE_GO__MSG__DETAIL__LIDAR_STATE__TRAITS_HPP_
-
-#include "unitree_go/msg/detail/lidar_state__struct.hpp"
-#include <rosidl_runtime_cpp/traits.hpp>
-#include <stdint.h>
-#include <type_traits>
-
-namespace rosidl_generator_traits
-{
-
-template<>
-inline const char * data_type<unitree_go::msg::LidarState>()
-{
-  return "unitree_go::msg::LidarState";
-}
-
-template<>
-inline const char * name<unitree_go::msg::LidarState>()
-{
-  return "unitree_go/msg/LidarState";
-}
-
-template<>
-struct has_fixed_size<unitree_go::msg::LidarState>
-  : std::integral_constant<bool, false> {};
-
-template<>
-struct has_bounded_size<unitree_go::msg::LidarState>
-  : std::integral_constant<bool, false> {};
-
-template<>
-struct is_message<unitree_go::msg::LidarState>
-  : std::true_type {};
-
-}  // namespace rosidl_generator_traits
-
-#endif  // UNITREE_GO__MSG__DETAIL__LIDAR_STATE__TRAITS_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/lidar_state__type_support.c b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/lidar_state__type_support.c
deleted file mode 100644
index 455c5eb..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/lidar_state__type_support.c
+++ /dev/null
@@ -1,327 +0,0 @@
-// generated from rosidl_typesupport_introspection_c/resource/idl__type_support.c.em
-// with input from unitree_go:msg/LidarState.idl
-// generated code does not contain a copyright notice
-
-#include <stddef.h>
-#include "unitree_go/msg/detail/lidar_state__rosidl_typesupport_introspection_c.h"
-#include "unitree_go/msg/rosidl_typesupport_introspection_c__visibility_control.h"
-#include "rosidl_typesupport_introspection_c/field_types.h"
-#include "rosidl_typesupport_introspection_c/identifier.h"
-#include "rosidl_typesupport_introspection_c/message_introspection.h"
-#include "unitree_go/msg/detail/lidar_state__functions.h"
-#include "unitree_go/msg/detail/lidar_state__struct.h"
-
-
-// Include directives for member types
-// Member `firmware_version`
-// Member `software_version`
-// Member `sdk_version`
-#include "rosidl_runtime_c/string_functions.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-void LidarState__rosidl_typesupport_introspection_c__LidarState_init_function(
-  void * message_memory, enum rosidl_runtime_c__message_initialization _init)
-{
-  // TODO(karsten1987): initializers are not yet implemented for typesupport c
-  // see https://github.com/ros2/ros2/issues/397
-  (void) _init;
-  unitree_go__msg__LidarState__init(message_memory);
-}
-
-void LidarState__rosidl_typesupport_introspection_c__LidarState_fini_function(void * message_memory)
-{
-  unitree_go__msg__LidarState__fini(message_memory);
-}
-
-static rosidl_typesupport_introspection_c__MessageMember LidarState__rosidl_typesupport_introspection_c__LidarState_message_member_array[17] = {
-  {
-    "stamp",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_DOUBLE,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__LidarState, stamp),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "firmware_version",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_STRING,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__LidarState, firmware_version),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "software_version",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_STRING,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__LidarState, software_version),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "sdk_version",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_STRING,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__LidarState, sdk_version),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "sys_rotation_speed",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__LidarState, sys_rotation_speed),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "com_rotation_speed",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__LidarState, com_rotation_speed),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "error_state",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_UINT8,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__LidarState, error_state),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "cloud_frequency",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__LidarState, cloud_frequency),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "cloud_packet_loss_rate",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__LidarState, cloud_packet_loss_rate),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "cloud_size",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_UINT32,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__LidarState, cloud_size),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "cloud_scan_num",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_UINT32,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__LidarState, cloud_scan_num),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "imu_frequency",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__LidarState, imu_frequency),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "imu_packet_loss_rate",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__LidarState, imu_packet_loss_rate),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "imu_rpy",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    true,  // is array
-    3,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__LidarState, imu_rpy),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "serial_recv_stamp",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_DOUBLE,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__LidarState, serial_recv_stamp),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "serial_buffer_size",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_UINT32,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__LidarState, serial_buffer_size),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "serial_buffer_read",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_UINT32,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__LidarState, serial_buffer_read),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  }
-};
-
-static const rosidl_typesupport_introspection_c__MessageMembers LidarState__rosidl_typesupport_introspection_c__LidarState_message_members = {
-  "unitree_go__msg",  // message namespace
-  "LidarState",  // message name
-  17,  // number of fields
-  sizeof(unitree_go__msg__LidarState),
-  LidarState__rosidl_typesupport_introspection_c__LidarState_message_member_array,  // message members
-  LidarState__rosidl_typesupport_introspection_c__LidarState_init_function,  // function to initialize message memory (memory has to be allocated)
-  LidarState__rosidl_typesupport_introspection_c__LidarState_fini_function  // function to terminate message instance (will not free memory)
-};
-
-// this is not const since it must be initialized on first access
-// since C does not allow non-integral compile-time constants
-static rosidl_message_type_support_t LidarState__rosidl_typesupport_introspection_c__LidarState_message_type_support_handle = {
-  0,
-  &LidarState__rosidl_typesupport_introspection_c__LidarState_message_members,
-  get_message_typesupport_handle_function,
-};
-
-ROSIDL_TYPESUPPORT_INTROSPECTION_C_EXPORT_unitree_go
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, unitree_go, msg, LidarState)() {
-  if (!LidarState__rosidl_typesupport_introspection_c__LidarState_message_type_support_handle.typesupport_identifier) {
-    LidarState__rosidl_typesupport_introspection_c__LidarState_message_type_support_handle.typesupport_identifier =
-      rosidl_typesupport_introspection_c__identifier;
-  }
-  return &LidarState__rosidl_typesupport_introspection_c__LidarState_message_type_support_handle;
-}
-#ifdef __cplusplus
-}
-#endif
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/lidar_state__type_support.cpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/lidar_state__type_support.cpp
deleted file mode 100644
index 7678ec7..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/lidar_state__type_support.cpp
+++ /dev/null
@@ -1,367 +0,0 @@
-// generated from rosidl_typesupport_introspection_cpp/resource/idl__type_support.cpp.em
-// with input from unitree_go:msg/LidarState.idl
-// generated code does not contain a copyright notice
-
-#include "array"
-#include "cstddef"
-#include "string"
-#include "vector"
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_cpp/message_type_support.hpp"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_go/msg/detail/lidar_state__struct.hpp"
-#include "rosidl_typesupport_introspection_cpp/field_types.hpp"
-#include "rosidl_typesupport_introspection_cpp/identifier.hpp"
-#include "rosidl_typesupport_introspection_cpp/message_introspection.hpp"
-#include "rosidl_typesupport_introspection_cpp/message_type_support_decl.hpp"
-#include "rosidl_typesupport_introspection_cpp/visibility_control.h"
-
-namespace unitree_go
-{
-
-namespace msg
-{
-
-namespace rosidl_typesupport_introspection_cpp
-{
-
-void LidarState_init_function(
-  void * message_memory, rosidl_runtime_cpp::MessageInitialization _init)
-{
-  new (message_memory) unitree_go::msg::LidarState(_init);
-}
-
-void LidarState_fini_function(void * message_memory)
-{
-  auto typed_message = static_cast<unitree_go::msg::LidarState *>(message_memory);
-  typed_message->~LidarState();
-}
-
-size_t size_function__LidarState__imu_rpy(const void * untyped_member)
-{
-  (void)untyped_member;
-  return 3;
-}
-
-const void * get_const_function__LidarState__imu_rpy(const void * untyped_member, size_t index)
-{
-  const auto & member =
-    *reinterpret_cast<const std::array<float, 3> *>(untyped_member);
-  return &member[index];
-}
-
-void * get_function__LidarState__imu_rpy(void * untyped_member, size_t index)
-{
-  auto & member =
-    *reinterpret_cast<std::array<float, 3> *>(untyped_member);
-  return &member[index];
-}
-
-static const ::rosidl_typesupport_introspection_cpp::MessageMember LidarState_message_member_array[17] = {
-  {
-    "stamp",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_DOUBLE,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::LidarState, stamp),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "firmware_version",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_STRING,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::LidarState, firmware_version),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "software_version",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_STRING,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::LidarState, software_version),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "sdk_version",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_STRING,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::LidarState, sdk_version),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "sys_rotation_speed",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::LidarState, sys_rotation_speed),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "com_rotation_speed",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::LidarState, com_rotation_speed),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "error_state",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT8,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::LidarState, error_state),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "cloud_frequency",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::LidarState, cloud_frequency),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "cloud_packet_loss_rate",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::LidarState, cloud_packet_loss_rate),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "cloud_size",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT32,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::LidarState, cloud_size),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "cloud_scan_num",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT32,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::LidarState, cloud_scan_num),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "imu_frequency",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::LidarState, imu_frequency),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "imu_packet_loss_rate",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::LidarState, imu_packet_loss_rate),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "imu_rpy",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    true,  // is array
-    3,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::LidarState, imu_rpy),  // bytes offset in struct
-    nullptr,  // default value
-    size_function__LidarState__imu_rpy,  // size() function pointer
-    get_const_function__LidarState__imu_rpy,  // get_const(index) function pointer
-    get_function__LidarState__imu_rpy,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "serial_recv_stamp",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_DOUBLE,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::LidarState, serial_recv_stamp),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "serial_buffer_size",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT32,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::LidarState, serial_buffer_size),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "serial_buffer_read",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT32,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::LidarState, serial_buffer_read),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  }
-};
-
-static const ::rosidl_typesupport_introspection_cpp::MessageMembers LidarState_message_members = {
-  "unitree_go::msg",  // message namespace
-  "LidarState",  // message name
-  17,  // number of fields
-  sizeof(unitree_go::msg::LidarState),
-  LidarState_message_member_array,  // message members
-  LidarState_init_function,  // function to initialize message memory (memory has to be allocated)
-  LidarState_fini_function  // function to terminate message instance (will not free memory)
-};
-
-static const rosidl_message_type_support_t LidarState_message_type_support_handle = {
-  ::rosidl_typesupport_introspection_cpp::typesupport_identifier,
-  &LidarState_message_members,
-  get_message_typesupport_handle_function,
-};
-
-}  // namespace rosidl_typesupport_introspection_cpp
-
-}  // namespace msg
-
-}  // namespace unitree_go
-
-
-namespace rosidl_typesupport_introspection_cpp
-{
-
-template<>
-ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
-const rosidl_message_type_support_t *
-get_message_type_support_handle<unitree_go::msg::LidarState>()
-{
-  return &::unitree_go::msg::rosidl_typesupport_introspection_cpp::LidarState_message_type_support_handle;
-}
-
-}  // namespace rosidl_typesupport_introspection_cpp
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_cpp, unitree_go, msg, LidarState)() {
-  return &::unitree_go::msg::rosidl_typesupport_introspection_cpp::LidarState_message_type_support_handle;
-}
-
-#ifdef __cplusplus
-}
-#endif
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/lidar_state__type_support.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/lidar_state__type_support.h
deleted file mode 100644
index 254eac6..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/lidar_state__type_support.h
+++ /dev/null
@@ -1,33 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__type_support.h.em
-// with input from unitree_go:msg/LidarState.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__LIDAR_STATE__TYPE_SUPPORT_H_
-#define UNITREE_GO__MSG__DETAIL__LIDAR_STATE__TYPE_SUPPORT_H_
-
-#include "rosidl_typesupport_interface/macros.h"
-
-#include "unitree_go/msg/rosidl_generator_c__visibility_control.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-
-// Forward declare the get type support functions for this type.
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
-  rosidl_typesupport_c,
-  unitree_go,
-  msg,
-  LidarState
-)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__LIDAR_STATE__TYPE_SUPPORT_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/lidar_state__type_support.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/lidar_state__type_support.hpp
deleted file mode 100644
index 78f4939..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/lidar_state__type_support.hpp
+++ /dev/null
@@ -1,31 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__type_support.hpp.em
-// with input from unitree_go:msg/LidarState.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__LIDAR_STATE__TYPE_SUPPORT_HPP_
-#define UNITREE_GO__MSG__DETAIL__LIDAR_STATE__TYPE_SUPPORT_HPP_
-
-#include "rosidl_typesupport_interface/macros.h"
-
-#include "unitree_go/msg/rosidl_generator_cpp__visibility_control.hpp"
-
-#include "rosidl_typesupport_cpp/message_type_support.hpp"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-// Forward declare the get type support functions for this type.
-ROSIDL_GENERATOR_CPP_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
-  rosidl_typesupport_cpp,
-  unitree_go,
-  msg,
-  LidarState
-)();
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__LIDAR_STATE__TYPE_SUPPORT_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_cmd__builder.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_cmd__builder.hpp
deleted file mode 100644
index 88c0f97..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_cmd__builder.hpp
+++ /dev/null
@@ -1,263 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__builder.hpp.em
-// with input from unitree_go:msg/LowCmd.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__LOW_CMD__BUILDER_HPP_
-#define UNITREE_GO__MSG__DETAIL__LOW_CMD__BUILDER_HPP_
-
-#include "unitree_go/msg/detail/low_cmd__struct.hpp"
-#include <rosidl_runtime_cpp/message_initialization.hpp>
-#include <algorithm>
-#include <utility>
-
-
-namespace unitree_go
-{
-
-namespace msg
-{
-
-namespace builder
-{
-
-class Init_LowCmd_crc
-{
-public:
-  explicit Init_LowCmd_crc(::unitree_go::msg::LowCmd & msg)
-  : msg_(msg)
-  {}
-  ::unitree_go::msg::LowCmd crc(::unitree_go::msg::LowCmd::_crc_type arg)
-  {
-    msg_.crc = std::move(arg);
-    return std::move(msg_);
-  }
-
-private:
-  ::unitree_go::msg::LowCmd msg_;
-};
-
-class Init_LowCmd_reserve
-{
-public:
-  explicit Init_LowCmd_reserve(::unitree_go::msg::LowCmd & msg)
-  : msg_(msg)
-  {}
-  Init_LowCmd_crc reserve(::unitree_go::msg::LowCmd::_reserve_type arg)
-  {
-    msg_.reserve = std::move(arg);
-    return Init_LowCmd_crc(msg_);
-  }
-
-private:
-  ::unitree_go::msg::LowCmd msg_;
-};
-
-class Init_LowCmd_gpio
-{
-public:
-  explicit Init_LowCmd_gpio(::unitree_go::msg::LowCmd & msg)
-  : msg_(msg)
-  {}
-  Init_LowCmd_reserve gpio(::unitree_go::msg::LowCmd::_gpio_type arg)
-  {
-    msg_.gpio = std::move(arg);
-    return Init_LowCmd_reserve(msg_);
-  }
-
-private:
-  ::unitree_go::msg::LowCmd msg_;
-};
-
-class Init_LowCmd_fan
-{
-public:
-  explicit Init_LowCmd_fan(::unitree_go::msg::LowCmd & msg)
-  : msg_(msg)
-  {}
-  Init_LowCmd_gpio fan(::unitree_go::msg::LowCmd::_fan_type arg)
-  {
-    msg_.fan = std::move(arg);
-    return Init_LowCmd_gpio(msg_);
-  }
-
-private:
-  ::unitree_go::msg::LowCmd msg_;
-};
-
-class Init_LowCmd_led
-{
-public:
-  explicit Init_LowCmd_led(::unitree_go::msg::LowCmd & msg)
-  : msg_(msg)
-  {}
-  Init_LowCmd_fan led(::unitree_go::msg::LowCmd::_led_type arg)
-  {
-    msg_.led = std::move(arg);
-    return Init_LowCmd_fan(msg_);
-  }
-
-private:
-  ::unitree_go::msg::LowCmd msg_;
-};
-
-class Init_LowCmd_wireless_remote
-{
-public:
-  explicit Init_LowCmd_wireless_remote(::unitree_go::msg::LowCmd & msg)
-  : msg_(msg)
-  {}
-  Init_LowCmd_led wireless_remote(::unitree_go::msg::LowCmd::_wireless_remote_type arg)
-  {
-    msg_.wireless_remote = std::move(arg);
-    return Init_LowCmd_led(msg_);
-  }
-
-private:
-  ::unitree_go::msg::LowCmd msg_;
-};
-
-class Init_LowCmd_bms_cmd
-{
-public:
-  explicit Init_LowCmd_bms_cmd(::unitree_go::msg::LowCmd & msg)
-  : msg_(msg)
-  {}
-  Init_LowCmd_wireless_remote bms_cmd(::unitree_go::msg::LowCmd::_bms_cmd_type arg)
-  {
-    msg_.bms_cmd = std::move(arg);
-    return Init_LowCmd_wireless_remote(msg_);
-  }
-
-private:
-  ::unitree_go::msg::LowCmd msg_;
-};
-
-class Init_LowCmd_motor_cmd
-{
-public:
-  explicit Init_LowCmd_motor_cmd(::unitree_go::msg::LowCmd & msg)
-  : msg_(msg)
-  {}
-  Init_LowCmd_bms_cmd motor_cmd(::unitree_go::msg::LowCmd::_motor_cmd_type arg)
-  {
-    msg_.motor_cmd = std::move(arg);
-    return Init_LowCmd_bms_cmd(msg_);
-  }
-
-private:
-  ::unitree_go::msg::LowCmd msg_;
-};
-
-class Init_LowCmd_bandwidth
-{
-public:
-  explicit Init_LowCmd_bandwidth(::unitree_go::msg::LowCmd & msg)
-  : msg_(msg)
-  {}
-  Init_LowCmd_motor_cmd bandwidth(::unitree_go::msg::LowCmd::_bandwidth_type arg)
-  {
-    msg_.bandwidth = std::move(arg);
-    return Init_LowCmd_motor_cmd(msg_);
-  }
-
-private:
-  ::unitree_go::msg::LowCmd msg_;
-};
-
-class Init_LowCmd_version
-{
-public:
-  explicit Init_LowCmd_version(::unitree_go::msg::LowCmd & msg)
-  : msg_(msg)
-  {}
-  Init_LowCmd_bandwidth version(::unitree_go::msg::LowCmd::_version_type arg)
-  {
-    msg_.version = std::move(arg);
-    return Init_LowCmd_bandwidth(msg_);
-  }
-
-private:
-  ::unitree_go::msg::LowCmd msg_;
-};
-
-class Init_LowCmd_sn
-{
-public:
-  explicit Init_LowCmd_sn(::unitree_go::msg::LowCmd & msg)
-  : msg_(msg)
-  {}
-  Init_LowCmd_version sn(::unitree_go::msg::LowCmd::_sn_type arg)
-  {
-    msg_.sn = std::move(arg);
-    return Init_LowCmd_version(msg_);
-  }
-
-private:
-  ::unitree_go::msg::LowCmd msg_;
-};
-
-class Init_LowCmd_frame_reserve
-{
-public:
-  explicit Init_LowCmd_frame_reserve(::unitree_go::msg::LowCmd & msg)
-  : msg_(msg)
-  {}
-  Init_LowCmd_sn frame_reserve(::unitree_go::msg::LowCmd::_frame_reserve_type arg)
-  {
-    msg_.frame_reserve = std::move(arg);
-    return Init_LowCmd_sn(msg_);
-  }
-
-private:
-  ::unitree_go::msg::LowCmd msg_;
-};
-
-class Init_LowCmd_level_flag
-{
-public:
-  explicit Init_LowCmd_level_flag(::unitree_go::msg::LowCmd & msg)
-  : msg_(msg)
-  {}
-  Init_LowCmd_frame_reserve level_flag(::unitree_go::msg::LowCmd::_level_flag_type arg)
-  {
-    msg_.level_flag = std::move(arg);
-    return Init_LowCmd_frame_reserve(msg_);
-  }
-
-private:
-  ::unitree_go::msg::LowCmd msg_;
-};
-
-class Init_LowCmd_head
-{
-public:
-  Init_LowCmd_head()
-  : msg_(::rosidl_runtime_cpp::MessageInitialization::SKIP)
-  {}
-  Init_LowCmd_level_flag head(::unitree_go::msg::LowCmd::_head_type arg)
-  {
-    msg_.head = std::move(arg);
-    return Init_LowCmd_level_flag(msg_);
-  }
-
-private:
-  ::unitree_go::msg::LowCmd msg_;
-};
-
-}  // namespace builder
-
-}  // namespace msg
-
-template<typename MessageType>
-auto build();
-
-template<>
-inline
-auto build<::unitree_go::msg::LowCmd>()
-{
-  return unitree_go::msg::builder::Init_LowCmd_head();
-}
-
-}  // namespace unitree_go
-
-#endif  // UNITREE_GO__MSG__DETAIL__LOW_CMD__BUILDER_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_cmd__functions.c b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_cmd__functions.c
deleted file mode 100644
index 75f379a..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_cmd__functions.c
+++ /dev/null
@@ -1,395 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__functions.c.em
-// with input from unitree_go:msg/LowCmd.idl
-// generated code does not contain a copyright notice
-#include "unitree_go/msg/detail/low_cmd__functions.h"
-
-#include <assert.h>
-#include <stdbool.h>
-#include <stdlib.h>
-#include <string.h>
-
-#include "rcutils/allocator.h"
-
-
-// Include directives for member types
-// Member `motor_cmd`
-#include "unitree_go/msg/detail/motor_cmd__functions.h"
-// Member `bms_cmd`
-#include "unitree_go/msg/detail/bms_cmd__functions.h"
-
-bool
-unitree_go__msg__LowCmd__init(unitree_go__msg__LowCmd * msg)
-{
-  if (!msg) {
-    return false;
-  }
-  // head
-  // level_flag
-  // frame_reserve
-  // sn
-  // version
-  // bandwidth
-  // motor_cmd
-  for (size_t i = 0; i < 20; ++i) {
-    if (!unitree_go__msg__MotorCmd__init(&msg->motor_cmd[i])) {
-      unitree_go__msg__LowCmd__fini(msg);
-      return false;
-    }
-  }
-  // bms_cmd
-  if (!unitree_go__msg__BmsCmd__init(&msg->bms_cmd)) {
-    unitree_go__msg__LowCmd__fini(msg);
-    return false;
-  }
-  // wireless_remote
-  // led
-  // fan
-  // gpio
-  // reserve
-  // crc
-  return true;
-}
-
-void
-unitree_go__msg__LowCmd__fini(unitree_go__msg__LowCmd * msg)
-{
-  if (!msg) {
-    return;
-  }
-  // head
-  // level_flag
-  // frame_reserve
-  // sn
-  // version
-  // bandwidth
-  // motor_cmd
-  for (size_t i = 0; i < 20; ++i) {
-    unitree_go__msg__MotorCmd__fini(&msg->motor_cmd[i]);
-  }
-  // bms_cmd
-  unitree_go__msg__BmsCmd__fini(&msg->bms_cmd);
-  // wireless_remote
-  // led
-  // fan
-  // gpio
-  // reserve
-  // crc
-}
-
-bool
-unitree_go__msg__LowCmd__are_equal(const unitree_go__msg__LowCmd * lhs, const unitree_go__msg__LowCmd * rhs)
-{
-  if (!lhs || !rhs) {
-    return false;
-  }
-  // head
-  for (size_t i = 0; i < 2; ++i) {
-    if (lhs->head[i] != rhs->head[i]) {
-      return false;
-    }
-  }
-  // level_flag
-  if (lhs->level_flag != rhs->level_flag) {
-    return false;
-  }
-  // frame_reserve
-  if (lhs->frame_reserve != rhs->frame_reserve) {
-    return false;
-  }
-  // sn
-  for (size_t i = 0; i < 2; ++i) {
-    if (lhs->sn[i] != rhs->sn[i]) {
-      return false;
-    }
-  }
-  // version
-  for (size_t i = 0; i < 2; ++i) {
-    if (lhs->version[i] != rhs->version[i]) {
-      return false;
-    }
-  }
-  // bandwidth
-  if (lhs->bandwidth != rhs->bandwidth) {
-    return false;
-  }
-  // motor_cmd
-  for (size_t i = 0; i < 20; ++i) {
-    if (!unitree_go__msg__MotorCmd__are_equal(
-        &(lhs->motor_cmd[i]), &(rhs->motor_cmd[i])))
-    {
-      return false;
-    }
-  }
-  // bms_cmd
-  if (!unitree_go__msg__BmsCmd__are_equal(
-      &(lhs->bms_cmd), &(rhs->bms_cmd)))
-  {
-    return false;
-  }
-  // wireless_remote
-  for (size_t i = 0; i < 40; ++i) {
-    if (lhs->wireless_remote[i] != rhs->wireless_remote[i]) {
-      return false;
-    }
-  }
-  // led
-  for (size_t i = 0; i < 12; ++i) {
-    if (lhs->led[i] != rhs->led[i]) {
-      return false;
-    }
-  }
-  // fan
-  for (size_t i = 0; i < 2; ++i) {
-    if (lhs->fan[i] != rhs->fan[i]) {
-      return false;
-    }
-  }
-  // gpio
-  if (lhs->gpio != rhs->gpio) {
-    return false;
-  }
-  // reserve
-  if (lhs->reserve != rhs->reserve) {
-    return false;
-  }
-  // crc
-  if (lhs->crc != rhs->crc) {
-    return false;
-  }
-  return true;
-}
-
-bool
-unitree_go__msg__LowCmd__copy(
-  const unitree_go__msg__LowCmd * input,
-  unitree_go__msg__LowCmd * output)
-{
-  if (!input || !output) {
-    return false;
-  }
-  // head
-  for (size_t i = 0; i < 2; ++i) {
-    output->head[i] = input->head[i];
-  }
-  // level_flag
-  output->level_flag = input->level_flag;
-  // frame_reserve
-  output->frame_reserve = input->frame_reserve;
-  // sn
-  for (size_t i = 0; i < 2; ++i) {
-    output->sn[i] = input->sn[i];
-  }
-  // version
-  for (size_t i = 0; i < 2; ++i) {
-    output->version[i] = input->version[i];
-  }
-  // bandwidth
-  output->bandwidth = input->bandwidth;
-  // motor_cmd
-  for (size_t i = 0; i < 20; ++i) {
-    if (!unitree_go__msg__MotorCmd__copy(
-        &(input->motor_cmd[i]), &(output->motor_cmd[i])))
-    {
-      return false;
-    }
-  }
-  // bms_cmd
-  if (!unitree_go__msg__BmsCmd__copy(
-      &(input->bms_cmd), &(output->bms_cmd)))
-  {
-    return false;
-  }
-  // wireless_remote
-  for (size_t i = 0; i < 40; ++i) {
-    output->wireless_remote[i] = input->wireless_remote[i];
-  }
-  // led
-  for (size_t i = 0; i < 12; ++i) {
-    output->led[i] = input->led[i];
-  }
-  // fan
-  for (size_t i = 0; i < 2; ++i) {
-    output->fan[i] = input->fan[i];
-  }
-  // gpio
-  output->gpio = input->gpio;
-  // reserve
-  output->reserve = input->reserve;
-  // crc
-  output->crc = input->crc;
-  return true;
-}
-
-unitree_go__msg__LowCmd *
-unitree_go__msg__LowCmd__create()
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  unitree_go__msg__LowCmd * msg = (unitree_go__msg__LowCmd *)allocator.allocate(sizeof(unitree_go__msg__LowCmd), allocator.state);
-  if (!msg) {
-    return NULL;
-  }
-  memset(msg, 0, sizeof(unitree_go__msg__LowCmd));
-  bool success = unitree_go__msg__LowCmd__init(msg);
-  if (!success) {
-    allocator.deallocate(msg, allocator.state);
-    return NULL;
-  }
-  return msg;
-}
-
-void
-unitree_go__msg__LowCmd__destroy(unitree_go__msg__LowCmd * msg)
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  if (msg) {
-    unitree_go__msg__LowCmd__fini(msg);
-  }
-  allocator.deallocate(msg, allocator.state);
-}
-
-
-bool
-unitree_go__msg__LowCmd__Sequence__init(unitree_go__msg__LowCmd__Sequence * array, size_t size)
-{
-  if (!array) {
-    return false;
-  }
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  unitree_go__msg__LowCmd * data = NULL;
-
-  if (size) {
-    data = (unitree_go__msg__LowCmd *)allocator.zero_allocate(size, sizeof(unitree_go__msg__LowCmd), allocator.state);
-    if (!data) {
-      return false;
-    }
-    // initialize all array elements
-    size_t i;
-    for (i = 0; i < size; ++i) {
-      bool success = unitree_go__msg__LowCmd__init(&data[i]);
-      if (!success) {
-        break;
-      }
-    }
-    if (i < size) {
-      // if initialization failed finalize the already initialized array elements
-      for (; i > 0; --i) {
-        unitree_go__msg__LowCmd__fini(&data[i - 1]);
-      }
-      allocator.deallocate(data, allocator.state);
-      return false;
-    }
-  }
-  array->data = data;
-  array->size = size;
-  array->capacity = size;
-  return true;
-}
-
-void
-unitree_go__msg__LowCmd__Sequence__fini(unitree_go__msg__LowCmd__Sequence * array)
-{
-  if (!array) {
-    return;
-  }
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-
-  if (array->data) {
-    // ensure that data and capacity values are consistent
-    assert(array->capacity > 0);
-    // finalize all array elements
-    for (size_t i = 0; i < array->capacity; ++i) {
-      unitree_go__msg__LowCmd__fini(&array->data[i]);
-    }
-    allocator.deallocate(array->data, allocator.state);
-    array->data = NULL;
-    array->size = 0;
-    array->capacity = 0;
-  } else {
-    // ensure that data, size, and capacity values are consistent
-    assert(0 == array->size);
-    assert(0 == array->capacity);
-  }
-}
-
-unitree_go__msg__LowCmd__Sequence *
-unitree_go__msg__LowCmd__Sequence__create(size_t size)
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  unitree_go__msg__LowCmd__Sequence * array = (unitree_go__msg__LowCmd__Sequence *)allocator.allocate(sizeof(unitree_go__msg__LowCmd__Sequence), allocator.state);
-  if (!array) {
-    return NULL;
-  }
-  bool success = unitree_go__msg__LowCmd__Sequence__init(array, size);
-  if (!success) {
-    allocator.deallocate(array, allocator.state);
-    return NULL;
-  }
-  return array;
-}
-
-void
-unitree_go__msg__LowCmd__Sequence__destroy(unitree_go__msg__LowCmd__Sequence * array)
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  if (array) {
-    unitree_go__msg__LowCmd__Sequence__fini(array);
-  }
-  allocator.deallocate(array, allocator.state);
-}
-
-bool
-unitree_go__msg__LowCmd__Sequence__are_equal(const unitree_go__msg__LowCmd__Sequence * lhs, const unitree_go__msg__LowCmd__Sequence * rhs)
-{
-  if (!lhs || !rhs) {
-    return false;
-  }
-  if (lhs->size != rhs->size) {
-    return false;
-  }
-  for (size_t i = 0; i < lhs->size; ++i) {
-    if (!unitree_go__msg__LowCmd__are_equal(&(lhs->data[i]), &(rhs->data[i]))) {
-      return false;
-    }
-  }
-  return true;
-}
-
-bool
-unitree_go__msg__LowCmd__Sequence__copy(
-  const unitree_go__msg__LowCmd__Sequence * input,
-  unitree_go__msg__LowCmd__Sequence * output)
-{
-  if (!input || !output) {
-    return false;
-  }
-  if (output->capacity < input->size) {
-    const size_t allocation_size =
-      input->size * sizeof(unitree_go__msg__LowCmd);
-    unitree_go__msg__LowCmd * data =
-      (unitree_go__msg__LowCmd *)realloc(output->data, allocation_size);
-    if (!data) {
-      return false;
-    }
-    for (size_t i = output->capacity; i < input->size; ++i) {
-      if (!unitree_go__msg__LowCmd__init(&data[i])) {
-        /* free currently allocated and return false */
-        for (; i-- > output->capacity; ) {
-          unitree_go__msg__LowCmd__fini(&data[i]);
-        }
-        free(data);
-        return false;
-      }
-    }
-    output->data = data;
-    output->capacity = input->size;
-  }
-  output->size = input->size;
-  for (size_t i = 0; i < input->size; ++i) {
-    if (!unitree_go__msg__LowCmd__copy(
-        &(input->data[i]), &(output->data[i])))
-    {
-      return false;
-    }
-  }
-  return true;
-}
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_cmd__functions.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_cmd__functions.h
deleted file mode 100644
index 1c5b4fb..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_cmd__functions.h
+++ /dev/null
@@ -1,177 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__functions.h.em
-// with input from unitree_go:msg/LowCmd.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__LOW_CMD__FUNCTIONS_H_
-#define UNITREE_GO__MSG__DETAIL__LOW_CMD__FUNCTIONS_H_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include <stdbool.h>
-#include <stdlib.h>
-
-#include "rosidl_runtime_c/visibility_control.h"
-#include "unitree_go/msg/rosidl_generator_c__visibility_control.h"
-
-#include "unitree_go/msg/detail/low_cmd__struct.h"
-
-/// Initialize msg/LowCmd message.
-/**
- * If the init function is called twice for the same message without
- * calling fini inbetween previously allocated memory will be leaked.
- * \param[in,out] msg The previously allocated message pointer.
- * Fields without a default value will not be initialized by this function.
- * You might want to call memset(msg, 0, sizeof(
- * unitree_go__msg__LowCmd
- * )) before or use
- * unitree_go__msg__LowCmd__create()
- * to allocate and initialize the message.
- * \return true if initialization was successful, otherwise false
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__LowCmd__init(unitree_go__msg__LowCmd * msg);
-
-/// Finalize msg/LowCmd message.
-/**
- * \param[in,out] msg The allocated message pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-void
-unitree_go__msg__LowCmd__fini(unitree_go__msg__LowCmd * msg);
-
-/// Create msg/LowCmd message.
-/**
- * It allocates the memory for the message, sets the memory to zero, and
- * calls
- * unitree_go__msg__LowCmd__init().
- * \return The pointer to the initialized message if successful,
- * otherwise NULL
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-unitree_go__msg__LowCmd *
-unitree_go__msg__LowCmd__create();
-
-/// Destroy msg/LowCmd message.
-/**
- * It calls
- * unitree_go__msg__LowCmd__fini()
- * and frees the memory of the message.
- * \param[in,out] msg The allocated message pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-void
-unitree_go__msg__LowCmd__destroy(unitree_go__msg__LowCmd * msg);
-
-/// Check for msg/LowCmd message equality.
-/**
- * \param[in] lhs The message on the left hand size of the equality operator.
- * \param[in] rhs The message on the right hand size of the equality operator.
- * \return true if messages are equal, otherwise false.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__LowCmd__are_equal(const unitree_go__msg__LowCmd * lhs, const unitree_go__msg__LowCmd * rhs);
-
-/// Copy a msg/LowCmd message.
-/**
- * This functions performs a deep copy, as opposed to the shallow copy that
- * plain assignment yields.
- *
- * \param[in] input The source message pointer.
- * \param[out] output The target message pointer, which must
- *   have been initialized before calling this function.
- * \return true if successful, or false if either pointer is null
- *   or memory allocation fails.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__LowCmd__copy(
-  const unitree_go__msg__LowCmd * input,
-  unitree_go__msg__LowCmd * output);
-
-/// Initialize array of msg/LowCmd messages.
-/**
- * It allocates the memory for the number of elements and calls
- * unitree_go__msg__LowCmd__init()
- * for each element of the array.
- * \param[in,out] array The allocated array pointer.
- * \param[in] size The size / capacity of the array.
- * \return true if initialization was successful, otherwise false
- * If the array pointer is valid and the size is zero it is guaranteed
- # to return true.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__LowCmd__Sequence__init(unitree_go__msg__LowCmd__Sequence * array, size_t size);
-
-/// Finalize array of msg/LowCmd messages.
-/**
- * It calls
- * unitree_go__msg__LowCmd__fini()
- * for each element of the array and frees the memory for the number of
- * elements.
- * \param[in,out] array The initialized array pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-void
-unitree_go__msg__LowCmd__Sequence__fini(unitree_go__msg__LowCmd__Sequence * array);
-
-/// Create array of msg/LowCmd messages.
-/**
- * It allocates the memory for the array and calls
- * unitree_go__msg__LowCmd__Sequence__init().
- * \param[in] size The size / capacity of the array.
- * \return The pointer to the initialized array if successful, otherwise NULL
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-unitree_go__msg__LowCmd__Sequence *
-unitree_go__msg__LowCmd__Sequence__create(size_t size);
-
-/// Destroy array of msg/LowCmd messages.
-/**
- * It calls
- * unitree_go__msg__LowCmd__Sequence__fini()
- * on the array,
- * and frees the memory of the array.
- * \param[in,out] array The initialized array pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-void
-unitree_go__msg__LowCmd__Sequence__destroy(unitree_go__msg__LowCmd__Sequence * array);
-
-/// Check for msg/LowCmd message array equality.
-/**
- * \param[in] lhs The message array on the left hand size of the equality operator.
- * \param[in] rhs The message array on the right hand size of the equality operator.
- * \return true if message arrays are equal in size and content, otherwise false.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__LowCmd__Sequence__are_equal(const unitree_go__msg__LowCmd__Sequence * lhs, const unitree_go__msg__LowCmd__Sequence * rhs);
-
-/// Copy an array of msg/LowCmd messages.
-/**
- * This functions performs a deep copy, as opposed to the shallow copy that
- * plain assignment yields.
- *
- * \param[in] input The source array pointer.
- * \param[out] output The target array pointer, which must
- *   have been initialized before calling this function.
- * \return true if successful, or false if either pointer
- *   is null or memory allocation fails.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__LowCmd__Sequence__copy(
-  const unitree_go__msg__LowCmd__Sequence * input,
-  unitree_go__msg__LowCmd__Sequence * output);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__LOW_CMD__FUNCTIONS_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_cmd__rosidl_typesupport_fastrtps_c.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_cmd__rosidl_typesupport_fastrtps_c.h
deleted file mode 100644
index f505dd9..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_cmd__rosidl_typesupport_fastrtps_c.h
+++ /dev/null
@@ -1,36 +0,0 @@
-// generated from rosidl_typesupport_fastrtps_c/resource/idl__rosidl_typesupport_fastrtps_c.h.em
-// with input from unitree_go:msg/LowCmd.idl
-// generated code does not contain a copyright notice
-#ifndef UNITREE_GO__MSG__DETAIL__LOW_CMD__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_
-#define UNITREE_GO__MSG__DETAIL__LOW_CMD__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_
-
-
-#include <stddef.h>
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_go/msg/rosidl_typesupport_fastrtps_c__visibility_control.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_go
-size_t get_serialized_size_unitree_go__msg__LowCmd(
-  const void * untyped_ros_message,
-  size_t current_alignment);
-
-ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_go
-size_t max_serialized_size_unitree_go__msg__LowCmd(
-  bool & full_bounded,
-  size_t current_alignment);
-
-ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_fastrtps_c, unitree_go, msg, LowCmd)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__LOW_CMD__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_cmd__rosidl_typesupport_fastrtps_cpp.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_cmd__rosidl_typesupport_fastrtps_cpp.hpp
deleted file mode 100644
index 1137270..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_cmd__rosidl_typesupport_fastrtps_cpp.hpp
+++ /dev/null
@@ -1,79 +0,0 @@
-// generated from rosidl_typesupport_fastrtps_cpp/resource/idl__rosidl_typesupport_fastrtps_cpp.hpp.em
-// with input from unitree_go:msg/LowCmd.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__LOW_CMD__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_
-#define UNITREE_GO__MSG__DETAIL__LOW_CMD__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_go/msg/rosidl_typesupport_fastrtps_cpp__visibility_control.h"
-#include "unitree_go/msg/detail/low_cmd__struct.hpp"
-
-#ifndef _WIN32
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wunused-parameter"
-# ifdef __clang__
-#  pragma clang diagnostic ignored "-Wdeprecated-register"
-#  pragma clang diagnostic ignored "-Wreturn-type-c-linkage"
-# endif
-#endif
-#ifndef _WIN32
-# pragma GCC diagnostic pop
-#endif
-
-#include "fastcdr/Cdr.h"
-
-namespace unitree_go
-{
-
-namespace msg
-{
-
-namespace typesupport_fastrtps_cpp
-{
-
-bool
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-cdr_serialize(
-  const unitree_go::msg::LowCmd & ros_message,
-  eprosima::fastcdr::Cdr & cdr);
-
-bool
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-cdr_deserialize(
-  eprosima::fastcdr::Cdr & cdr,
-  unitree_go::msg::LowCmd & ros_message);
-
-size_t
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-get_serialized_size(
-  const unitree_go::msg::LowCmd & ros_message,
-  size_t current_alignment);
-
-size_t
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-max_serialized_size_LowCmd(
-  bool & full_bounded,
-  size_t current_alignment);
-
-}  // namespace typesupport_fastrtps_cpp
-
-}  // namespace msg
-
-}  // namespace unitree_go
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_fastrtps_cpp, unitree_go, msg, LowCmd)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__LOW_CMD__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_cmd__rosidl_typesupport_introspection_c.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_cmd__rosidl_typesupport_introspection_c.h
deleted file mode 100644
index b254918..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_cmd__rosidl_typesupport_introspection_c.h
+++ /dev/null
@@ -1,26 +0,0 @@
-// generated from rosidl_typesupport_introspection_c/resource/idl__rosidl_typesupport_introspection_c.h.em
-// with input from unitree_go:msg/LowCmd.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__LOW_CMD__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
-#define UNITREE_GO__MSG__DETAIL__LOW_CMD__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_go/msg/rosidl_typesupport_introspection_c__visibility_control.h"
-
-ROSIDL_TYPESUPPORT_INTROSPECTION_C_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, unitree_go, msg, LowCmd)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__LOW_CMD__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_cmd__rosidl_typesupport_introspection_cpp.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_cmd__rosidl_typesupport_introspection_cpp.hpp
deleted file mode 100644
index aecc3bf..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_cmd__rosidl_typesupport_introspection_cpp.hpp
+++ /dev/null
@@ -1,27 +0,0 @@
-// generated from rosidl_typesupport_introspection_cpp/resource/idl__rosidl_typesupport_introspection_cpp.h.em
-// with input from unitree_go:msg/LowCmd.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__LOW_CMD__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_
-#define UNITREE_GO__MSG__DETAIL__LOW_CMD__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_
-
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "rosidl_typesupport_introspection_cpp/visibility_control.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-// TODO(dirk-thomas) these visibility macros should be message package specific
-ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
-const rosidl_message_type_support_t *
-  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_cpp, unitree_go, msg, LowCmd)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__LOW_CMD__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_cmd__struct.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_cmd__struct.h
deleted file mode 100644
index c170ea8..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_cmd__struct.h
+++ /dev/null
@@ -1,59 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__struct.h.em
-// with input from unitree_go:msg/LowCmd.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__LOW_CMD__STRUCT_H_
-#define UNITREE_GO__MSG__DETAIL__LOW_CMD__STRUCT_H_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include <stdbool.h>
-#include <stddef.h>
-#include <stdint.h>
-
-
-// Constants defined in the message
-
-// Include directives for member types
-// Member 'motor_cmd'
-#include "unitree_go/msg/detail/motor_cmd__struct.h"
-// Member 'bms_cmd'
-#include "unitree_go/msg/detail/bms_cmd__struct.h"
-
-// Struct defined in msg/LowCmd in the package unitree_go.
-typedef struct unitree_go__msg__LowCmd
-{
-  uint8_t head[2];
-  uint8_t level_flag;
-  uint8_t frame_reserve;
-  uint32_t sn[2];
-  uint32_t version[2];
-  uint16_t bandwidth;
-  unitree_go__msg__MotorCmd motor_cmd[20];
-  unitree_go__msg__BmsCmd bms_cmd;
-  uint8_t wireless_remote[40];
-  uint8_t led[12];
-  uint8_t fan[2];
-  uint8_t gpio;
-  uint32_t reserve;
-  uint32_t crc;
-} unitree_go__msg__LowCmd;
-
-// Struct for a sequence of unitree_go__msg__LowCmd.
-typedef struct unitree_go__msg__LowCmd__Sequence
-{
-  unitree_go__msg__LowCmd * data;
-  /// The number of valid items in data
-  size_t size;
-  /// The number of allocated items in data
-  size_t capacity;
-} unitree_go__msg__LowCmd__Sequence;
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__LOW_CMD__STRUCT_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_cmd__struct.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_cmd__struct.hpp
deleted file mode 100644
index 26681c5..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_cmd__struct.hpp
+++ /dev/null
@@ -1,324 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__struct.hpp.em
-// with input from unitree_go:msg/LowCmd.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__LOW_CMD__STRUCT_HPP_
-#define UNITREE_GO__MSG__DETAIL__LOW_CMD__STRUCT_HPP_
-
-#include <rosidl_runtime_cpp/bounded_vector.hpp>
-#include <rosidl_runtime_cpp/message_initialization.hpp>
-#include <algorithm>
-#include <array>
-#include <memory>
-#include <string>
-#include <vector>
-
-
-// Include directives for member types
-// Member 'motor_cmd'
-#include "unitree_go/msg/detail/motor_cmd__struct.hpp"
-// Member 'bms_cmd'
-#include "unitree_go/msg/detail/bms_cmd__struct.hpp"
-
-#ifndef _WIN32
-# define DEPRECATED__unitree_go__msg__LowCmd __attribute__((deprecated))
-#else
-# define DEPRECATED__unitree_go__msg__LowCmd __declspec(deprecated)
-#endif
-
-namespace unitree_go
-{
-
-namespace msg
-{
-
-// message struct
-template<class ContainerAllocator>
-struct LowCmd_
-{
-  using Type = LowCmd_<ContainerAllocator>;
-
-  explicit LowCmd_(rosidl_runtime_cpp::MessageInitialization _init = rosidl_runtime_cpp::MessageInitialization::ALL)
-  : bms_cmd(_init)
-  {
-    if (rosidl_runtime_cpp::MessageInitialization::ALL == _init ||
-      rosidl_runtime_cpp::MessageInitialization::ZERO == _init)
-    {
-      std::fill<typename std::array<uint8_t, 2>::iterator, uint8_t>(this->head.begin(), this->head.end(), 0);
-      this->level_flag = 0;
-      this->frame_reserve = 0;
-      std::fill<typename std::array<uint32_t, 2>::iterator, uint32_t>(this->sn.begin(), this->sn.end(), 0ul);
-      std::fill<typename std::array<uint32_t, 2>::iterator, uint32_t>(this->version.begin(), this->version.end(), 0ul);
-      this->bandwidth = 0;
-      this->motor_cmd.fill(unitree_go::msg::MotorCmd_<ContainerAllocator>{_init});
-      std::fill<typename std::array<uint8_t, 40>::iterator, uint8_t>(this->wireless_remote.begin(), this->wireless_remote.end(), 0);
-      std::fill<typename std::array<uint8_t, 12>::iterator, uint8_t>(this->led.begin(), this->led.end(), 0);
-      std::fill<typename std::array<uint8_t, 2>::iterator, uint8_t>(this->fan.begin(), this->fan.end(), 0);
-      this->gpio = 0;
-      this->reserve = 0ul;
-      this->crc = 0ul;
-    }
-  }
-
-  explicit LowCmd_(const ContainerAllocator & _alloc, rosidl_runtime_cpp::MessageInitialization _init = rosidl_runtime_cpp::MessageInitialization::ALL)
-  : head(_alloc),
-    sn(_alloc),
-    version(_alloc),
-    motor_cmd(_alloc),
-    bms_cmd(_alloc, _init),
-    wireless_remote(_alloc),
-    led(_alloc),
-    fan(_alloc)
-  {
-    if (rosidl_runtime_cpp::MessageInitialization::ALL == _init ||
-      rosidl_runtime_cpp::MessageInitialization::ZERO == _init)
-    {
-      std::fill<typename std::array<uint8_t, 2>::iterator, uint8_t>(this->head.begin(), this->head.end(), 0);
-      this->level_flag = 0;
-      this->frame_reserve = 0;
-      std::fill<typename std::array<uint32_t, 2>::iterator, uint32_t>(this->sn.begin(), this->sn.end(), 0ul);
-      std::fill<typename std::array<uint32_t, 2>::iterator, uint32_t>(this->version.begin(), this->version.end(), 0ul);
-      this->bandwidth = 0;
-      this->motor_cmd.fill(unitree_go::msg::MotorCmd_<ContainerAllocator>{_alloc, _init});
-      std::fill<typename std::array<uint8_t, 40>::iterator, uint8_t>(this->wireless_remote.begin(), this->wireless_remote.end(), 0);
-      std::fill<typename std::array<uint8_t, 12>::iterator, uint8_t>(this->led.begin(), this->led.end(), 0);
-      std::fill<typename std::array<uint8_t, 2>::iterator, uint8_t>(this->fan.begin(), this->fan.end(), 0);
-      this->gpio = 0;
-      this->reserve = 0ul;
-      this->crc = 0ul;
-    }
-  }
-
-  // field types and members
-  using _head_type =
-    std::array<uint8_t, 2>;
-  _head_type head;
-  using _level_flag_type =
-    uint8_t;
-  _level_flag_type level_flag;
-  using _frame_reserve_type =
-    uint8_t;
-  _frame_reserve_type frame_reserve;
-  using _sn_type =
-    std::array<uint32_t, 2>;
-  _sn_type sn;
-  using _version_type =
-    std::array<uint32_t, 2>;
-  _version_type version;
-  using _bandwidth_type =
-    uint16_t;
-  _bandwidth_type bandwidth;
-  using _motor_cmd_type =
-    std::array<unitree_go::msg::MotorCmd_<ContainerAllocator>, 20>;
-  _motor_cmd_type motor_cmd;
-  using _bms_cmd_type =
-    unitree_go::msg::BmsCmd_<ContainerAllocator>;
-  _bms_cmd_type bms_cmd;
-  using _wireless_remote_type =
-    std::array<uint8_t, 40>;
-  _wireless_remote_type wireless_remote;
-  using _led_type =
-    std::array<uint8_t, 12>;
-  _led_type led;
-  using _fan_type =
-    std::array<uint8_t, 2>;
-  _fan_type fan;
-  using _gpio_type =
-    uint8_t;
-  _gpio_type gpio;
-  using _reserve_type =
-    uint32_t;
-  _reserve_type reserve;
-  using _crc_type =
-    uint32_t;
-  _crc_type crc;
-
-  // setters for named parameter idiom
-  Type & set__head(
-    const std::array<uint8_t, 2> & _arg)
-  {
-    this->head = _arg;
-    return *this;
-  }
-  Type & set__level_flag(
-    const uint8_t & _arg)
-  {
-    this->level_flag = _arg;
-    return *this;
-  }
-  Type & set__frame_reserve(
-    const uint8_t & _arg)
-  {
-    this->frame_reserve = _arg;
-    return *this;
-  }
-  Type & set__sn(
-    const std::array<uint32_t, 2> & _arg)
-  {
-    this->sn = _arg;
-    return *this;
-  }
-  Type & set__version(
-    const std::array<uint32_t, 2> & _arg)
-  {
-    this->version = _arg;
-    return *this;
-  }
-  Type & set__bandwidth(
-    const uint16_t & _arg)
-  {
-    this->bandwidth = _arg;
-    return *this;
-  }
-  Type & set__motor_cmd(
-    const std::array<unitree_go::msg::MotorCmd_<ContainerAllocator>, 20> & _arg)
-  {
-    this->motor_cmd = _arg;
-    return *this;
-  }
-  Type & set__bms_cmd(
-    const unitree_go::msg::BmsCmd_<ContainerAllocator> & _arg)
-  {
-    this->bms_cmd = _arg;
-    return *this;
-  }
-  Type & set__wireless_remote(
-    const std::array<uint8_t, 40> & _arg)
-  {
-    this->wireless_remote = _arg;
-    return *this;
-  }
-  Type & set__led(
-    const std::array<uint8_t, 12> & _arg)
-  {
-    this->led = _arg;
-    return *this;
-  }
-  Type & set__fan(
-    const std::array<uint8_t, 2> & _arg)
-  {
-    this->fan = _arg;
-    return *this;
-  }
-  Type & set__gpio(
-    const uint8_t & _arg)
-  {
-    this->gpio = _arg;
-    return *this;
-  }
-  Type & set__reserve(
-    const uint32_t & _arg)
-  {
-    this->reserve = _arg;
-    return *this;
-  }
-  Type & set__crc(
-    const uint32_t & _arg)
-  {
-    this->crc = _arg;
-    return *this;
-  }
-
-  // constant declarations
-
-  // pointer types
-  using RawPtr =
-    unitree_go::msg::LowCmd_<ContainerAllocator> *;
-  using ConstRawPtr =
-    const unitree_go::msg::LowCmd_<ContainerAllocator> *;
-  using SharedPtr =
-    std::shared_ptr<unitree_go::msg::LowCmd_<ContainerAllocator>>;
-  using ConstSharedPtr =
-    std::shared_ptr<unitree_go::msg::LowCmd_<ContainerAllocator> const>;
-
-  template<typename Deleter = std::default_delete<
-      unitree_go::msg::LowCmd_<ContainerAllocator>>>
-  using UniquePtrWithDeleter =
-    std::unique_ptr<unitree_go::msg::LowCmd_<ContainerAllocator>, Deleter>;
-
-  using UniquePtr = UniquePtrWithDeleter<>;
-
-  template<typename Deleter = std::default_delete<
-      unitree_go::msg::LowCmd_<ContainerAllocator>>>
-  using ConstUniquePtrWithDeleter =
-    std::unique_ptr<unitree_go::msg::LowCmd_<ContainerAllocator> const, Deleter>;
-  using ConstUniquePtr = ConstUniquePtrWithDeleter<>;
-
-  using WeakPtr =
-    std::weak_ptr<unitree_go::msg::LowCmd_<ContainerAllocator>>;
-  using ConstWeakPtr =
-    std::weak_ptr<unitree_go::msg::LowCmd_<ContainerAllocator> const>;
-
-  // pointer types similar to ROS 1, use SharedPtr / ConstSharedPtr instead
-  // NOTE: Can't use 'using' here because GNU C++ can't parse attributes properly
-  typedef DEPRECATED__unitree_go__msg__LowCmd
-    std::shared_ptr<unitree_go::msg::LowCmd_<ContainerAllocator>>
-    Ptr;
-  typedef DEPRECATED__unitree_go__msg__LowCmd
-    std::shared_ptr<unitree_go::msg::LowCmd_<ContainerAllocator> const>
-    ConstPtr;
-
-  // comparison operators
-  bool operator==(const LowCmd_ & other) const
-  {
-    if (this->head != other.head) {
-      return false;
-    }
-    if (this->level_flag != other.level_flag) {
-      return false;
-    }
-    if (this->frame_reserve != other.frame_reserve) {
-      return false;
-    }
-    if (this->sn != other.sn) {
-      return false;
-    }
-    if (this->version != other.version) {
-      return false;
-    }
-    if (this->bandwidth != other.bandwidth) {
-      return false;
-    }
-    if (this->motor_cmd != other.motor_cmd) {
-      return false;
-    }
-    if (this->bms_cmd != other.bms_cmd) {
-      return false;
-    }
-    if (this->wireless_remote != other.wireless_remote) {
-      return false;
-    }
-    if (this->led != other.led) {
-      return false;
-    }
-    if (this->fan != other.fan) {
-      return false;
-    }
-    if (this->gpio != other.gpio) {
-      return false;
-    }
-    if (this->reserve != other.reserve) {
-      return false;
-    }
-    if (this->crc != other.crc) {
-      return false;
-    }
-    return true;
-  }
-  bool operator!=(const LowCmd_ & other) const
-  {
-    return !this->operator==(other);
-  }
-};  // struct LowCmd_
-
-// alias to use template instance with default allocator
-using LowCmd =
-  unitree_go::msg::LowCmd_<std::allocator<void>>;
-
-// constant definitions
-
-}  // namespace msg
-
-}  // namespace unitree_go
-
-#endif  // UNITREE_GO__MSG__DETAIL__LOW_CMD__STRUCT_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_cmd__traits.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_cmd__traits.hpp
deleted file mode 100644
index cc104c8..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_cmd__traits.hpp
+++ /dev/null
@@ -1,48 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__traits.hpp.em
-// with input from unitree_go:msg/LowCmd.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__LOW_CMD__TRAITS_HPP_
-#define UNITREE_GO__MSG__DETAIL__LOW_CMD__TRAITS_HPP_
-
-#include "unitree_go/msg/detail/low_cmd__struct.hpp"
-#include <rosidl_runtime_cpp/traits.hpp>
-#include <stdint.h>
-#include <type_traits>
-
-// Include directives for member types
-// Member 'motor_cmd'
-#include "unitree_go/msg/detail/motor_cmd__traits.hpp"
-// Member 'bms_cmd'
-#include "unitree_go/msg/detail/bms_cmd__traits.hpp"
-
-namespace rosidl_generator_traits
-{
-
-template<>
-inline const char * data_type<unitree_go::msg::LowCmd>()
-{
-  return "unitree_go::msg::LowCmd";
-}
-
-template<>
-inline const char * name<unitree_go::msg::LowCmd>()
-{
-  return "unitree_go/msg/LowCmd";
-}
-
-template<>
-struct has_fixed_size<unitree_go::msg::LowCmd>
-  : std::integral_constant<bool, has_fixed_size<unitree_go::msg::BmsCmd>::value && has_fixed_size<unitree_go::msg::MotorCmd>::value> {};
-
-template<>
-struct has_bounded_size<unitree_go::msg::LowCmd>
-  : std::integral_constant<bool, has_bounded_size<unitree_go::msg::BmsCmd>::value && has_bounded_size<unitree_go::msg::MotorCmd>::value> {};
-
-template<>
-struct is_message<unitree_go::msg::LowCmd>
-  : std::true_type {};
-
-}  // namespace rosidl_generator_traits
-
-#endif  // UNITREE_GO__MSG__DETAIL__LOW_CMD__TRAITS_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_cmd__type_support.c b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_cmd__type_support.c
deleted file mode 100644
index d515586..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_cmd__type_support.c
+++ /dev/null
@@ -1,313 +0,0 @@
-// generated from rosidl_typesupport_introspection_c/resource/idl__type_support.c.em
-// with input from unitree_go:msg/LowCmd.idl
-// generated code does not contain a copyright notice
-
-#include <stddef.h>
-#include "unitree_go/msg/detail/low_cmd__rosidl_typesupport_introspection_c.h"
-#include "unitree_go/msg/rosidl_typesupport_introspection_c__visibility_control.h"
-#include "rosidl_typesupport_introspection_c/field_types.h"
-#include "rosidl_typesupport_introspection_c/identifier.h"
-#include "rosidl_typesupport_introspection_c/message_introspection.h"
-#include "unitree_go/msg/detail/low_cmd__functions.h"
-#include "unitree_go/msg/detail/low_cmd__struct.h"
-
-
-// Include directives for member types
-// Member `motor_cmd`
-#include "unitree_go/msg/motor_cmd.h"
-// Member `motor_cmd`
-#include "unitree_go/msg/detail/motor_cmd__rosidl_typesupport_introspection_c.h"
-// Member `bms_cmd`
-#include "unitree_go/msg/bms_cmd.h"
-// Member `bms_cmd`
-#include "unitree_go/msg/detail/bms_cmd__rosidl_typesupport_introspection_c.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-void LowCmd__rosidl_typesupport_introspection_c__LowCmd_init_function(
-  void * message_memory, enum rosidl_runtime_c__message_initialization _init)
-{
-  // TODO(karsten1987): initializers are not yet implemented for typesupport c
-  // see https://github.com/ros2/ros2/issues/397
-  (void) _init;
-  unitree_go__msg__LowCmd__init(message_memory);
-}
-
-void LowCmd__rosidl_typesupport_introspection_c__LowCmd_fini_function(void * message_memory)
-{
-  unitree_go__msg__LowCmd__fini(message_memory);
-}
-
-size_t LowCmd__rosidl_typesupport_introspection_c__size_function__MotorCmd__motor_cmd(
-  const void * untyped_member)
-{
-  (void)untyped_member;
-  return 20;
-}
-
-const void * LowCmd__rosidl_typesupport_introspection_c__get_const_function__MotorCmd__motor_cmd(
-  const void * untyped_member, size_t index)
-{
-  const unitree_go__msg__MotorCmd ** member =
-    (const unitree_go__msg__MotorCmd **)(untyped_member);
-  return &(*member)[index];
-}
-
-void * LowCmd__rosidl_typesupport_introspection_c__get_function__MotorCmd__motor_cmd(
-  void * untyped_member, size_t index)
-{
-  unitree_go__msg__MotorCmd ** member =
-    (unitree_go__msg__MotorCmd **)(untyped_member);
-  return &(*member)[index];
-}
-
-static rosidl_typesupport_introspection_c__MessageMember LowCmd__rosidl_typesupport_introspection_c__LowCmd_message_member_array[14] = {
-  {
-    "head",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_UINT8,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    true,  // is array
-    2,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__LowCmd, head),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "level_flag",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_UINT8,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__LowCmd, level_flag),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "frame_reserve",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_UINT8,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__LowCmd, frame_reserve),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "sn",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_UINT32,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    true,  // is array
-    2,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__LowCmd, sn),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "version",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_UINT32,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    true,  // is array
-    2,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__LowCmd, version),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "bandwidth",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_UINT16,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__LowCmd, bandwidth),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "motor_cmd",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_MESSAGE,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message (initialized later)
-    true,  // is array
-    20,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__LowCmd, motor_cmd),  // bytes offset in struct
-    NULL,  // default value
-    LowCmd__rosidl_typesupport_introspection_c__size_function__MotorCmd__motor_cmd,  // size() function pointer
-    LowCmd__rosidl_typesupport_introspection_c__get_const_function__MotorCmd__motor_cmd,  // get_const(index) function pointer
-    LowCmd__rosidl_typesupport_introspection_c__get_function__MotorCmd__motor_cmd,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "bms_cmd",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_MESSAGE,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message (initialized later)
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__LowCmd, bms_cmd),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "wireless_remote",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_UINT8,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    true,  // is array
-    40,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__LowCmd, wireless_remote),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "led",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_UINT8,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    true,  // is array
-    12,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__LowCmd, led),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "fan",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_UINT8,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    true,  // is array
-    2,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__LowCmd, fan),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "gpio",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_UINT8,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__LowCmd, gpio),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "reserve",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_UINT32,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__LowCmd, reserve),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "crc",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_UINT32,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__LowCmd, crc),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  }
-};
-
-static const rosidl_typesupport_introspection_c__MessageMembers LowCmd__rosidl_typesupport_introspection_c__LowCmd_message_members = {
-  "unitree_go__msg",  // message namespace
-  "LowCmd",  // message name
-  14,  // number of fields
-  sizeof(unitree_go__msg__LowCmd),
-  LowCmd__rosidl_typesupport_introspection_c__LowCmd_message_member_array,  // message members
-  LowCmd__rosidl_typesupport_introspection_c__LowCmd_init_function,  // function to initialize message memory (memory has to be allocated)
-  LowCmd__rosidl_typesupport_introspection_c__LowCmd_fini_function  // function to terminate message instance (will not free memory)
-};
-
-// this is not const since it must be initialized on first access
-// since C does not allow non-integral compile-time constants
-static rosidl_message_type_support_t LowCmd__rosidl_typesupport_introspection_c__LowCmd_message_type_support_handle = {
-  0,
-  &LowCmd__rosidl_typesupport_introspection_c__LowCmd_message_members,
-  get_message_typesupport_handle_function,
-};
-
-ROSIDL_TYPESUPPORT_INTROSPECTION_C_EXPORT_unitree_go
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, unitree_go, msg, LowCmd)() {
-  LowCmd__rosidl_typesupport_introspection_c__LowCmd_message_member_array[6].members_ =
-    ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, unitree_go, msg, MotorCmd)();
-  LowCmd__rosidl_typesupport_introspection_c__LowCmd_message_member_array[7].members_ =
-    ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, unitree_go, msg, BmsCmd)();
-  if (!LowCmd__rosidl_typesupport_introspection_c__LowCmd_message_type_support_handle.typesupport_identifier) {
-    LowCmd__rosidl_typesupport_introspection_c__LowCmd_message_type_support_handle.typesupport_identifier =
-      rosidl_typesupport_introspection_c__identifier;
-  }
-  return &LowCmd__rosidl_typesupport_introspection_c__LowCmd_message_type_support_handle;
-}
-#ifdef __cplusplus
-}
-#endif
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_cmd__type_support.cpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_cmd__type_support.cpp
deleted file mode 100644
index 5ecc5d0..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_cmd__type_support.cpp
+++ /dev/null
@@ -1,442 +0,0 @@
-// generated from rosidl_typesupport_introspection_cpp/resource/idl__type_support.cpp.em
-// with input from unitree_go:msg/LowCmd.idl
-// generated code does not contain a copyright notice
-
-#include "array"
-#include "cstddef"
-#include "string"
-#include "vector"
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_cpp/message_type_support.hpp"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_go/msg/detail/low_cmd__struct.hpp"
-#include "rosidl_typesupport_introspection_cpp/field_types.hpp"
-#include "rosidl_typesupport_introspection_cpp/identifier.hpp"
-#include "rosidl_typesupport_introspection_cpp/message_introspection.hpp"
-#include "rosidl_typesupport_introspection_cpp/message_type_support_decl.hpp"
-#include "rosidl_typesupport_introspection_cpp/visibility_control.h"
-
-namespace unitree_go
-{
-
-namespace msg
-{
-
-namespace rosidl_typesupport_introspection_cpp
-{
-
-void LowCmd_init_function(
-  void * message_memory, rosidl_runtime_cpp::MessageInitialization _init)
-{
-  new (message_memory) unitree_go::msg::LowCmd(_init);
-}
-
-void LowCmd_fini_function(void * message_memory)
-{
-  auto typed_message = static_cast<unitree_go::msg::LowCmd *>(message_memory);
-  typed_message->~LowCmd();
-}
-
-size_t size_function__LowCmd__head(const void * untyped_member)
-{
-  (void)untyped_member;
-  return 2;
-}
-
-const void * get_const_function__LowCmd__head(const void * untyped_member, size_t index)
-{
-  const auto & member =
-    *reinterpret_cast<const std::array<uint8_t, 2> *>(untyped_member);
-  return &member[index];
-}
-
-void * get_function__LowCmd__head(void * untyped_member, size_t index)
-{
-  auto & member =
-    *reinterpret_cast<std::array<uint8_t, 2> *>(untyped_member);
-  return &member[index];
-}
-
-size_t size_function__LowCmd__sn(const void * untyped_member)
-{
-  (void)untyped_member;
-  return 2;
-}
-
-const void * get_const_function__LowCmd__sn(const void * untyped_member, size_t index)
-{
-  const auto & member =
-    *reinterpret_cast<const std::array<uint32_t, 2> *>(untyped_member);
-  return &member[index];
-}
-
-void * get_function__LowCmd__sn(void * untyped_member, size_t index)
-{
-  auto & member =
-    *reinterpret_cast<std::array<uint32_t, 2> *>(untyped_member);
-  return &member[index];
-}
-
-size_t size_function__LowCmd__version(const void * untyped_member)
-{
-  (void)untyped_member;
-  return 2;
-}
-
-const void * get_const_function__LowCmd__version(const void * untyped_member, size_t index)
-{
-  const auto & member =
-    *reinterpret_cast<const std::array<uint32_t, 2> *>(untyped_member);
-  return &member[index];
-}
-
-void * get_function__LowCmd__version(void * untyped_member, size_t index)
-{
-  auto & member =
-    *reinterpret_cast<std::array<uint32_t, 2> *>(untyped_member);
-  return &member[index];
-}
-
-size_t size_function__LowCmd__motor_cmd(const void * untyped_member)
-{
-  (void)untyped_member;
-  return 20;
-}
-
-const void * get_const_function__LowCmd__motor_cmd(const void * untyped_member, size_t index)
-{
-  const auto & member =
-    *reinterpret_cast<const std::array<unitree_go::msg::MotorCmd, 20> *>(untyped_member);
-  return &member[index];
-}
-
-void * get_function__LowCmd__motor_cmd(void * untyped_member, size_t index)
-{
-  auto & member =
-    *reinterpret_cast<std::array<unitree_go::msg::MotorCmd, 20> *>(untyped_member);
-  return &member[index];
-}
-
-size_t size_function__LowCmd__wireless_remote(const void * untyped_member)
-{
-  (void)untyped_member;
-  return 40;
-}
-
-const void * get_const_function__LowCmd__wireless_remote(const void * untyped_member, size_t index)
-{
-  const auto & member =
-    *reinterpret_cast<const std::array<uint8_t, 40> *>(untyped_member);
-  return &member[index];
-}
-
-void * get_function__LowCmd__wireless_remote(void * untyped_member, size_t index)
-{
-  auto & member =
-    *reinterpret_cast<std::array<uint8_t, 40> *>(untyped_member);
-  return &member[index];
-}
-
-size_t size_function__LowCmd__led(const void * untyped_member)
-{
-  (void)untyped_member;
-  return 12;
-}
-
-const void * get_const_function__LowCmd__led(const void * untyped_member, size_t index)
-{
-  const auto & member =
-    *reinterpret_cast<const std::array<uint8_t, 12> *>(untyped_member);
-  return &member[index];
-}
-
-void * get_function__LowCmd__led(void * untyped_member, size_t index)
-{
-  auto & member =
-    *reinterpret_cast<std::array<uint8_t, 12> *>(untyped_member);
-  return &member[index];
-}
-
-size_t size_function__LowCmd__fan(const void * untyped_member)
-{
-  (void)untyped_member;
-  return 2;
-}
-
-const void * get_const_function__LowCmd__fan(const void * untyped_member, size_t index)
-{
-  const auto & member =
-    *reinterpret_cast<const std::array<uint8_t, 2> *>(untyped_member);
-  return &member[index];
-}
-
-void * get_function__LowCmd__fan(void * untyped_member, size_t index)
-{
-  auto & member =
-    *reinterpret_cast<std::array<uint8_t, 2> *>(untyped_member);
-  return &member[index];
-}
-
-static const ::rosidl_typesupport_introspection_cpp::MessageMember LowCmd_message_member_array[14] = {
-  {
-    "head",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT8,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    true,  // is array
-    2,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::LowCmd, head),  // bytes offset in struct
-    nullptr,  // default value
-    size_function__LowCmd__head,  // size() function pointer
-    get_const_function__LowCmd__head,  // get_const(index) function pointer
-    get_function__LowCmd__head,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "level_flag",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT8,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::LowCmd, level_flag),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "frame_reserve",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT8,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::LowCmd, frame_reserve),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "sn",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT32,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    true,  // is array
-    2,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::LowCmd, sn),  // bytes offset in struct
-    nullptr,  // default value
-    size_function__LowCmd__sn,  // size() function pointer
-    get_const_function__LowCmd__sn,  // get_const(index) function pointer
-    get_function__LowCmd__sn,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "version",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT32,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    true,  // is array
-    2,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::LowCmd, version),  // bytes offset in struct
-    nullptr,  // default value
-    size_function__LowCmd__version,  // size() function pointer
-    get_const_function__LowCmd__version,  // get_const(index) function pointer
-    get_function__LowCmd__version,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "bandwidth",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT16,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::LowCmd, bandwidth),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "motor_cmd",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_MESSAGE,  // type
-    0,  // upper bound of string
-    ::rosidl_typesupport_introspection_cpp::get_message_type_support_handle<unitree_go::msg::MotorCmd>(),  // members of sub message
-    true,  // is array
-    20,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::LowCmd, motor_cmd),  // bytes offset in struct
-    nullptr,  // default value
-    size_function__LowCmd__motor_cmd,  // size() function pointer
-    get_const_function__LowCmd__motor_cmd,  // get_const(index) function pointer
-    get_function__LowCmd__motor_cmd,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "bms_cmd",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_MESSAGE,  // type
-    0,  // upper bound of string
-    ::rosidl_typesupport_introspection_cpp::get_message_type_support_handle<unitree_go::msg::BmsCmd>(),  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::LowCmd, bms_cmd),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "wireless_remote",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT8,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    true,  // is array
-    40,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::LowCmd, wireless_remote),  // bytes offset in struct
-    nullptr,  // default value
-    size_function__LowCmd__wireless_remote,  // size() function pointer
-    get_const_function__LowCmd__wireless_remote,  // get_const(index) function pointer
-    get_function__LowCmd__wireless_remote,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "led",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT8,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    true,  // is array
-    12,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::LowCmd, led),  // bytes offset in struct
-    nullptr,  // default value
-    size_function__LowCmd__led,  // size() function pointer
-    get_const_function__LowCmd__led,  // get_const(index) function pointer
-    get_function__LowCmd__led,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "fan",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT8,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    true,  // is array
-    2,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::LowCmd, fan),  // bytes offset in struct
-    nullptr,  // default value
-    size_function__LowCmd__fan,  // size() function pointer
-    get_const_function__LowCmd__fan,  // get_const(index) function pointer
-    get_function__LowCmd__fan,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "gpio",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT8,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::LowCmd, gpio),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "reserve",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT32,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::LowCmd, reserve),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "crc",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT32,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::LowCmd, crc),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  }
-};
-
-static const ::rosidl_typesupport_introspection_cpp::MessageMembers LowCmd_message_members = {
-  "unitree_go::msg",  // message namespace
-  "LowCmd",  // message name
-  14,  // number of fields
-  sizeof(unitree_go::msg::LowCmd),
-  LowCmd_message_member_array,  // message members
-  LowCmd_init_function,  // function to initialize message memory (memory has to be allocated)
-  LowCmd_fini_function  // function to terminate message instance (will not free memory)
-};
-
-static const rosidl_message_type_support_t LowCmd_message_type_support_handle = {
-  ::rosidl_typesupport_introspection_cpp::typesupport_identifier,
-  &LowCmd_message_members,
-  get_message_typesupport_handle_function,
-};
-
-}  // namespace rosidl_typesupport_introspection_cpp
-
-}  // namespace msg
-
-}  // namespace unitree_go
-
-
-namespace rosidl_typesupport_introspection_cpp
-{
-
-template<>
-ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
-const rosidl_message_type_support_t *
-get_message_type_support_handle<unitree_go::msg::LowCmd>()
-{
-  return &::unitree_go::msg::rosidl_typesupport_introspection_cpp::LowCmd_message_type_support_handle;
-}
-
-}  // namespace rosidl_typesupport_introspection_cpp
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_cpp, unitree_go, msg, LowCmd)() {
-  return &::unitree_go::msg::rosidl_typesupport_introspection_cpp::LowCmd_message_type_support_handle;
-}
-
-#ifdef __cplusplus
-}
-#endif
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_cmd__type_support.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_cmd__type_support.h
deleted file mode 100644
index 6575c55..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_cmd__type_support.h
+++ /dev/null
@@ -1,33 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__type_support.h.em
-// with input from unitree_go:msg/LowCmd.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__LOW_CMD__TYPE_SUPPORT_H_
-#define UNITREE_GO__MSG__DETAIL__LOW_CMD__TYPE_SUPPORT_H_
-
-#include "rosidl_typesupport_interface/macros.h"
-
-#include "unitree_go/msg/rosidl_generator_c__visibility_control.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-
-// Forward declare the get type support functions for this type.
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
-  rosidl_typesupport_c,
-  unitree_go,
-  msg,
-  LowCmd
-)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__LOW_CMD__TYPE_SUPPORT_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_cmd__type_support.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_cmd__type_support.hpp
deleted file mode 100644
index 1b3a9bd..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_cmd__type_support.hpp
+++ /dev/null
@@ -1,31 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__type_support.hpp.em
-// with input from unitree_go:msg/LowCmd.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__LOW_CMD__TYPE_SUPPORT_HPP_
-#define UNITREE_GO__MSG__DETAIL__LOW_CMD__TYPE_SUPPORT_HPP_
-
-#include "rosidl_typesupport_interface/macros.h"
-
-#include "unitree_go/msg/rosidl_generator_cpp__visibility_control.hpp"
-
-#include "rosidl_typesupport_cpp/message_type_support.hpp"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-// Forward declare the get type support functions for this type.
-ROSIDL_GENERATOR_CPP_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
-  rosidl_typesupport_cpp,
-  unitree_go,
-  msg,
-  LowCmd
-)();
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__LOW_CMD__TYPE_SUPPORT_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_state__builder.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_state__builder.hpp
deleted file mode 100644
index 9b82bde..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_state__builder.hpp
+++ /dev/null
@@ -1,391 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__builder.hpp.em
-// with input from unitree_go:msg/LowState.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__LOW_STATE__BUILDER_HPP_
-#define UNITREE_GO__MSG__DETAIL__LOW_STATE__BUILDER_HPP_
-
-#include "unitree_go/msg/detail/low_state__struct.hpp"
-#include <rosidl_runtime_cpp/message_initialization.hpp>
-#include <algorithm>
-#include <utility>
-
-
-namespace unitree_go
-{
-
-namespace msg
-{
-
-namespace builder
-{
-
-class Init_LowState_crc
-{
-public:
-  explicit Init_LowState_crc(::unitree_go::msg::LowState & msg)
-  : msg_(msg)
-  {}
-  ::unitree_go::msg::LowState crc(::unitree_go::msg::LowState::_crc_type arg)
-  {
-    msg_.crc = std::move(arg);
-    return std::move(msg_);
-  }
-
-private:
-  ::unitree_go::msg::LowState msg_;
-};
-
-class Init_LowState_reserve
-{
-public:
-  explicit Init_LowState_reserve(::unitree_go::msg::LowState & msg)
-  : msg_(msg)
-  {}
-  Init_LowState_crc reserve(::unitree_go::msg::LowState::_reserve_type arg)
-  {
-    msg_.reserve = std::move(arg);
-    return Init_LowState_crc(msg_);
-  }
-
-private:
-  ::unitree_go::msg::LowState msg_;
-};
-
-class Init_LowState_fan_frequency
-{
-public:
-  explicit Init_LowState_fan_frequency(::unitree_go::msg::LowState & msg)
-  : msg_(msg)
-  {}
-  Init_LowState_reserve fan_frequency(::unitree_go::msg::LowState::_fan_frequency_type arg)
-  {
-    msg_.fan_frequency = std::move(arg);
-    return Init_LowState_reserve(msg_);
-  }
-
-private:
-  ::unitree_go::msg::LowState msg_;
-};
-
-class Init_LowState_power_a
-{
-public:
-  explicit Init_LowState_power_a(::unitree_go::msg::LowState & msg)
-  : msg_(msg)
-  {}
-  Init_LowState_fan_frequency power_a(::unitree_go::msg::LowState::_power_a_type arg)
-  {
-    msg_.power_a = std::move(arg);
-    return Init_LowState_fan_frequency(msg_);
-  }
-
-private:
-  ::unitree_go::msg::LowState msg_;
-};
-
-class Init_LowState_power_v
-{
-public:
-  explicit Init_LowState_power_v(::unitree_go::msg::LowState & msg)
-  : msg_(msg)
-  {}
-  Init_LowState_power_a power_v(::unitree_go::msg::LowState::_power_v_type arg)
-  {
-    msg_.power_v = std::move(arg);
-    return Init_LowState_power_a(msg_);
-  }
-
-private:
-  ::unitree_go::msg::LowState msg_;
-};
-
-class Init_LowState_temperature_ntc2
-{
-public:
-  explicit Init_LowState_temperature_ntc2(::unitree_go::msg::LowState & msg)
-  : msg_(msg)
-  {}
-  Init_LowState_power_v temperature_ntc2(::unitree_go::msg::LowState::_temperature_ntc2_type arg)
-  {
-    msg_.temperature_ntc2 = std::move(arg);
-    return Init_LowState_power_v(msg_);
-  }
-
-private:
-  ::unitree_go::msg::LowState msg_;
-};
-
-class Init_LowState_temperature_ntc1
-{
-public:
-  explicit Init_LowState_temperature_ntc1(::unitree_go::msg::LowState & msg)
-  : msg_(msg)
-  {}
-  Init_LowState_temperature_ntc2 temperature_ntc1(::unitree_go::msg::LowState::_temperature_ntc1_type arg)
-  {
-    msg_.temperature_ntc1 = std::move(arg);
-    return Init_LowState_temperature_ntc2(msg_);
-  }
-
-private:
-  ::unitree_go::msg::LowState msg_;
-};
-
-class Init_LowState_adc_reel
-{
-public:
-  explicit Init_LowState_adc_reel(::unitree_go::msg::LowState & msg)
-  : msg_(msg)
-  {}
-  Init_LowState_temperature_ntc1 adc_reel(::unitree_go::msg::LowState::_adc_reel_type arg)
-  {
-    msg_.adc_reel = std::move(arg);
-    return Init_LowState_temperature_ntc1(msg_);
-  }
-
-private:
-  ::unitree_go::msg::LowState msg_;
-};
-
-class Init_LowState_bit_flag
-{
-public:
-  explicit Init_LowState_bit_flag(::unitree_go::msg::LowState & msg)
-  : msg_(msg)
-  {}
-  Init_LowState_adc_reel bit_flag(::unitree_go::msg::LowState::_bit_flag_type arg)
-  {
-    msg_.bit_flag = std::move(arg);
-    return Init_LowState_adc_reel(msg_);
-  }
-
-private:
-  ::unitree_go::msg::LowState msg_;
-};
-
-class Init_LowState_wireless_remote
-{
-public:
-  explicit Init_LowState_wireless_remote(::unitree_go::msg::LowState & msg)
-  : msg_(msg)
-  {}
-  Init_LowState_bit_flag wireless_remote(::unitree_go::msg::LowState::_wireless_remote_type arg)
-  {
-    msg_.wireless_remote = std::move(arg);
-    return Init_LowState_bit_flag(msg_);
-  }
-
-private:
-  ::unitree_go::msg::LowState msg_;
-};
-
-class Init_LowState_tick
-{
-public:
-  explicit Init_LowState_tick(::unitree_go::msg::LowState & msg)
-  : msg_(msg)
-  {}
-  Init_LowState_wireless_remote tick(::unitree_go::msg::LowState::_tick_type arg)
-  {
-    msg_.tick = std::move(arg);
-    return Init_LowState_wireless_remote(msg_);
-  }
-
-private:
-  ::unitree_go::msg::LowState msg_;
-};
-
-class Init_LowState_foot_force_est
-{
-public:
-  explicit Init_LowState_foot_force_est(::unitree_go::msg::LowState & msg)
-  : msg_(msg)
-  {}
-  Init_LowState_tick foot_force_est(::unitree_go::msg::LowState::_foot_force_est_type arg)
-  {
-    msg_.foot_force_est = std::move(arg);
-    return Init_LowState_tick(msg_);
-  }
-
-private:
-  ::unitree_go::msg::LowState msg_;
-};
-
-class Init_LowState_foot_force
-{
-public:
-  explicit Init_LowState_foot_force(::unitree_go::msg::LowState & msg)
-  : msg_(msg)
-  {}
-  Init_LowState_foot_force_est foot_force(::unitree_go::msg::LowState::_foot_force_type arg)
-  {
-    msg_.foot_force = std::move(arg);
-    return Init_LowState_foot_force_est(msg_);
-  }
-
-private:
-  ::unitree_go::msg::LowState msg_;
-};
-
-class Init_LowState_bms_state
-{
-public:
-  explicit Init_LowState_bms_state(::unitree_go::msg::LowState & msg)
-  : msg_(msg)
-  {}
-  Init_LowState_foot_force bms_state(::unitree_go::msg::LowState::_bms_state_type arg)
-  {
-    msg_.bms_state = std::move(arg);
-    return Init_LowState_foot_force(msg_);
-  }
-
-private:
-  ::unitree_go::msg::LowState msg_;
-};
-
-class Init_LowState_motor_state
-{
-public:
-  explicit Init_LowState_motor_state(::unitree_go::msg::LowState & msg)
-  : msg_(msg)
-  {}
-  Init_LowState_bms_state motor_state(::unitree_go::msg::LowState::_motor_state_type arg)
-  {
-    msg_.motor_state = std::move(arg);
-    return Init_LowState_bms_state(msg_);
-  }
-
-private:
-  ::unitree_go::msg::LowState msg_;
-};
-
-class Init_LowState_imu_state
-{
-public:
-  explicit Init_LowState_imu_state(::unitree_go::msg::LowState & msg)
-  : msg_(msg)
-  {}
-  Init_LowState_motor_state imu_state(::unitree_go::msg::LowState::_imu_state_type arg)
-  {
-    msg_.imu_state = std::move(arg);
-    return Init_LowState_motor_state(msg_);
-  }
-
-private:
-  ::unitree_go::msg::LowState msg_;
-};
-
-class Init_LowState_bandwidth
-{
-public:
-  explicit Init_LowState_bandwidth(::unitree_go::msg::LowState & msg)
-  : msg_(msg)
-  {}
-  Init_LowState_imu_state bandwidth(::unitree_go::msg::LowState::_bandwidth_type arg)
-  {
-    msg_.bandwidth = std::move(arg);
-    return Init_LowState_imu_state(msg_);
-  }
-
-private:
-  ::unitree_go::msg::LowState msg_;
-};
-
-class Init_LowState_version
-{
-public:
-  explicit Init_LowState_version(::unitree_go::msg::LowState & msg)
-  : msg_(msg)
-  {}
-  Init_LowState_bandwidth version(::unitree_go::msg::LowState::_version_type arg)
-  {
-    msg_.version = std::move(arg);
-    return Init_LowState_bandwidth(msg_);
-  }
-
-private:
-  ::unitree_go::msg::LowState msg_;
-};
-
-class Init_LowState_sn
-{
-public:
-  explicit Init_LowState_sn(::unitree_go::msg::LowState & msg)
-  : msg_(msg)
-  {}
-  Init_LowState_version sn(::unitree_go::msg::LowState::_sn_type arg)
-  {
-    msg_.sn = std::move(arg);
-    return Init_LowState_version(msg_);
-  }
-
-private:
-  ::unitree_go::msg::LowState msg_;
-};
-
-class Init_LowState_frame_reserve
-{
-public:
-  explicit Init_LowState_frame_reserve(::unitree_go::msg::LowState & msg)
-  : msg_(msg)
-  {}
-  Init_LowState_sn frame_reserve(::unitree_go::msg::LowState::_frame_reserve_type arg)
-  {
-    msg_.frame_reserve = std::move(arg);
-    return Init_LowState_sn(msg_);
-  }
-
-private:
-  ::unitree_go::msg::LowState msg_;
-};
-
-class Init_LowState_level_flag
-{
-public:
-  explicit Init_LowState_level_flag(::unitree_go::msg::LowState & msg)
-  : msg_(msg)
-  {}
-  Init_LowState_frame_reserve level_flag(::unitree_go::msg::LowState::_level_flag_type arg)
-  {
-    msg_.level_flag = std::move(arg);
-    return Init_LowState_frame_reserve(msg_);
-  }
-
-private:
-  ::unitree_go::msg::LowState msg_;
-};
-
-class Init_LowState_head
-{
-public:
-  Init_LowState_head()
-  : msg_(::rosidl_runtime_cpp::MessageInitialization::SKIP)
-  {}
-  Init_LowState_level_flag head(::unitree_go::msg::LowState::_head_type arg)
-  {
-    msg_.head = std::move(arg);
-    return Init_LowState_level_flag(msg_);
-  }
-
-private:
-  ::unitree_go::msg::LowState msg_;
-};
-
-}  // namespace builder
-
-}  // namespace msg
-
-template<typename MessageType>
-auto build();
-
-template<>
-inline
-auto build<::unitree_go::msg::LowState>()
-{
-  return unitree_go::msg::builder::Init_LowState_head();
-}
-
-}  // namespace unitree_go
-
-#endif  // UNITREE_GO__MSG__DETAIL__LOW_STATE__BUILDER_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_state__functions.c b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_state__functions.c
deleted file mode 100644
index 2a1acd1..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_state__functions.c
+++ /dev/null
@@ -1,476 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__functions.c.em
-// with input from unitree_go:msg/LowState.idl
-// generated code does not contain a copyright notice
-#include "unitree_go/msg/detail/low_state__functions.h"
-
-#include <assert.h>
-#include <stdbool.h>
-#include <stdlib.h>
-#include <string.h>
-
-#include "rcutils/allocator.h"
-
-
-// Include directives for member types
-// Member `imu_state`
-#include "unitree_go/msg/detail/imu_state__functions.h"
-// Member `motor_state`
-#include "unitree_go/msg/detail/motor_state__functions.h"
-// Member `bms_state`
-#include "unitree_go/msg/detail/bms_state__functions.h"
-
-bool
-unitree_go__msg__LowState__init(unitree_go__msg__LowState * msg)
-{
-  if (!msg) {
-    return false;
-  }
-  // head
-  // level_flag
-  // frame_reserve
-  // sn
-  // version
-  // bandwidth
-  // imu_state
-  if (!unitree_go__msg__IMUState__init(&msg->imu_state)) {
-    unitree_go__msg__LowState__fini(msg);
-    return false;
-  }
-  // motor_state
-  for (size_t i = 0; i < 20; ++i) {
-    if (!unitree_go__msg__MotorState__init(&msg->motor_state[i])) {
-      unitree_go__msg__LowState__fini(msg);
-      return false;
-    }
-  }
-  // bms_state
-  if (!unitree_go__msg__BmsState__init(&msg->bms_state)) {
-    unitree_go__msg__LowState__fini(msg);
-    return false;
-  }
-  // foot_force
-  // foot_force_est
-  // tick
-  // wireless_remote
-  // bit_flag
-  // adc_reel
-  // temperature_ntc1
-  // temperature_ntc2
-  // power_v
-  // power_a
-  // fan_frequency
-  // reserve
-  // crc
-  return true;
-}
-
-void
-unitree_go__msg__LowState__fini(unitree_go__msg__LowState * msg)
-{
-  if (!msg) {
-    return;
-  }
-  // head
-  // level_flag
-  // frame_reserve
-  // sn
-  // version
-  // bandwidth
-  // imu_state
-  unitree_go__msg__IMUState__fini(&msg->imu_state);
-  // motor_state
-  for (size_t i = 0; i < 20; ++i) {
-    unitree_go__msg__MotorState__fini(&msg->motor_state[i]);
-  }
-  // bms_state
-  unitree_go__msg__BmsState__fini(&msg->bms_state);
-  // foot_force
-  // foot_force_est
-  // tick
-  // wireless_remote
-  // bit_flag
-  // adc_reel
-  // temperature_ntc1
-  // temperature_ntc2
-  // power_v
-  // power_a
-  // fan_frequency
-  // reserve
-  // crc
-}
-
-bool
-unitree_go__msg__LowState__are_equal(const unitree_go__msg__LowState * lhs, const unitree_go__msg__LowState * rhs)
-{
-  if (!lhs || !rhs) {
-    return false;
-  }
-  // head
-  for (size_t i = 0; i < 2; ++i) {
-    if (lhs->head[i] != rhs->head[i]) {
-      return false;
-    }
-  }
-  // level_flag
-  if (lhs->level_flag != rhs->level_flag) {
-    return false;
-  }
-  // frame_reserve
-  if (lhs->frame_reserve != rhs->frame_reserve) {
-    return false;
-  }
-  // sn
-  for (size_t i = 0; i < 2; ++i) {
-    if (lhs->sn[i] != rhs->sn[i]) {
-      return false;
-    }
-  }
-  // version
-  for (size_t i = 0; i < 2; ++i) {
-    if (lhs->version[i] != rhs->version[i]) {
-      return false;
-    }
-  }
-  // bandwidth
-  if (lhs->bandwidth != rhs->bandwidth) {
-    return false;
-  }
-  // imu_state
-  if (!unitree_go__msg__IMUState__are_equal(
-      &(lhs->imu_state), &(rhs->imu_state)))
-  {
-    return false;
-  }
-  // motor_state
-  for (size_t i = 0; i < 20; ++i) {
-    if (!unitree_go__msg__MotorState__are_equal(
-        &(lhs->motor_state[i]), &(rhs->motor_state[i])))
-    {
-      return false;
-    }
-  }
-  // bms_state
-  if (!unitree_go__msg__BmsState__are_equal(
-      &(lhs->bms_state), &(rhs->bms_state)))
-  {
-    return false;
-  }
-  // foot_force
-  for (size_t i = 0; i < 4; ++i) {
-    if (lhs->foot_force[i] != rhs->foot_force[i]) {
-      return false;
-    }
-  }
-  // foot_force_est
-  for (size_t i = 0; i < 4; ++i) {
-    if (lhs->foot_force_est[i] != rhs->foot_force_est[i]) {
-      return false;
-    }
-  }
-  // tick
-  if (lhs->tick != rhs->tick) {
-    return false;
-  }
-  // wireless_remote
-  for (size_t i = 0; i < 40; ++i) {
-    if (lhs->wireless_remote[i] != rhs->wireless_remote[i]) {
-      return false;
-    }
-  }
-  // bit_flag
-  if (lhs->bit_flag != rhs->bit_flag) {
-    return false;
-  }
-  // adc_reel
-  if (lhs->adc_reel != rhs->adc_reel) {
-    return false;
-  }
-  // temperature_ntc1
-  if (lhs->temperature_ntc1 != rhs->temperature_ntc1) {
-    return false;
-  }
-  // temperature_ntc2
-  if (lhs->temperature_ntc2 != rhs->temperature_ntc2) {
-    return false;
-  }
-  // power_v
-  if (lhs->power_v != rhs->power_v) {
-    return false;
-  }
-  // power_a
-  if (lhs->power_a != rhs->power_a) {
-    return false;
-  }
-  // fan_frequency
-  for (size_t i = 0; i < 4; ++i) {
-    if (lhs->fan_frequency[i] != rhs->fan_frequency[i]) {
-      return false;
-    }
-  }
-  // reserve
-  if (lhs->reserve != rhs->reserve) {
-    return false;
-  }
-  // crc
-  if (lhs->crc != rhs->crc) {
-    return false;
-  }
-  return true;
-}
-
-bool
-unitree_go__msg__LowState__copy(
-  const unitree_go__msg__LowState * input,
-  unitree_go__msg__LowState * output)
-{
-  if (!input || !output) {
-    return false;
-  }
-  // head
-  for (size_t i = 0; i < 2; ++i) {
-    output->head[i] = input->head[i];
-  }
-  // level_flag
-  output->level_flag = input->level_flag;
-  // frame_reserve
-  output->frame_reserve = input->frame_reserve;
-  // sn
-  for (size_t i = 0; i < 2; ++i) {
-    output->sn[i] = input->sn[i];
-  }
-  // version
-  for (size_t i = 0; i < 2; ++i) {
-    output->version[i] = input->version[i];
-  }
-  // bandwidth
-  output->bandwidth = input->bandwidth;
-  // imu_state
-  if (!unitree_go__msg__IMUState__copy(
-      &(input->imu_state), &(output->imu_state)))
-  {
-    return false;
-  }
-  // motor_state
-  for (size_t i = 0; i < 20; ++i) {
-    if (!unitree_go__msg__MotorState__copy(
-        &(input->motor_state[i]), &(output->motor_state[i])))
-    {
-      return false;
-    }
-  }
-  // bms_state
-  if (!unitree_go__msg__BmsState__copy(
-      &(input->bms_state), &(output->bms_state)))
-  {
-    return false;
-  }
-  // foot_force
-  for (size_t i = 0; i < 4; ++i) {
-    output->foot_force[i] = input->foot_force[i];
-  }
-  // foot_force_est
-  for (size_t i = 0; i < 4; ++i) {
-    output->foot_force_est[i] = input->foot_force_est[i];
-  }
-  // tick
-  output->tick = input->tick;
-  // wireless_remote
-  for (size_t i = 0; i < 40; ++i) {
-    output->wireless_remote[i] = input->wireless_remote[i];
-  }
-  // bit_flag
-  output->bit_flag = input->bit_flag;
-  // adc_reel
-  output->adc_reel = input->adc_reel;
-  // temperature_ntc1
-  output->temperature_ntc1 = input->temperature_ntc1;
-  // temperature_ntc2
-  output->temperature_ntc2 = input->temperature_ntc2;
-  // power_v
-  output->power_v = input->power_v;
-  // power_a
-  output->power_a = input->power_a;
-  // fan_frequency
-  for (size_t i = 0; i < 4; ++i) {
-    output->fan_frequency[i] = input->fan_frequency[i];
-  }
-  // reserve
-  output->reserve = input->reserve;
-  // crc
-  output->crc = input->crc;
-  return true;
-}
-
-unitree_go__msg__LowState *
-unitree_go__msg__LowState__create()
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  unitree_go__msg__LowState * msg = (unitree_go__msg__LowState *)allocator.allocate(sizeof(unitree_go__msg__LowState), allocator.state);
-  if (!msg) {
-    return NULL;
-  }
-  memset(msg, 0, sizeof(unitree_go__msg__LowState));
-  bool success = unitree_go__msg__LowState__init(msg);
-  if (!success) {
-    allocator.deallocate(msg, allocator.state);
-    return NULL;
-  }
-  return msg;
-}
-
-void
-unitree_go__msg__LowState__destroy(unitree_go__msg__LowState * msg)
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  if (msg) {
-    unitree_go__msg__LowState__fini(msg);
-  }
-  allocator.deallocate(msg, allocator.state);
-}
-
-
-bool
-unitree_go__msg__LowState__Sequence__init(unitree_go__msg__LowState__Sequence * array, size_t size)
-{
-  if (!array) {
-    return false;
-  }
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  unitree_go__msg__LowState * data = NULL;
-
-  if (size) {
-    data = (unitree_go__msg__LowState *)allocator.zero_allocate(size, sizeof(unitree_go__msg__LowState), allocator.state);
-    if (!data) {
-      return false;
-    }
-    // initialize all array elements
-    size_t i;
-    for (i = 0; i < size; ++i) {
-      bool success = unitree_go__msg__LowState__init(&data[i]);
-      if (!success) {
-        break;
-      }
-    }
-    if (i < size) {
-      // if initialization failed finalize the already initialized array elements
-      for (; i > 0; --i) {
-        unitree_go__msg__LowState__fini(&data[i - 1]);
-      }
-      allocator.deallocate(data, allocator.state);
-      return false;
-    }
-  }
-  array->data = data;
-  array->size = size;
-  array->capacity = size;
-  return true;
-}
-
-void
-unitree_go__msg__LowState__Sequence__fini(unitree_go__msg__LowState__Sequence * array)
-{
-  if (!array) {
-    return;
-  }
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-
-  if (array->data) {
-    // ensure that data and capacity values are consistent
-    assert(array->capacity > 0);
-    // finalize all array elements
-    for (size_t i = 0; i < array->capacity; ++i) {
-      unitree_go__msg__LowState__fini(&array->data[i]);
-    }
-    allocator.deallocate(array->data, allocator.state);
-    array->data = NULL;
-    array->size = 0;
-    array->capacity = 0;
-  } else {
-    // ensure that data, size, and capacity values are consistent
-    assert(0 == array->size);
-    assert(0 == array->capacity);
-  }
-}
-
-unitree_go__msg__LowState__Sequence *
-unitree_go__msg__LowState__Sequence__create(size_t size)
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  unitree_go__msg__LowState__Sequence * array = (unitree_go__msg__LowState__Sequence *)allocator.allocate(sizeof(unitree_go__msg__LowState__Sequence), allocator.state);
-  if (!array) {
-    return NULL;
-  }
-  bool success = unitree_go__msg__LowState__Sequence__init(array, size);
-  if (!success) {
-    allocator.deallocate(array, allocator.state);
-    return NULL;
-  }
-  return array;
-}
-
-void
-unitree_go__msg__LowState__Sequence__destroy(unitree_go__msg__LowState__Sequence * array)
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  if (array) {
-    unitree_go__msg__LowState__Sequence__fini(array);
-  }
-  allocator.deallocate(array, allocator.state);
-}
-
-bool
-unitree_go__msg__LowState__Sequence__are_equal(const unitree_go__msg__LowState__Sequence * lhs, const unitree_go__msg__LowState__Sequence * rhs)
-{
-  if (!lhs || !rhs) {
-    return false;
-  }
-  if (lhs->size != rhs->size) {
-    return false;
-  }
-  for (size_t i = 0; i < lhs->size; ++i) {
-    if (!unitree_go__msg__LowState__are_equal(&(lhs->data[i]), &(rhs->data[i]))) {
-      return false;
-    }
-  }
-  return true;
-}
-
-bool
-unitree_go__msg__LowState__Sequence__copy(
-  const unitree_go__msg__LowState__Sequence * input,
-  unitree_go__msg__LowState__Sequence * output)
-{
-  if (!input || !output) {
-    return false;
-  }
-  if (output->capacity < input->size) {
-    const size_t allocation_size =
-      input->size * sizeof(unitree_go__msg__LowState);
-    unitree_go__msg__LowState * data =
-      (unitree_go__msg__LowState *)realloc(output->data, allocation_size);
-    if (!data) {
-      return false;
-    }
-    for (size_t i = output->capacity; i < input->size; ++i) {
-      if (!unitree_go__msg__LowState__init(&data[i])) {
-        /* free currently allocated and return false */
-        for (; i-- > output->capacity; ) {
-          unitree_go__msg__LowState__fini(&data[i]);
-        }
-        free(data);
-        return false;
-      }
-    }
-    output->data = data;
-    output->capacity = input->size;
-  }
-  output->size = input->size;
-  for (size_t i = 0; i < input->size; ++i) {
-    if (!unitree_go__msg__LowState__copy(
-        &(input->data[i]), &(output->data[i])))
-    {
-      return false;
-    }
-  }
-  return true;
-}
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_state__functions.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_state__functions.h
deleted file mode 100644
index 8f73c27..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_state__functions.h
+++ /dev/null
@@ -1,177 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__functions.h.em
-// with input from unitree_go:msg/LowState.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__LOW_STATE__FUNCTIONS_H_
-#define UNITREE_GO__MSG__DETAIL__LOW_STATE__FUNCTIONS_H_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include <stdbool.h>
-#include <stdlib.h>
-
-#include "rosidl_runtime_c/visibility_control.h"
-#include "unitree_go/msg/rosidl_generator_c__visibility_control.h"
-
-#include "unitree_go/msg/detail/low_state__struct.h"
-
-/// Initialize msg/LowState message.
-/**
- * If the init function is called twice for the same message without
- * calling fini inbetween previously allocated memory will be leaked.
- * \param[in,out] msg The previously allocated message pointer.
- * Fields without a default value will not be initialized by this function.
- * You might want to call memset(msg, 0, sizeof(
- * unitree_go__msg__LowState
- * )) before or use
- * unitree_go__msg__LowState__create()
- * to allocate and initialize the message.
- * \return true if initialization was successful, otherwise false
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__LowState__init(unitree_go__msg__LowState * msg);
-
-/// Finalize msg/LowState message.
-/**
- * \param[in,out] msg The allocated message pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-void
-unitree_go__msg__LowState__fini(unitree_go__msg__LowState * msg);
-
-/// Create msg/LowState message.
-/**
- * It allocates the memory for the message, sets the memory to zero, and
- * calls
- * unitree_go__msg__LowState__init().
- * \return The pointer to the initialized message if successful,
- * otherwise NULL
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-unitree_go__msg__LowState *
-unitree_go__msg__LowState__create();
-
-/// Destroy msg/LowState message.
-/**
- * It calls
- * unitree_go__msg__LowState__fini()
- * and frees the memory of the message.
- * \param[in,out] msg The allocated message pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-void
-unitree_go__msg__LowState__destroy(unitree_go__msg__LowState * msg);
-
-/// Check for msg/LowState message equality.
-/**
- * \param[in] lhs The message on the left hand size of the equality operator.
- * \param[in] rhs The message on the right hand size of the equality operator.
- * \return true if messages are equal, otherwise false.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__LowState__are_equal(const unitree_go__msg__LowState * lhs, const unitree_go__msg__LowState * rhs);
-
-/// Copy a msg/LowState message.
-/**
- * This functions performs a deep copy, as opposed to the shallow copy that
- * plain assignment yields.
- *
- * \param[in] input The source message pointer.
- * \param[out] output The target message pointer, which must
- *   have been initialized before calling this function.
- * \return true if successful, or false if either pointer is null
- *   or memory allocation fails.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__LowState__copy(
-  const unitree_go__msg__LowState * input,
-  unitree_go__msg__LowState * output);
-
-/// Initialize array of msg/LowState messages.
-/**
- * It allocates the memory for the number of elements and calls
- * unitree_go__msg__LowState__init()
- * for each element of the array.
- * \param[in,out] array The allocated array pointer.
- * \param[in] size The size / capacity of the array.
- * \return true if initialization was successful, otherwise false
- * If the array pointer is valid and the size is zero it is guaranteed
- # to return true.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__LowState__Sequence__init(unitree_go__msg__LowState__Sequence * array, size_t size);
-
-/// Finalize array of msg/LowState messages.
-/**
- * It calls
- * unitree_go__msg__LowState__fini()
- * for each element of the array and frees the memory for the number of
- * elements.
- * \param[in,out] array The initialized array pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-void
-unitree_go__msg__LowState__Sequence__fini(unitree_go__msg__LowState__Sequence * array);
-
-/// Create array of msg/LowState messages.
-/**
- * It allocates the memory for the array and calls
- * unitree_go__msg__LowState__Sequence__init().
- * \param[in] size The size / capacity of the array.
- * \return The pointer to the initialized array if successful, otherwise NULL
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-unitree_go__msg__LowState__Sequence *
-unitree_go__msg__LowState__Sequence__create(size_t size);
-
-/// Destroy array of msg/LowState messages.
-/**
- * It calls
- * unitree_go__msg__LowState__Sequence__fini()
- * on the array,
- * and frees the memory of the array.
- * \param[in,out] array The initialized array pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-void
-unitree_go__msg__LowState__Sequence__destroy(unitree_go__msg__LowState__Sequence * array);
-
-/// Check for msg/LowState message array equality.
-/**
- * \param[in] lhs The message array on the left hand size of the equality operator.
- * \param[in] rhs The message array on the right hand size of the equality operator.
- * \return true if message arrays are equal in size and content, otherwise false.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__LowState__Sequence__are_equal(const unitree_go__msg__LowState__Sequence * lhs, const unitree_go__msg__LowState__Sequence * rhs);
-
-/// Copy an array of msg/LowState messages.
-/**
- * This functions performs a deep copy, as opposed to the shallow copy that
- * plain assignment yields.
- *
- * \param[in] input The source array pointer.
- * \param[out] output The target array pointer, which must
- *   have been initialized before calling this function.
- * \return true if successful, or false if either pointer
- *   is null or memory allocation fails.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__LowState__Sequence__copy(
-  const unitree_go__msg__LowState__Sequence * input,
-  unitree_go__msg__LowState__Sequence * output);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__LOW_STATE__FUNCTIONS_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_state__rosidl_typesupport_fastrtps_c.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_state__rosidl_typesupport_fastrtps_c.h
deleted file mode 100644
index c6e07b6..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_state__rosidl_typesupport_fastrtps_c.h
+++ /dev/null
@@ -1,36 +0,0 @@
-// generated from rosidl_typesupport_fastrtps_c/resource/idl__rosidl_typesupport_fastrtps_c.h.em
-// with input from unitree_go:msg/LowState.idl
-// generated code does not contain a copyright notice
-#ifndef UNITREE_GO__MSG__DETAIL__LOW_STATE__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_
-#define UNITREE_GO__MSG__DETAIL__LOW_STATE__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_
-
-
-#include <stddef.h>
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_go/msg/rosidl_typesupport_fastrtps_c__visibility_control.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_go
-size_t get_serialized_size_unitree_go__msg__LowState(
-  const void * untyped_ros_message,
-  size_t current_alignment);
-
-ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_go
-size_t max_serialized_size_unitree_go__msg__LowState(
-  bool & full_bounded,
-  size_t current_alignment);
-
-ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_fastrtps_c, unitree_go, msg, LowState)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__LOW_STATE__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_state__rosidl_typesupport_fastrtps_cpp.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_state__rosidl_typesupport_fastrtps_cpp.hpp
deleted file mode 100644
index 311b055..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_state__rosidl_typesupport_fastrtps_cpp.hpp
+++ /dev/null
@@ -1,79 +0,0 @@
-// generated from rosidl_typesupport_fastrtps_cpp/resource/idl__rosidl_typesupport_fastrtps_cpp.hpp.em
-// with input from unitree_go:msg/LowState.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__LOW_STATE__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_
-#define UNITREE_GO__MSG__DETAIL__LOW_STATE__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_go/msg/rosidl_typesupport_fastrtps_cpp__visibility_control.h"
-#include "unitree_go/msg/detail/low_state__struct.hpp"
-
-#ifndef _WIN32
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wunused-parameter"
-# ifdef __clang__
-#  pragma clang diagnostic ignored "-Wdeprecated-register"
-#  pragma clang diagnostic ignored "-Wreturn-type-c-linkage"
-# endif
-#endif
-#ifndef _WIN32
-# pragma GCC diagnostic pop
-#endif
-
-#include "fastcdr/Cdr.h"
-
-namespace unitree_go
-{
-
-namespace msg
-{
-
-namespace typesupport_fastrtps_cpp
-{
-
-bool
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-cdr_serialize(
-  const unitree_go::msg::LowState & ros_message,
-  eprosima::fastcdr::Cdr & cdr);
-
-bool
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-cdr_deserialize(
-  eprosima::fastcdr::Cdr & cdr,
-  unitree_go::msg::LowState & ros_message);
-
-size_t
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-get_serialized_size(
-  const unitree_go::msg::LowState & ros_message,
-  size_t current_alignment);
-
-size_t
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-max_serialized_size_LowState(
-  bool & full_bounded,
-  size_t current_alignment);
-
-}  // namespace typesupport_fastrtps_cpp
-
-}  // namespace msg
-
-}  // namespace unitree_go
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_fastrtps_cpp, unitree_go, msg, LowState)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__LOW_STATE__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_state__rosidl_typesupport_introspection_c.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_state__rosidl_typesupport_introspection_c.h
deleted file mode 100644
index 9aeb2d0..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_state__rosidl_typesupport_introspection_c.h
+++ /dev/null
@@ -1,26 +0,0 @@
-// generated from rosidl_typesupport_introspection_c/resource/idl__rosidl_typesupport_introspection_c.h.em
-// with input from unitree_go:msg/LowState.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__LOW_STATE__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
-#define UNITREE_GO__MSG__DETAIL__LOW_STATE__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_go/msg/rosidl_typesupport_introspection_c__visibility_control.h"
-
-ROSIDL_TYPESUPPORT_INTROSPECTION_C_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, unitree_go, msg, LowState)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__LOW_STATE__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_state__rosidl_typesupport_introspection_cpp.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_state__rosidl_typesupport_introspection_cpp.hpp
deleted file mode 100644
index c6c5d40..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_state__rosidl_typesupport_introspection_cpp.hpp
+++ /dev/null
@@ -1,27 +0,0 @@
-// generated from rosidl_typesupport_introspection_cpp/resource/idl__rosidl_typesupport_introspection_cpp.h.em
-// with input from unitree_go:msg/LowState.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__LOW_STATE__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_
-#define UNITREE_GO__MSG__DETAIL__LOW_STATE__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_
-
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "rosidl_typesupport_introspection_cpp/visibility_control.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-// TODO(dirk-thomas) these visibility macros should be message package specific
-ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
-const rosidl_message_type_support_t *
-  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_cpp, unitree_go, msg, LowState)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__LOW_STATE__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_state__struct.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_state__struct.h
deleted file mode 100644
index 4300ff0..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_state__struct.h
+++ /dev/null
@@ -1,69 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__struct.h.em
-// with input from unitree_go:msg/LowState.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__LOW_STATE__STRUCT_H_
-#define UNITREE_GO__MSG__DETAIL__LOW_STATE__STRUCT_H_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include <stdbool.h>
-#include <stddef.h>
-#include <stdint.h>
-
-
-// Constants defined in the message
-
-// Include directives for member types
-// Member 'imu_state'
-#include "unitree_go/msg/detail/imu_state__struct.h"
-// Member 'motor_state'
-#include "unitree_go/msg/detail/motor_state__struct.h"
-// Member 'bms_state'
-#include "unitree_go/msg/detail/bms_state__struct.h"
-
-// Struct defined in msg/LowState in the package unitree_go.
-typedef struct unitree_go__msg__LowState
-{
-  uint8_t head[2];
-  uint8_t level_flag;
-  uint8_t frame_reserve;
-  uint32_t sn[2];
-  uint32_t version[2];
-  uint16_t bandwidth;
-  unitree_go__msg__IMUState imu_state;
-  unitree_go__msg__MotorState motor_state[20];
-  unitree_go__msg__BmsState bms_state;
-  int16_t foot_force[4];
-  int16_t foot_force_est[4];
-  uint32_t tick;
-  uint8_t wireless_remote[40];
-  uint8_t bit_flag;
-  float adc_reel;
-  int8_t temperature_ntc1;
-  int8_t temperature_ntc2;
-  float power_v;
-  float power_a;
-  uint16_t fan_frequency[4];
-  uint32_t reserve;
-  uint32_t crc;
-} unitree_go__msg__LowState;
-
-// Struct for a sequence of unitree_go__msg__LowState.
-typedef struct unitree_go__msg__LowState__Sequence
-{
-  unitree_go__msg__LowState * data;
-  /// The number of valid items in data
-  size_t size;
-  /// The number of allocated items in data
-  size_t capacity;
-} unitree_go__msg__LowState__Sequence;
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__LOW_STATE__STRUCT_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_state__struct.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_state__struct.hpp
deleted file mode 100644
index 1168725..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_state__struct.hpp
+++ /dev/null
@@ -1,439 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__struct.hpp.em
-// with input from unitree_go:msg/LowState.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__LOW_STATE__STRUCT_HPP_
-#define UNITREE_GO__MSG__DETAIL__LOW_STATE__STRUCT_HPP_
-
-#include <rosidl_runtime_cpp/bounded_vector.hpp>
-#include <rosidl_runtime_cpp/message_initialization.hpp>
-#include <algorithm>
-#include <array>
-#include <memory>
-#include <string>
-#include <vector>
-
-
-// Include directives for member types
-// Member 'imu_state'
-#include "unitree_go/msg/detail/imu_state__struct.hpp"
-// Member 'motor_state'
-#include "unitree_go/msg/detail/motor_state__struct.hpp"
-// Member 'bms_state'
-#include "unitree_go/msg/detail/bms_state__struct.hpp"
-
-#ifndef _WIN32
-# define DEPRECATED__unitree_go__msg__LowState __attribute__((deprecated))
-#else
-# define DEPRECATED__unitree_go__msg__LowState __declspec(deprecated)
-#endif
-
-namespace unitree_go
-{
-
-namespace msg
-{
-
-// message struct
-template<class ContainerAllocator>
-struct LowState_
-{
-  using Type = LowState_<ContainerAllocator>;
-
-  explicit LowState_(rosidl_runtime_cpp::MessageInitialization _init = rosidl_runtime_cpp::MessageInitialization::ALL)
-  : imu_state(_init),
-    bms_state(_init)
-  {
-    if (rosidl_runtime_cpp::MessageInitialization::ALL == _init ||
-      rosidl_runtime_cpp::MessageInitialization::ZERO == _init)
-    {
-      std::fill<typename std::array<uint8_t, 2>::iterator, uint8_t>(this->head.begin(), this->head.end(), 0);
-      this->level_flag = 0;
-      this->frame_reserve = 0;
-      std::fill<typename std::array<uint32_t, 2>::iterator, uint32_t>(this->sn.begin(), this->sn.end(), 0ul);
-      std::fill<typename std::array<uint32_t, 2>::iterator, uint32_t>(this->version.begin(), this->version.end(), 0ul);
-      this->bandwidth = 0;
-      this->motor_state.fill(unitree_go::msg::MotorState_<ContainerAllocator>{_init});
-      std::fill<typename std::array<int16_t, 4>::iterator, int16_t>(this->foot_force.begin(), this->foot_force.end(), 0);
-      std::fill<typename std::array<int16_t, 4>::iterator, int16_t>(this->foot_force_est.begin(), this->foot_force_est.end(), 0);
-      this->tick = 0ul;
-      std::fill<typename std::array<uint8_t, 40>::iterator, uint8_t>(this->wireless_remote.begin(), this->wireless_remote.end(), 0);
-      this->bit_flag = 0;
-      this->adc_reel = 0.0f;
-      this->temperature_ntc1 = 0;
-      this->temperature_ntc2 = 0;
-      this->power_v = 0.0f;
-      this->power_a = 0.0f;
-      std::fill<typename std::array<uint16_t, 4>::iterator, uint16_t>(this->fan_frequency.begin(), this->fan_frequency.end(), 0);
-      this->reserve = 0ul;
-      this->crc = 0ul;
-    }
-  }
-
-  explicit LowState_(const ContainerAllocator & _alloc, rosidl_runtime_cpp::MessageInitialization _init = rosidl_runtime_cpp::MessageInitialization::ALL)
-  : head(_alloc),
-    sn(_alloc),
-    version(_alloc),
-    imu_state(_alloc, _init),
-    motor_state(_alloc),
-    bms_state(_alloc, _init),
-    foot_force(_alloc),
-    foot_force_est(_alloc),
-    wireless_remote(_alloc),
-    fan_frequency(_alloc)
-  {
-    if (rosidl_runtime_cpp::MessageInitialization::ALL == _init ||
-      rosidl_runtime_cpp::MessageInitialization::ZERO == _init)
-    {
-      std::fill<typename std::array<uint8_t, 2>::iterator, uint8_t>(this->head.begin(), this->head.end(), 0);
-      this->level_flag = 0;
-      this->frame_reserve = 0;
-      std::fill<typename std::array<uint32_t, 2>::iterator, uint32_t>(this->sn.begin(), this->sn.end(), 0ul);
-      std::fill<typename std::array<uint32_t, 2>::iterator, uint32_t>(this->version.begin(), this->version.end(), 0ul);
-      this->bandwidth = 0;
-      this->motor_state.fill(unitree_go::msg::MotorState_<ContainerAllocator>{_alloc, _init});
-      std::fill<typename std::array<int16_t, 4>::iterator, int16_t>(this->foot_force.begin(), this->foot_force.end(), 0);
-      std::fill<typename std::array<int16_t, 4>::iterator, int16_t>(this->foot_force_est.begin(), this->foot_force_est.end(), 0);
-      this->tick = 0ul;
-      std::fill<typename std::array<uint8_t, 40>::iterator, uint8_t>(this->wireless_remote.begin(), this->wireless_remote.end(), 0);
-      this->bit_flag = 0;
-      this->adc_reel = 0.0f;
-      this->temperature_ntc1 = 0;
-      this->temperature_ntc2 = 0;
-      this->power_v = 0.0f;
-      this->power_a = 0.0f;
-      std::fill<typename std::array<uint16_t, 4>::iterator, uint16_t>(this->fan_frequency.begin(), this->fan_frequency.end(), 0);
-      this->reserve = 0ul;
-      this->crc = 0ul;
-    }
-  }
-
-  // field types and members
-  using _head_type =
-    std::array<uint8_t, 2>;
-  _head_type head;
-  using _level_flag_type =
-    uint8_t;
-  _level_flag_type level_flag;
-  using _frame_reserve_type =
-    uint8_t;
-  _frame_reserve_type frame_reserve;
-  using _sn_type =
-    std::array<uint32_t, 2>;
-  _sn_type sn;
-  using _version_type =
-    std::array<uint32_t, 2>;
-  _version_type version;
-  using _bandwidth_type =
-    uint16_t;
-  _bandwidth_type bandwidth;
-  using _imu_state_type =
-    unitree_go::msg::IMUState_<ContainerAllocator>;
-  _imu_state_type imu_state;
-  using _motor_state_type =
-    std::array<unitree_go::msg::MotorState_<ContainerAllocator>, 20>;
-  _motor_state_type motor_state;
-  using _bms_state_type =
-    unitree_go::msg::BmsState_<ContainerAllocator>;
-  _bms_state_type bms_state;
-  using _foot_force_type =
-    std::array<int16_t, 4>;
-  _foot_force_type foot_force;
-  using _foot_force_est_type =
-    std::array<int16_t, 4>;
-  _foot_force_est_type foot_force_est;
-  using _tick_type =
-    uint32_t;
-  _tick_type tick;
-  using _wireless_remote_type =
-    std::array<uint8_t, 40>;
-  _wireless_remote_type wireless_remote;
-  using _bit_flag_type =
-    uint8_t;
-  _bit_flag_type bit_flag;
-  using _adc_reel_type =
-    float;
-  _adc_reel_type adc_reel;
-  using _temperature_ntc1_type =
-    int8_t;
-  _temperature_ntc1_type temperature_ntc1;
-  using _temperature_ntc2_type =
-    int8_t;
-  _temperature_ntc2_type temperature_ntc2;
-  using _power_v_type =
-    float;
-  _power_v_type power_v;
-  using _power_a_type =
-    float;
-  _power_a_type power_a;
-  using _fan_frequency_type =
-    std::array<uint16_t, 4>;
-  _fan_frequency_type fan_frequency;
-  using _reserve_type =
-    uint32_t;
-  _reserve_type reserve;
-  using _crc_type =
-    uint32_t;
-  _crc_type crc;
-
-  // setters for named parameter idiom
-  Type & set__head(
-    const std::array<uint8_t, 2> & _arg)
-  {
-    this->head = _arg;
-    return *this;
-  }
-  Type & set__level_flag(
-    const uint8_t & _arg)
-  {
-    this->level_flag = _arg;
-    return *this;
-  }
-  Type & set__frame_reserve(
-    const uint8_t & _arg)
-  {
-    this->frame_reserve = _arg;
-    return *this;
-  }
-  Type & set__sn(
-    const std::array<uint32_t, 2> & _arg)
-  {
-    this->sn = _arg;
-    return *this;
-  }
-  Type & set__version(
-    const std::array<uint32_t, 2> & _arg)
-  {
-    this->version = _arg;
-    return *this;
-  }
-  Type & set__bandwidth(
-    const uint16_t & _arg)
-  {
-    this->bandwidth = _arg;
-    return *this;
-  }
-  Type & set__imu_state(
-    const unitree_go::msg::IMUState_<ContainerAllocator> & _arg)
-  {
-    this->imu_state = _arg;
-    return *this;
-  }
-  Type & set__motor_state(
-    const std::array<unitree_go::msg::MotorState_<ContainerAllocator>, 20> & _arg)
-  {
-    this->motor_state = _arg;
-    return *this;
-  }
-  Type & set__bms_state(
-    const unitree_go::msg::BmsState_<ContainerAllocator> & _arg)
-  {
-    this->bms_state = _arg;
-    return *this;
-  }
-  Type & set__foot_force(
-    const std::array<int16_t, 4> & _arg)
-  {
-    this->foot_force = _arg;
-    return *this;
-  }
-  Type & set__foot_force_est(
-    const std::array<int16_t, 4> & _arg)
-  {
-    this->foot_force_est = _arg;
-    return *this;
-  }
-  Type & set__tick(
-    const uint32_t & _arg)
-  {
-    this->tick = _arg;
-    return *this;
-  }
-  Type & set__wireless_remote(
-    const std::array<uint8_t, 40> & _arg)
-  {
-    this->wireless_remote = _arg;
-    return *this;
-  }
-  Type & set__bit_flag(
-    const uint8_t & _arg)
-  {
-    this->bit_flag = _arg;
-    return *this;
-  }
-  Type & set__adc_reel(
-    const float & _arg)
-  {
-    this->adc_reel = _arg;
-    return *this;
-  }
-  Type & set__temperature_ntc1(
-    const int8_t & _arg)
-  {
-    this->temperature_ntc1 = _arg;
-    return *this;
-  }
-  Type & set__temperature_ntc2(
-    const int8_t & _arg)
-  {
-    this->temperature_ntc2 = _arg;
-    return *this;
-  }
-  Type & set__power_v(
-    const float & _arg)
-  {
-    this->power_v = _arg;
-    return *this;
-  }
-  Type & set__power_a(
-    const float & _arg)
-  {
-    this->power_a = _arg;
-    return *this;
-  }
-  Type & set__fan_frequency(
-    const std::array<uint16_t, 4> & _arg)
-  {
-    this->fan_frequency = _arg;
-    return *this;
-  }
-  Type & set__reserve(
-    const uint32_t & _arg)
-  {
-    this->reserve = _arg;
-    return *this;
-  }
-  Type & set__crc(
-    const uint32_t & _arg)
-  {
-    this->crc = _arg;
-    return *this;
-  }
-
-  // constant declarations
-
-  // pointer types
-  using RawPtr =
-    unitree_go::msg::LowState_<ContainerAllocator> *;
-  using ConstRawPtr =
-    const unitree_go::msg::LowState_<ContainerAllocator> *;
-  using SharedPtr =
-    std::shared_ptr<unitree_go::msg::LowState_<ContainerAllocator>>;
-  using ConstSharedPtr =
-    std::shared_ptr<unitree_go::msg::LowState_<ContainerAllocator> const>;
-
-  template<typename Deleter = std::default_delete<
-      unitree_go::msg::LowState_<ContainerAllocator>>>
-  using UniquePtrWithDeleter =
-    std::unique_ptr<unitree_go::msg::LowState_<ContainerAllocator>, Deleter>;
-
-  using UniquePtr = UniquePtrWithDeleter<>;
-
-  template<typename Deleter = std::default_delete<
-      unitree_go::msg::LowState_<ContainerAllocator>>>
-  using ConstUniquePtrWithDeleter =
-    std::unique_ptr<unitree_go::msg::LowState_<ContainerAllocator> const, Deleter>;
-  using ConstUniquePtr = ConstUniquePtrWithDeleter<>;
-
-  using WeakPtr =
-    std::weak_ptr<unitree_go::msg::LowState_<ContainerAllocator>>;
-  using ConstWeakPtr =
-    std::weak_ptr<unitree_go::msg::LowState_<ContainerAllocator> const>;
-
-  // pointer types similar to ROS 1, use SharedPtr / ConstSharedPtr instead
-  // NOTE: Can't use 'using' here because GNU C++ can't parse attributes properly
-  typedef DEPRECATED__unitree_go__msg__LowState
-    std::shared_ptr<unitree_go::msg::LowState_<ContainerAllocator>>
-    Ptr;
-  typedef DEPRECATED__unitree_go__msg__LowState
-    std::shared_ptr<unitree_go::msg::LowState_<ContainerAllocator> const>
-    ConstPtr;
-
-  // comparison operators
-  bool operator==(const LowState_ & other) const
-  {
-    if (this->head != other.head) {
-      return false;
-    }
-    if (this->level_flag != other.level_flag) {
-      return false;
-    }
-    if (this->frame_reserve != other.frame_reserve) {
-      return false;
-    }
-    if (this->sn != other.sn) {
-      return false;
-    }
-    if (this->version != other.version) {
-      return false;
-    }
-    if (this->bandwidth != other.bandwidth) {
-      return false;
-    }
-    if (this->imu_state != other.imu_state) {
-      return false;
-    }
-    if (this->motor_state != other.motor_state) {
-      return false;
-    }
-    if (this->bms_state != other.bms_state) {
-      return false;
-    }
-    if (this->foot_force != other.foot_force) {
-      return false;
-    }
-    if (this->foot_force_est != other.foot_force_est) {
-      return false;
-    }
-    if (this->tick != other.tick) {
-      return false;
-    }
-    if (this->wireless_remote != other.wireless_remote) {
-      return false;
-    }
-    if (this->bit_flag != other.bit_flag) {
-      return false;
-    }
-    if (this->adc_reel != other.adc_reel) {
-      return false;
-    }
-    if (this->temperature_ntc1 != other.temperature_ntc1) {
-      return false;
-    }
-    if (this->temperature_ntc2 != other.temperature_ntc2) {
-      return false;
-    }
-    if (this->power_v != other.power_v) {
-      return false;
-    }
-    if (this->power_a != other.power_a) {
-      return false;
-    }
-    if (this->fan_frequency != other.fan_frequency) {
-      return false;
-    }
-    if (this->reserve != other.reserve) {
-      return false;
-    }
-    if (this->crc != other.crc) {
-      return false;
-    }
-    return true;
-  }
-  bool operator!=(const LowState_ & other) const
-  {
-    return !this->operator==(other);
-  }
-};  // struct LowState_
-
-// alias to use template instance with default allocator
-using LowState =
-  unitree_go::msg::LowState_<std::allocator<void>>;
-
-// constant definitions
-
-}  // namespace msg
-
-}  // namespace unitree_go
-
-#endif  // UNITREE_GO__MSG__DETAIL__LOW_STATE__STRUCT_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_state__traits.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_state__traits.hpp
deleted file mode 100644
index 1a80d34..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_state__traits.hpp
+++ /dev/null
@@ -1,50 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__traits.hpp.em
-// with input from unitree_go:msg/LowState.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__LOW_STATE__TRAITS_HPP_
-#define UNITREE_GO__MSG__DETAIL__LOW_STATE__TRAITS_HPP_
-
-#include "unitree_go/msg/detail/low_state__struct.hpp"
-#include <rosidl_runtime_cpp/traits.hpp>
-#include <stdint.h>
-#include <type_traits>
-
-// Include directives for member types
-// Member 'imu_state'
-#include "unitree_go/msg/detail/imu_state__traits.hpp"
-// Member 'motor_state'
-#include "unitree_go/msg/detail/motor_state__traits.hpp"
-// Member 'bms_state'
-#include "unitree_go/msg/detail/bms_state__traits.hpp"
-
-namespace rosidl_generator_traits
-{
-
-template<>
-inline const char * data_type<unitree_go::msg::LowState>()
-{
-  return "unitree_go::msg::LowState";
-}
-
-template<>
-inline const char * name<unitree_go::msg::LowState>()
-{
-  return "unitree_go/msg/LowState";
-}
-
-template<>
-struct has_fixed_size<unitree_go::msg::LowState>
-  : std::integral_constant<bool, has_fixed_size<unitree_go::msg::BmsState>::value && has_fixed_size<unitree_go::msg::IMUState>::value && has_fixed_size<unitree_go::msg::MotorState>::value> {};
-
-template<>
-struct has_bounded_size<unitree_go::msg::LowState>
-  : std::integral_constant<bool, has_bounded_size<unitree_go::msg::BmsState>::value && has_bounded_size<unitree_go::msg::IMUState>::value && has_bounded_size<unitree_go::msg::MotorState>::value> {};
-
-template<>
-struct is_message<unitree_go::msg::LowState>
-  : std::true_type {};
-
-}  // namespace rosidl_generator_traits
-
-#endif  // UNITREE_GO__MSG__DETAIL__LOW_STATE__TRAITS_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_state__type_support.c b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_state__type_support.c
deleted file mode 100644
index efa7f04..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_state__type_support.c
+++ /dev/null
@@ -1,439 +0,0 @@
-// generated from rosidl_typesupport_introspection_c/resource/idl__type_support.c.em
-// with input from unitree_go:msg/LowState.idl
-// generated code does not contain a copyright notice
-
-#include <stddef.h>
-#include "unitree_go/msg/detail/low_state__rosidl_typesupport_introspection_c.h"
-#include "unitree_go/msg/rosidl_typesupport_introspection_c__visibility_control.h"
-#include "rosidl_typesupport_introspection_c/field_types.h"
-#include "rosidl_typesupport_introspection_c/identifier.h"
-#include "rosidl_typesupport_introspection_c/message_introspection.h"
-#include "unitree_go/msg/detail/low_state__functions.h"
-#include "unitree_go/msg/detail/low_state__struct.h"
-
-
-// Include directives for member types
-// Member `imu_state`
-#include "unitree_go/msg/imu_state.h"
-// Member `imu_state`
-#include "unitree_go/msg/detail/imu_state__rosidl_typesupport_introspection_c.h"
-// Member `motor_state`
-#include "unitree_go/msg/motor_state.h"
-// Member `motor_state`
-#include "unitree_go/msg/detail/motor_state__rosidl_typesupport_introspection_c.h"
-// Member `bms_state`
-#include "unitree_go/msg/bms_state.h"
-// Member `bms_state`
-#include "unitree_go/msg/detail/bms_state__rosidl_typesupport_introspection_c.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-void LowState__rosidl_typesupport_introspection_c__LowState_init_function(
-  void * message_memory, enum rosidl_runtime_c__message_initialization _init)
-{
-  // TODO(karsten1987): initializers are not yet implemented for typesupport c
-  // see https://github.com/ros2/ros2/issues/397
-  (void) _init;
-  unitree_go__msg__LowState__init(message_memory);
-}
-
-void LowState__rosidl_typesupport_introspection_c__LowState_fini_function(void * message_memory)
-{
-  unitree_go__msg__LowState__fini(message_memory);
-}
-
-size_t LowState__rosidl_typesupport_introspection_c__size_function__MotorState__motor_state(
-  const void * untyped_member)
-{
-  (void)untyped_member;
-  return 20;
-}
-
-const void * LowState__rosidl_typesupport_introspection_c__get_const_function__MotorState__motor_state(
-  const void * untyped_member, size_t index)
-{
-  const unitree_go__msg__MotorState ** member =
-    (const unitree_go__msg__MotorState **)(untyped_member);
-  return &(*member)[index];
-}
-
-void * LowState__rosidl_typesupport_introspection_c__get_function__MotorState__motor_state(
-  void * untyped_member, size_t index)
-{
-  unitree_go__msg__MotorState ** member =
-    (unitree_go__msg__MotorState **)(untyped_member);
-  return &(*member)[index];
-}
-
-static rosidl_typesupport_introspection_c__MessageMember LowState__rosidl_typesupport_introspection_c__LowState_message_member_array[22] = {
-  {
-    "head",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_UINT8,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    true,  // is array
-    2,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__LowState, head),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "level_flag",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_UINT8,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__LowState, level_flag),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "frame_reserve",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_UINT8,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__LowState, frame_reserve),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "sn",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_UINT32,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    true,  // is array
-    2,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__LowState, sn),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "version",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_UINT32,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    true,  // is array
-    2,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__LowState, version),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "bandwidth",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_UINT16,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__LowState, bandwidth),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "imu_state",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_MESSAGE,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message (initialized later)
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__LowState, imu_state),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "motor_state",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_MESSAGE,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message (initialized later)
-    true,  // is array
-    20,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__LowState, motor_state),  // bytes offset in struct
-    NULL,  // default value
-    LowState__rosidl_typesupport_introspection_c__size_function__MotorState__motor_state,  // size() function pointer
-    LowState__rosidl_typesupport_introspection_c__get_const_function__MotorState__motor_state,  // get_const(index) function pointer
-    LowState__rosidl_typesupport_introspection_c__get_function__MotorState__motor_state,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "bms_state",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_MESSAGE,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message (initialized later)
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__LowState, bms_state),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "foot_force",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_INT16,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    true,  // is array
-    4,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__LowState, foot_force),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "foot_force_est",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_INT16,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    true,  // is array
-    4,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__LowState, foot_force_est),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "tick",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_UINT32,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__LowState, tick),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "wireless_remote",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_UINT8,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    true,  // is array
-    40,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__LowState, wireless_remote),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "bit_flag",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_UINT8,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__LowState, bit_flag),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "adc_reel",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__LowState, adc_reel),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "temperature_ntc1",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_INT8,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__LowState, temperature_ntc1),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "temperature_ntc2",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_INT8,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__LowState, temperature_ntc2),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "power_v",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__LowState, power_v),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "power_a",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__LowState, power_a),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "fan_frequency",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_UINT16,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    true,  // is array
-    4,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__LowState, fan_frequency),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "reserve",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_UINT32,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__LowState, reserve),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "crc",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_UINT32,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__LowState, crc),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  }
-};
-
-static const rosidl_typesupport_introspection_c__MessageMembers LowState__rosidl_typesupport_introspection_c__LowState_message_members = {
-  "unitree_go__msg",  // message namespace
-  "LowState",  // message name
-  22,  // number of fields
-  sizeof(unitree_go__msg__LowState),
-  LowState__rosidl_typesupport_introspection_c__LowState_message_member_array,  // message members
-  LowState__rosidl_typesupport_introspection_c__LowState_init_function,  // function to initialize message memory (memory has to be allocated)
-  LowState__rosidl_typesupport_introspection_c__LowState_fini_function  // function to terminate message instance (will not free memory)
-};
-
-// this is not const since it must be initialized on first access
-// since C does not allow non-integral compile-time constants
-static rosidl_message_type_support_t LowState__rosidl_typesupport_introspection_c__LowState_message_type_support_handle = {
-  0,
-  &LowState__rosidl_typesupport_introspection_c__LowState_message_members,
-  get_message_typesupport_handle_function,
-};
-
-ROSIDL_TYPESUPPORT_INTROSPECTION_C_EXPORT_unitree_go
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, unitree_go, msg, LowState)() {
-  LowState__rosidl_typesupport_introspection_c__LowState_message_member_array[6].members_ =
-    ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, unitree_go, msg, IMUState)();
-  LowState__rosidl_typesupport_introspection_c__LowState_message_member_array[7].members_ =
-    ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, unitree_go, msg, MotorState)();
-  LowState__rosidl_typesupport_introspection_c__LowState_message_member_array[8].members_ =
-    ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, unitree_go, msg, BmsState)();
-  if (!LowState__rosidl_typesupport_introspection_c__LowState_message_type_support_handle.typesupport_identifier) {
-    LowState__rosidl_typesupport_introspection_c__LowState_message_type_support_handle.typesupport_identifier =
-      rosidl_typesupport_introspection_c__identifier;
-  }
-  return &LowState__rosidl_typesupport_introspection_c__LowState_message_type_support_handle;
-}
-#ifdef __cplusplus
-}
-#endif
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_state__type_support.cpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_state__type_support.cpp
deleted file mode 100644
index f7c2ef1..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_state__type_support.cpp
+++ /dev/null
@@ -1,582 +0,0 @@
-// generated from rosidl_typesupport_introspection_cpp/resource/idl__type_support.cpp.em
-// with input from unitree_go:msg/LowState.idl
-// generated code does not contain a copyright notice
-
-#include "array"
-#include "cstddef"
-#include "string"
-#include "vector"
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_cpp/message_type_support.hpp"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_go/msg/detail/low_state__struct.hpp"
-#include "rosidl_typesupport_introspection_cpp/field_types.hpp"
-#include "rosidl_typesupport_introspection_cpp/identifier.hpp"
-#include "rosidl_typesupport_introspection_cpp/message_introspection.hpp"
-#include "rosidl_typesupport_introspection_cpp/message_type_support_decl.hpp"
-#include "rosidl_typesupport_introspection_cpp/visibility_control.h"
-
-namespace unitree_go
-{
-
-namespace msg
-{
-
-namespace rosidl_typesupport_introspection_cpp
-{
-
-void LowState_init_function(
-  void * message_memory, rosidl_runtime_cpp::MessageInitialization _init)
-{
-  new (message_memory) unitree_go::msg::LowState(_init);
-}
-
-void LowState_fini_function(void * message_memory)
-{
-  auto typed_message = static_cast<unitree_go::msg::LowState *>(message_memory);
-  typed_message->~LowState();
-}
-
-size_t size_function__LowState__head(const void * untyped_member)
-{
-  (void)untyped_member;
-  return 2;
-}
-
-const void * get_const_function__LowState__head(const void * untyped_member, size_t index)
-{
-  const auto & member =
-    *reinterpret_cast<const std::array<uint8_t, 2> *>(untyped_member);
-  return &member[index];
-}
-
-void * get_function__LowState__head(void * untyped_member, size_t index)
-{
-  auto & member =
-    *reinterpret_cast<std::array<uint8_t, 2> *>(untyped_member);
-  return &member[index];
-}
-
-size_t size_function__LowState__sn(const void * untyped_member)
-{
-  (void)untyped_member;
-  return 2;
-}
-
-const void * get_const_function__LowState__sn(const void * untyped_member, size_t index)
-{
-  const auto & member =
-    *reinterpret_cast<const std::array<uint32_t, 2> *>(untyped_member);
-  return &member[index];
-}
-
-void * get_function__LowState__sn(void * untyped_member, size_t index)
-{
-  auto & member =
-    *reinterpret_cast<std::array<uint32_t, 2> *>(untyped_member);
-  return &member[index];
-}
-
-size_t size_function__LowState__version(const void * untyped_member)
-{
-  (void)untyped_member;
-  return 2;
-}
-
-const void * get_const_function__LowState__version(const void * untyped_member, size_t index)
-{
-  const auto & member =
-    *reinterpret_cast<const std::array<uint32_t, 2> *>(untyped_member);
-  return &member[index];
-}
-
-void * get_function__LowState__version(void * untyped_member, size_t index)
-{
-  auto & member =
-    *reinterpret_cast<std::array<uint32_t, 2> *>(untyped_member);
-  return &member[index];
-}
-
-size_t size_function__LowState__motor_state(const void * untyped_member)
-{
-  (void)untyped_member;
-  return 20;
-}
-
-const void * get_const_function__LowState__motor_state(const void * untyped_member, size_t index)
-{
-  const auto & member =
-    *reinterpret_cast<const std::array<unitree_go::msg::MotorState, 20> *>(untyped_member);
-  return &member[index];
-}
-
-void * get_function__LowState__motor_state(void * untyped_member, size_t index)
-{
-  auto & member =
-    *reinterpret_cast<std::array<unitree_go::msg::MotorState, 20> *>(untyped_member);
-  return &member[index];
-}
-
-size_t size_function__LowState__foot_force(const void * untyped_member)
-{
-  (void)untyped_member;
-  return 4;
-}
-
-const void * get_const_function__LowState__foot_force(const void * untyped_member, size_t index)
-{
-  const auto & member =
-    *reinterpret_cast<const std::array<int16_t, 4> *>(untyped_member);
-  return &member[index];
-}
-
-void * get_function__LowState__foot_force(void * untyped_member, size_t index)
-{
-  auto & member =
-    *reinterpret_cast<std::array<int16_t, 4> *>(untyped_member);
-  return &member[index];
-}
-
-size_t size_function__LowState__foot_force_est(const void * untyped_member)
-{
-  (void)untyped_member;
-  return 4;
-}
-
-const void * get_const_function__LowState__foot_force_est(const void * untyped_member, size_t index)
-{
-  const auto & member =
-    *reinterpret_cast<const std::array<int16_t, 4> *>(untyped_member);
-  return &member[index];
-}
-
-void * get_function__LowState__foot_force_est(void * untyped_member, size_t index)
-{
-  auto & member =
-    *reinterpret_cast<std::array<int16_t, 4> *>(untyped_member);
-  return &member[index];
-}
-
-size_t size_function__LowState__wireless_remote(const void * untyped_member)
-{
-  (void)untyped_member;
-  return 40;
-}
-
-const void * get_const_function__LowState__wireless_remote(const void * untyped_member, size_t index)
-{
-  const auto & member =
-    *reinterpret_cast<const std::array<uint8_t, 40> *>(untyped_member);
-  return &member[index];
-}
-
-void * get_function__LowState__wireless_remote(void * untyped_member, size_t index)
-{
-  auto & member =
-    *reinterpret_cast<std::array<uint8_t, 40> *>(untyped_member);
-  return &member[index];
-}
-
-size_t size_function__LowState__fan_frequency(const void * untyped_member)
-{
-  (void)untyped_member;
-  return 4;
-}
-
-const void * get_const_function__LowState__fan_frequency(const void * untyped_member, size_t index)
-{
-  const auto & member =
-    *reinterpret_cast<const std::array<uint16_t, 4> *>(untyped_member);
-  return &member[index];
-}
-
-void * get_function__LowState__fan_frequency(void * untyped_member, size_t index)
-{
-  auto & member =
-    *reinterpret_cast<std::array<uint16_t, 4> *>(untyped_member);
-  return &member[index];
-}
-
-static const ::rosidl_typesupport_introspection_cpp::MessageMember LowState_message_member_array[22] = {
-  {
-    "head",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT8,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    true,  // is array
-    2,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::LowState, head),  // bytes offset in struct
-    nullptr,  // default value
-    size_function__LowState__head,  // size() function pointer
-    get_const_function__LowState__head,  // get_const(index) function pointer
-    get_function__LowState__head,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "level_flag",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT8,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::LowState, level_flag),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "frame_reserve",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT8,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::LowState, frame_reserve),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "sn",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT32,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    true,  // is array
-    2,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::LowState, sn),  // bytes offset in struct
-    nullptr,  // default value
-    size_function__LowState__sn,  // size() function pointer
-    get_const_function__LowState__sn,  // get_const(index) function pointer
-    get_function__LowState__sn,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "version",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT32,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    true,  // is array
-    2,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::LowState, version),  // bytes offset in struct
-    nullptr,  // default value
-    size_function__LowState__version,  // size() function pointer
-    get_const_function__LowState__version,  // get_const(index) function pointer
-    get_function__LowState__version,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "bandwidth",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT16,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::LowState, bandwidth),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "imu_state",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_MESSAGE,  // type
-    0,  // upper bound of string
-    ::rosidl_typesupport_introspection_cpp::get_message_type_support_handle<unitree_go::msg::IMUState>(),  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::LowState, imu_state),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "motor_state",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_MESSAGE,  // type
-    0,  // upper bound of string
-    ::rosidl_typesupport_introspection_cpp::get_message_type_support_handle<unitree_go::msg::MotorState>(),  // members of sub message
-    true,  // is array
-    20,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::LowState, motor_state),  // bytes offset in struct
-    nullptr,  // default value
-    size_function__LowState__motor_state,  // size() function pointer
-    get_const_function__LowState__motor_state,  // get_const(index) function pointer
-    get_function__LowState__motor_state,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "bms_state",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_MESSAGE,  // type
-    0,  // upper bound of string
-    ::rosidl_typesupport_introspection_cpp::get_message_type_support_handle<unitree_go::msg::BmsState>(),  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::LowState, bms_state),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "foot_force",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_INT16,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    true,  // is array
-    4,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::LowState, foot_force),  // bytes offset in struct
-    nullptr,  // default value
-    size_function__LowState__foot_force,  // size() function pointer
-    get_const_function__LowState__foot_force,  // get_const(index) function pointer
-    get_function__LowState__foot_force,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "foot_force_est",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_INT16,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    true,  // is array
-    4,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::LowState, foot_force_est),  // bytes offset in struct
-    nullptr,  // default value
-    size_function__LowState__foot_force_est,  // size() function pointer
-    get_const_function__LowState__foot_force_est,  // get_const(index) function pointer
-    get_function__LowState__foot_force_est,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "tick",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT32,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::LowState, tick),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "wireless_remote",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT8,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    true,  // is array
-    40,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::LowState, wireless_remote),  // bytes offset in struct
-    nullptr,  // default value
-    size_function__LowState__wireless_remote,  // size() function pointer
-    get_const_function__LowState__wireless_remote,  // get_const(index) function pointer
-    get_function__LowState__wireless_remote,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "bit_flag",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT8,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::LowState, bit_flag),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "adc_reel",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::LowState, adc_reel),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "temperature_ntc1",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_INT8,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::LowState, temperature_ntc1),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "temperature_ntc2",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_INT8,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::LowState, temperature_ntc2),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "power_v",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::LowState, power_v),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "power_a",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::LowState, power_a),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "fan_frequency",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT16,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    true,  // is array
-    4,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::LowState, fan_frequency),  // bytes offset in struct
-    nullptr,  // default value
-    size_function__LowState__fan_frequency,  // size() function pointer
-    get_const_function__LowState__fan_frequency,  // get_const(index) function pointer
-    get_function__LowState__fan_frequency,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "reserve",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT32,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::LowState, reserve),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "crc",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT32,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::LowState, crc),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  }
-};
-
-static const ::rosidl_typesupport_introspection_cpp::MessageMembers LowState_message_members = {
-  "unitree_go::msg",  // message namespace
-  "LowState",  // message name
-  22,  // number of fields
-  sizeof(unitree_go::msg::LowState),
-  LowState_message_member_array,  // message members
-  LowState_init_function,  // function to initialize message memory (memory has to be allocated)
-  LowState_fini_function  // function to terminate message instance (will not free memory)
-};
-
-static const rosidl_message_type_support_t LowState_message_type_support_handle = {
-  ::rosidl_typesupport_introspection_cpp::typesupport_identifier,
-  &LowState_message_members,
-  get_message_typesupport_handle_function,
-};
-
-}  // namespace rosidl_typesupport_introspection_cpp
-
-}  // namespace msg
-
-}  // namespace unitree_go
-
-
-namespace rosidl_typesupport_introspection_cpp
-{
-
-template<>
-ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
-const rosidl_message_type_support_t *
-get_message_type_support_handle<unitree_go::msg::LowState>()
-{
-  return &::unitree_go::msg::rosidl_typesupport_introspection_cpp::LowState_message_type_support_handle;
-}
-
-}  // namespace rosidl_typesupport_introspection_cpp
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_cpp, unitree_go, msg, LowState)() {
-  return &::unitree_go::msg::rosidl_typesupport_introspection_cpp::LowState_message_type_support_handle;
-}
-
-#ifdef __cplusplus
-}
-#endif
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_state__type_support.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_state__type_support.h
deleted file mode 100644
index 7a261b9..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_state__type_support.h
+++ /dev/null
@@ -1,33 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__type_support.h.em
-// with input from unitree_go:msg/LowState.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__LOW_STATE__TYPE_SUPPORT_H_
-#define UNITREE_GO__MSG__DETAIL__LOW_STATE__TYPE_SUPPORT_H_
-
-#include "rosidl_typesupport_interface/macros.h"
-
-#include "unitree_go/msg/rosidl_generator_c__visibility_control.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-
-// Forward declare the get type support functions for this type.
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
-  rosidl_typesupport_c,
-  unitree_go,
-  msg,
-  LowState
-)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__LOW_STATE__TYPE_SUPPORT_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_state__type_support.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_state__type_support.hpp
deleted file mode 100644
index 28235cf..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_state__type_support.hpp
+++ /dev/null
@@ -1,31 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__type_support.hpp.em
-// with input from unitree_go:msg/LowState.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__LOW_STATE__TYPE_SUPPORT_HPP_
-#define UNITREE_GO__MSG__DETAIL__LOW_STATE__TYPE_SUPPORT_HPP_
-
-#include "rosidl_typesupport_interface/macros.h"
-
-#include "unitree_go/msg/rosidl_generator_cpp__visibility_control.hpp"
-
-#include "rosidl_typesupport_cpp/message_type_support.hpp"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-// Forward declare the get type support functions for this type.
-ROSIDL_GENERATOR_CPP_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
-  rosidl_typesupport_cpp,
-  unitree_go,
-  msg,
-  LowState
-)();
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__LOW_STATE__TYPE_SUPPORT_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_cmd__builder.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_cmd__builder.hpp
deleted file mode 100644
index 964d0bb..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_cmd__builder.hpp
+++ /dev/null
@@ -1,151 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__builder.hpp.em
-// with input from unitree_go:msg/MotorCmd.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__MOTOR_CMD__BUILDER_HPP_
-#define UNITREE_GO__MSG__DETAIL__MOTOR_CMD__BUILDER_HPP_
-
-#include "unitree_go/msg/detail/motor_cmd__struct.hpp"
-#include <rosidl_runtime_cpp/message_initialization.hpp>
-#include <algorithm>
-#include <utility>
-
-
-namespace unitree_go
-{
-
-namespace msg
-{
-
-namespace builder
-{
-
-class Init_MotorCmd_reserve
-{
-public:
-  explicit Init_MotorCmd_reserve(::unitree_go::msg::MotorCmd & msg)
-  : msg_(msg)
-  {}
-  ::unitree_go::msg::MotorCmd reserve(::unitree_go::msg::MotorCmd::_reserve_type arg)
-  {
-    msg_.reserve = std::move(arg);
-    return std::move(msg_);
-  }
-
-private:
-  ::unitree_go::msg::MotorCmd msg_;
-};
-
-class Init_MotorCmd_kd
-{
-public:
-  explicit Init_MotorCmd_kd(::unitree_go::msg::MotorCmd & msg)
-  : msg_(msg)
-  {}
-  Init_MotorCmd_reserve kd(::unitree_go::msg::MotorCmd::_kd_type arg)
-  {
-    msg_.kd = std::move(arg);
-    return Init_MotorCmd_reserve(msg_);
-  }
-
-private:
-  ::unitree_go::msg::MotorCmd msg_;
-};
-
-class Init_MotorCmd_kp
-{
-public:
-  explicit Init_MotorCmd_kp(::unitree_go::msg::MotorCmd & msg)
-  : msg_(msg)
-  {}
-  Init_MotorCmd_kd kp(::unitree_go::msg::MotorCmd::_kp_type arg)
-  {
-    msg_.kp = std::move(arg);
-    return Init_MotorCmd_kd(msg_);
-  }
-
-private:
-  ::unitree_go::msg::MotorCmd msg_;
-};
-
-class Init_MotorCmd_tau
-{
-public:
-  explicit Init_MotorCmd_tau(::unitree_go::msg::MotorCmd & msg)
-  : msg_(msg)
-  {}
-  Init_MotorCmd_kp tau(::unitree_go::msg::MotorCmd::_tau_type arg)
-  {
-    msg_.tau = std::move(arg);
-    return Init_MotorCmd_kp(msg_);
-  }
-
-private:
-  ::unitree_go::msg::MotorCmd msg_;
-};
-
-class Init_MotorCmd_dq
-{
-public:
-  explicit Init_MotorCmd_dq(::unitree_go::msg::MotorCmd & msg)
-  : msg_(msg)
-  {}
-  Init_MotorCmd_tau dq(::unitree_go::msg::MotorCmd::_dq_type arg)
-  {
-    msg_.dq = std::move(arg);
-    return Init_MotorCmd_tau(msg_);
-  }
-
-private:
-  ::unitree_go::msg::MotorCmd msg_;
-};
-
-class Init_MotorCmd_q
-{
-public:
-  explicit Init_MotorCmd_q(::unitree_go::msg::MotorCmd & msg)
-  : msg_(msg)
-  {}
-  Init_MotorCmd_dq q(::unitree_go::msg::MotorCmd::_q_type arg)
-  {
-    msg_.q = std::move(arg);
-    return Init_MotorCmd_dq(msg_);
-  }
-
-private:
-  ::unitree_go::msg::MotorCmd msg_;
-};
-
-class Init_MotorCmd_mode
-{
-public:
-  Init_MotorCmd_mode()
-  : msg_(::rosidl_runtime_cpp::MessageInitialization::SKIP)
-  {}
-  Init_MotorCmd_q mode(::unitree_go::msg::MotorCmd::_mode_type arg)
-  {
-    msg_.mode = std::move(arg);
-    return Init_MotorCmd_q(msg_);
-  }
-
-private:
-  ::unitree_go::msg::MotorCmd msg_;
-};
-
-}  // namespace builder
-
-}  // namespace msg
-
-template<typename MessageType>
-auto build();
-
-template<>
-inline
-auto build<::unitree_go::msg::MotorCmd>()
-{
-  return unitree_go::msg::builder::Init_MotorCmd_mode();
-}
-
-}  // namespace unitree_go
-
-#endif  // UNITREE_GO__MSG__DETAIL__MOTOR_CMD__BUILDER_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_cmd__functions.c b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_cmd__functions.c
deleted file mode 100644
index e644e1e..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_cmd__functions.c
+++ /dev/null
@@ -1,283 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__functions.c.em
-// with input from unitree_go:msg/MotorCmd.idl
-// generated code does not contain a copyright notice
-#include "unitree_go/msg/detail/motor_cmd__functions.h"
-
-#include <assert.h>
-#include <stdbool.h>
-#include <stdlib.h>
-#include <string.h>
-
-#include "rcutils/allocator.h"
-
-
-bool
-unitree_go__msg__MotorCmd__init(unitree_go__msg__MotorCmd * msg)
-{
-  if (!msg) {
-    return false;
-  }
-  // mode
-  // q
-  // dq
-  // tau
-  // kp
-  // kd
-  // reserve
-  return true;
-}
-
-void
-unitree_go__msg__MotorCmd__fini(unitree_go__msg__MotorCmd * msg)
-{
-  if (!msg) {
-    return;
-  }
-  // mode
-  // q
-  // dq
-  // tau
-  // kp
-  // kd
-  // reserve
-}
-
-bool
-unitree_go__msg__MotorCmd__are_equal(const unitree_go__msg__MotorCmd * lhs, const unitree_go__msg__MotorCmd * rhs)
-{
-  if (!lhs || !rhs) {
-    return false;
-  }
-  // mode
-  if (lhs->mode != rhs->mode) {
-    return false;
-  }
-  // q
-  if (lhs->q != rhs->q) {
-    return false;
-  }
-  // dq
-  if (lhs->dq != rhs->dq) {
-    return false;
-  }
-  // tau
-  if (lhs->tau != rhs->tau) {
-    return false;
-  }
-  // kp
-  if (lhs->kp != rhs->kp) {
-    return false;
-  }
-  // kd
-  if (lhs->kd != rhs->kd) {
-    return false;
-  }
-  // reserve
-  for (size_t i = 0; i < 3; ++i) {
-    if (lhs->reserve[i] != rhs->reserve[i]) {
-      return false;
-    }
-  }
-  return true;
-}
-
-bool
-unitree_go__msg__MotorCmd__copy(
-  const unitree_go__msg__MotorCmd * input,
-  unitree_go__msg__MotorCmd * output)
-{
-  if (!input || !output) {
-    return false;
-  }
-  // mode
-  output->mode = input->mode;
-  // q
-  output->q = input->q;
-  // dq
-  output->dq = input->dq;
-  // tau
-  output->tau = input->tau;
-  // kp
-  output->kp = input->kp;
-  // kd
-  output->kd = input->kd;
-  // reserve
-  for (size_t i = 0; i < 3; ++i) {
-    output->reserve[i] = input->reserve[i];
-  }
-  return true;
-}
-
-unitree_go__msg__MotorCmd *
-unitree_go__msg__MotorCmd__create()
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  unitree_go__msg__MotorCmd * msg = (unitree_go__msg__MotorCmd *)allocator.allocate(sizeof(unitree_go__msg__MotorCmd), allocator.state);
-  if (!msg) {
-    return NULL;
-  }
-  memset(msg, 0, sizeof(unitree_go__msg__MotorCmd));
-  bool success = unitree_go__msg__MotorCmd__init(msg);
-  if (!success) {
-    allocator.deallocate(msg, allocator.state);
-    return NULL;
-  }
-  return msg;
-}
-
-void
-unitree_go__msg__MotorCmd__destroy(unitree_go__msg__MotorCmd * msg)
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  if (msg) {
-    unitree_go__msg__MotorCmd__fini(msg);
-  }
-  allocator.deallocate(msg, allocator.state);
-}
-
-
-bool
-unitree_go__msg__MotorCmd__Sequence__init(unitree_go__msg__MotorCmd__Sequence * array, size_t size)
-{
-  if (!array) {
-    return false;
-  }
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  unitree_go__msg__MotorCmd * data = NULL;
-
-  if (size) {
-    data = (unitree_go__msg__MotorCmd *)allocator.zero_allocate(size, sizeof(unitree_go__msg__MotorCmd), allocator.state);
-    if (!data) {
-      return false;
-    }
-    // initialize all array elements
-    size_t i;
-    for (i = 0; i < size; ++i) {
-      bool success = unitree_go__msg__MotorCmd__init(&data[i]);
-      if (!success) {
-        break;
-      }
-    }
-    if (i < size) {
-      // if initialization failed finalize the already initialized array elements
-      for (; i > 0; --i) {
-        unitree_go__msg__MotorCmd__fini(&data[i - 1]);
-      }
-      allocator.deallocate(data, allocator.state);
-      return false;
-    }
-  }
-  array->data = data;
-  array->size = size;
-  array->capacity = size;
-  return true;
-}
-
-void
-unitree_go__msg__MotorCmd__Sequence__fini(unitree_go__msg__MotorCmd__Sequence * array)
-{
-  if (!array) {
-    return;
-  }
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-
-  if (array->data) {
-    // ensure that data and capacity values are consistent
-    assert(array->capacity > 0);
-    // finalize all array elements
-    for (size_t i = 0; i < array->capacity; ++i) {
-      unitree_go__msg__MotorCmd__fini(&array->data[i]);
-    }
-    allocator.deallocate(array->data, allocator.state);
-    array->data = NULL;
-    array->size = 0;
-    array->capacity = 0;
-  } else {
-    // ensure that data, size, and capacity values are consistent
-    assert(0 == array->size);
-    assert(0 == array->capacity);
-  }
-}
-
-unitree_go__msg__MotorCmd__Sequence *
-unitree_go__msg__MotorCmd__Sequence__create(size_t size)
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  unitree_go__msg__MotorCmd__Sequence * array = (unitree_go__msg__MotorCmd__Sequence *)allocator.allocate(sizeof(unitree_go__msg__MotorCmd__Sequence), allocator.state);
-  if (!array) {
-    return NULL;
-  }
-  bool success = unitree_go__msg__MotorCmd__Sequence__init(array, size);
-  if (!success) {
-    allocator.deallocate(array, allocator.state);
-    return NULL;
-  }
-  return array;
-}
-
-void
-unitree_go__msg__MotorCmd__Sequence__destroy(unitree_go__msg__MotorCmd__Sequence * array)
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  if (array) {
-    unitree_go__msg__MotorCmd__Sequence__fini(array);
-  }
-  allocator.deallocate(array, allocator.state);
-}
-
-bool
-unitree_go__msg__MotorCmd__Sequence__are_equal(const unitree_go__msg__MotorCmd__Sequence * lhs, const unitree_go__msg__MotorCmd__Sequence * rhs)
-{
-  if (!lhs || !rhs) {
-    return false;
-  }
-  if (lhs->size != rhs->size) {
-    return false;
-  }
-  for (size_t i = 0; i < lhs->size; ++i) {
-    if (!unitree_go__msg__MotorCmd__are_equal(&(lhs->data[i]), &(rhs->data[i]))) {
-      return false;
-    }
-  }
-  return true;
-}
-
-bool
-unitree_go__msg__MotorCmd__Sequence__copy(
-  const unitree_go__msg__MotorCmd__Sequence * input,
-  unitree_go__msg__MotorCmd__Sequence * output)
-{
-  if (!input || !output) {
-    return false;
-  }
-  if (output->capacity < input->size) {
-    const size_t allocation_size =
-      input->size * sizeof(unitree_go__msg__MotorCmd);
-    unitree_go__msg__MotorCmd * data =
-      (unitree_go__msg__MotorCmd *)realloc(output->data, allocation_size);
-    if (!data) {
-      return false;
-    }
-    for (size_t i = output->capacity; i < input->size; ++i) {
-      if (!unitree_go__msg__MotorCmd__init(&data[i])) {
-        /* free currently allocated and return false */
-        for (; i-- > output->capacity; ) {
-          unitree_go__msg__MotorCmd__fini(&data[i]);
-        }
-        free(data);
-        return false;
-      }
-    }
-    output->data = data;
-    output->capacity = input->size;
-  }
-  output->size = input->size;
-  for (size_t i = 0; i < input->size; ++i) {
-    if (!unitree_go__msg__MotorCmd__copy(
-        &(input->data[i]), &(output->data[i])))
-    {
-      return false;
-    }
-  }
-  return true;
-}
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_cmd__functions.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_cmd__functions.h
deleted file mode 100644
index a8876fb..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_cmd__functions.h
+++ /dev/null
@@ -1,177 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__functions.h.em
-// with input from unitree_go:msg/MotorCmd.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__MOTOR_CMD__FUNCTIONS_H_
-#define UNITREE_GO__MSG__DETAIL__MOTOR_CMD__FUNCTIONS_H_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include <stdbool.h>
-#include <stdlib.h>
-
-#include "rosidl_runtime_c/visibility_control.h"
-#include "unitree_go/msg/rosidl_generator_c__visibility_control.h"
-
-#include "unitree_go/msg/detail/motor_cmd__struct.h"
-
-/// Initialize msg/MotorCmd message.
-/**
- * If the init function is called twice for the same message without
- * calling fini inbetween previously allocated memory will be leaked.
- * \param[in,out] msg The previously allocated message pointer.
- * Fields without a default value will not be initialized by this function.
- * You might want to call memset(msg, 0, sizeof(
- * unitree_go__msg__MotorCmd
- * )) before or use
- * unitree_go__msg__MotorCmd__create()
- * to allocate and initialize the message.
- * \return true if initialization was successful, otherwise false
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__MotorCmd__init(unitree_go__msg__MotorCmd * msg);
-
-/// Finalize msg/MotorCmd message.
-/**
- * \param[in,out] msg The allocated message pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-void
-unitree_go__msg__MotorCmd__fini(unitree_go__msg__MotorCmd * msg);
-
-/// Create msg/MotorCmd message.
-/**
- * It allocates the memory for the message, sets the memory to zero, and
- * calls
- * unitree_go__msg__MotorCmd__init().
- * \return The pointer to the initialized message if successful,
- * otherwise NULL
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-unitree_go__msg__MotorCmd *
-unitree_go__msg__MotorCmd__create();
-
-/// Destroy msg/MotorCmd message.
-/**
- * It calls
- * unitree_go__msg__MotorCmd__fini()
- * and frees the memory of the message.
- * \param[in,out] msg The allocated message pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-void
-unitree_go__msg__MotorCmd__destroy(unitree_go__msg__MotorCmd * msg);
-
-/// Check for msg/MotorCmd message equality.
-/**
- * \param[in] lhs The message on the left hand size of the equality operator.
- * \param[in] rhs The message on the right hand size of the equality operator.
- * \return true if messages are equal, otherwise false.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__MotorCmd__are_equal(const unitree_go__msg__MotorCmd * lhs, const unitree_go__msg__MotorCmd * rhs);
-
-/// Copy a msg/MotorCmd message.
-/**
- * This functions performs a deep copy, as opposed to the shallow copy that
- * plain assignment yields.
- *
- * \param[in] input The source message pointer.
- * \param[out] output The target message pointer, which must
- *   have been initialized before calling this function.
- * \return true if successful, or false if either pointer is null
- *   or memory allocation fails.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__MotorCmd__copy(
-  const unitree_go__msg__MotorCmd * input,
-  unitree_go__msg__MotorCmd * output);
-
-/// Initialize array of msg/MotorCmd messages.
-/**
- * It allocates the memory for the number of elements and calls
- * unitree_go__msg__MotorCmd__init()
- * for each element of the array.
- * \param[in,out] array The allocated array pointer.
- * \param[in] size The size / capacity of the array.
- * \return true if initialization was successful, otherwise false
- * If the array pointer is valid and the size is zero it is guaranteed
- # to return true.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__MotorCmd__Sequence__init(unitree_go__msg__MotorCmd__Sequence * array, size_t size);
-
-/// Finalize array of msg/MotorCmd messages.
-/**
- * It calls
- * unitree_go__msg__MotorCmd__fini()
- * for each element of the array and frees the memory for the number of
- * elements.
- * \param[in,out] array The initialized array pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-void
-unitree_go__msg__MotorCmd__Sequence__fini(unitree_go__msg__MotorCmd__Sequence * array);
-
-/// Create array of msg/MotorCmd messages.
-/**
- * It allocates the memory for the array and calls
- * unitree_go__msg__MotorCmd__Sequence__init().
- * \param[in] size The size / capacity of the array.
- * \return The pointer to the initialized array if successful, otherwise NULL
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-unitree_go__msg__MotorCmd__Sequence *
-unitree_go__msg__MotorCmd__Sequence__create(size_t size);
-
-/// Destroy array of msg/MotorCmd messages.
-/**
- * It calls
- * unitree_go__msg__MotorCmd__Sequence__fini()
- * on the array,
- * and frees the memory of the array.
- * \param[in,out] array The initialized array pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-void
-unitree_go__msg__MotorCmd__Sequence__destroy(unitree_go__msg__MotorCmd__Sequence * array);
-
-/// Check for msg/MotorCmd message array equality.
-/**
- * \param[in] lhs The message array on the left hand size of the equality operator.
- * \param[in] rhs The message array on the right hand size of the equality operator.
- * \return true if message arrays are equal in size and content, otherwise false.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__MotorCmd__Sequence__are_equal(const unitree_go__msg__MotorCmd__Sequence * lhs, const unitree_go__msg__MotorCmd__Sequence * rhs);
-
-/// Copy an array of msg/MotorCmd messages.
-/**
- * This functions performs a deep copy, as opposed to the shallow copy that
- * plain assignment yields.
- *
- * \param[in] input The source array pointer.
- * \param[out] output The target array pointer, which must
- *   have been initialized before calling this function.
- * \return true if successful, or false if either pointer
- *   is null or memory allocation fails.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__MotorCmd__Sequence__copy(
-  const unitree_go__msg__MotorCmd__Sequence * input,
-  unitree_go__msg__MotorCmd__Sequence * output);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__MOTOR_CMD__FUNCTIONS_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_cmd__rosidl_typesupport_fastrtps_c.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_cmd__rosidl_typesupport_fastrtps_c.h
deleted file mode 100644
index b57aab6..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_cmd__rosidl_typesupport_fastrtps_c.h
+++ /dev/null
@@ -1,36 +0,0 @@
-// generated from rosidl_typesupport_fastrtps_c/resource/idl__rosidl_typesupport_fastrtps_c.h.em
-// with input from unitree_go:msg/MotorCmd.idl
-// generated code does not contain a copyright notice
-#ifndef UNITREE_GO__MSG__DETAIL__MOTOR_CMD__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_
-#define UNITREE_GO__MSG__DETAIL__MOTOR_CMD__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_
-
-
-#include <stddef.h>
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_go/msg/rosidl_typesupport_fastrtps_c__visibility_control.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_go
-size_t get_serialized_size_unitree_go__msg__MotorCmd(
-  const void * untyped_ros_message,
-  size_t current_alignment);
-
-ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_go
-size_t max_serialized_size_unitree_go__msg__MotorCmd(
-  bool & full_bounded,
-  size_t current_alignment);
-
-ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_fastrtps_c, unitree_go, msg, MotorCmd)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__MOTOR_CMD__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_cmd__rosidl_typesupport_fastrtps_cpp.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_cmd__rosidl_typesupport_fastrtps_cpp.hpp
deleted file mode 100644
index a29343c..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_cmd__rosidl_typesupport_fastrtps_cpp.hpp
+++ /dev/null
@@ -1,79 +0,0 @@
-// generated from rosidl_typesupport_fastrtps_cpp/resource/idl__rosidl_typesupport_fastrtps_cpp.hpp.em
-// with input from unitree_go:msg/MotorCmd.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__MOTOR_CMD__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_
-#define UNITREE_GO__MSG__DETAIL__MOTOR_CMD__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_go/msg/rosidl_typesupport_fastrtps_cpp__visibility_control.h"
-#include "unitree_go/msg/detail/motor_cmd__struct.hpp"
-
-#ifndef _WIN32
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wunused-parameter"
-# ifdef __clang__
-#  pragma clang diagnostic ignored "-Wdeprecated-register"
-#  pragma clang diagnostic ignored "-Wreturn-type-c-linkage"
-# endif
-#endif
-#ifndef _WIN32
-# pragma GCC diagnostic pop
-#endif
-
-#include "fastcdr/Cdr.h"
-
-namespace unitree_go
-{
-
-namespace msg
-{
-
-namespace typesupport_fastrtps_cpp
-{
-
-bool
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-cdr_serialize(
-  const unitree_go::msg::MotorCmd & ros_message,
-  eprosima::fastcdr::Cdr & cdr);
-
-bool
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-cdr_deserialize(
-  eprosima::fastcdr::Cdr & cdr,
-  unitree_go::msg::MotorCmd & ros_message);
-
-size_t
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-get_serialized_size(
-  const unitree_go::msg::MotorCmd & ros_message,
-  size_t current_alignment);
-
-size_t
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-max_serialized_size_MotorCmd(
-  bool & full_bounded,
-  size_t current_alignment);
-
-}  // namespace typesupport_fastrtps_cpp
-
-}  // namespace msg
-
-}  // namespace unitree_go
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_fastrtps_cpp, unitree_go, msg, MotorCmd)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__MOTOR_CMD__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_cmd__rosidl_typesupport_introspection_c.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_cmd__rosidl_typesupport_introspection_c.h
deleted file mode 100644
index b0ab8a8..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_cmd__rosidl_typesupport_introspection_c.h
+++ /dev/null
@@ -1,26 +0,0 @@
-// generated from rosidl_typesupport_introspection_c/resource/idl__rosidl_typesupport_introspection_c.h.em
-// with input from unitree_go:msg/MotorCmd.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__MOTOR_CMD__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
-#define UNITREE_GO__MSG__DETAIL__MOTOR_CMD__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_go/msg/rosidl_typesupport_introspection_c__visibility_control.h"
-
-ROSIDL_TYPESUPPORT_INTROSPECTION_C_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, unitree_go, msg, MotorCmd)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__MOTOR_CMD__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_cmd__rosidl_typesupport_introspection_cpp.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_cmd__rosidl_typesupport_introspection_cpp.hpp
deleted file mode 100644
index 7c49286..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_cmd__rosidl_typesupport_introspection_cpp.hpp
+++ /dev/null
@@ -1,27 +0,0 @@
-// generated from rosidl_typesupport_introspection_cpp/resource/idl__rosidl_typesupport_introspection_cpp.h.em
-// with input from unitree_go:msg/MotorCmd.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__MOTOR_CMD__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_
-#define UNITREE_GO__MSG__DETAIL__MOTOR_CMD__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_
-
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "rosidl_typesupport_introspection_cpp/visibility_control.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-// TODO(dirk-thomas) these visibility macros should be message package specific
-ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
-const rosidl_message_type_support_t *
-  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_cpp, unitree_go, msg, MotorCmd)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__MOTOR_CMD__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_cmd__struct.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_cmd__struct.h
deleted file mode 100644
index 08580f3..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_cmd__struct.h
+++ /dev/null
@@ -1,46 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__struct.h.em
-// with input from unitree_go:msg/MotorCmd.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__MOTOR_CMD__STRUCT_H_
-#define UNITREE_GO__MSG__DETAIL__MOTOR_CMD__STRUCT_H_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include <stdbool.h>
-#include <stddef.h>
-#include <stdint.h>
-
-
-// Constants defined in the message
-
-// Struct defined in msg/MotorCmd in the package unitree_go.
-typedef struct unitree_go__msg__MotorCmd
-{
-  uint8_t mode;
-  float q;
-  float dq;
-  float tau;
-  float kp;
-  float kd;
-  uint32_t reserve[3];
-} unitree_go__msg__MotorCmd;
-
-// Struct for a sequence of unitree_go__msg__MotorCmd.
-typedef struct unitree_go__msg__MotorCmd__Sequence
-{
-  unitree_go__msg__MotorCmd * data;
-  /// The number of valid items in data
-  size_t size;
-  /// The number of allocated items in data
-  size_t capacity;
-} unitree_go__msg__MotorCmd__Sequence;
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__MOTOR_CMD__STRUCT_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_cmd__struct.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_cmd__struct.hpp
deleted file mode 100644
index 987eb7a..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_cmd__struct.hpp
+++ /dev/null
@@ -1,214 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__struct.hpp.em
-// with input from unitree_go:msg/MotorCmd.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__MOTOR_CMD__STRUCT_HPP_
-#define UNITREE_GO__MSG__DETAIL__MOTOR_CMD__STRUCT_HPP_
-
-#include <rosidl_runtime_cpp/bounded_vector.hpp>
-#include <rosidl_runtime_cpp/message_initialization.hpp>
-#include <algorithm>
-#include <array>
-#include <memory>
-#include <string>
-#include <vector>
-
-
-#ifndef _WIN32
-# define DEPRECATED__unitree_go__msg__MotorCmd __attribute__((deprecated))
-#else
-# define DEPRECATED__unitree_go__msg__MotorCmd __declspec(deprecated)
-#endif
-
-namespace unitree_go
-{
-
-namespace msg
-{
-
-// message struct
-template<class ContainerAllocator>
-struct MotorCmd_
-{
-  using Type = MotorCmd_<ContainerAllocator>;
-
-  explicit MotorCmd_(rosidl_runtime_cpp::MessageInitialization _init = rosidl_runtime_cpp::MessageInitialization::ALL)
-  {
-    if (rosidl_runtime_cpp::MessageInitialization::ALL == _init ||
-      rosidl_runtime_cpp::MessageInitialization::ZERO == _init)
-    {
-      this->mode = 0;
-      this->q = 0.0f;
-      this->dq = 0.0f;
-      this->tau = 0.0f;
-      this->kp = 0.0f;
-      this->kd = 0.0f;
-      std::fill<typename std::array<uint32_t, 3>::iterator, uint32_t>(this->reserve.begin(), this->reserve.end(), 0ul);
-    }
-  }
-
-  explicit MotorCmd_(const ContainerAllocator & _alloc, rosidl_runtime_cpp::MessageInitialization _init = rosidl_runtime_cpp::MessageInitialization::ALL)
-  : reserve(_alloc)
-  {
-    if (rosidl_runtime_cpp::MessageInitialization::ALL == _init ||
-      rosidl_runtime_cpp::MessageInitialization::ZERO == _init)
-    {
-      this->mode = 0;
-      this->q = 0.0f;
-      this->dq = 0.0f;
-      this->tau = 0.0f;
-      this->kp = 0.0f;
-      this->kd = 0.0f;
-      std::fill<typename std::array<uint32_t, 3>::iterator, uint32_t>(this->reserve.begin(), this->reserve.end(), 0ul);
-    }
-  }
-
-  // field types and members
-  using _mode_type =
-    uint8_t;
-  _mode_type mode;
-  using _q_type =
-    float;
-  _q_type q;
-  using _dq_type =
-    float;
-  _dq_type dq;
-  using _tau_type =
-    float;
-  _tau_type tau;
-  using _kp_type =
-    float;
-  _kp_type kp;
-  using _kd_type =
-    float;
-  _kd_type kd;
-  using _reserve_type =
-    std::array<uint32_t, 3>;
-  _reserve_type reserve;
-
-  // setters for named parameter idiom
-  Type & set__mode(
-    const uint8_t & _arg)
-  {
-    this->mode = _arg;
-    return *this;
-  }
-  Type & set__q(
-    const float & _arg)
-  {
-    this->q = _arg;
-    return *this;
-  }
-  Type & set__dq(
-    const float & _arg)
-  {
-    this->dq = _arg;
-    return *this;
-  }
-  Type & set__tau(
-    const float & _arg)
-  {
-    this->tau = _arg;
-    return *this;
-  }
-  Type & set__kp(
-    const float & _arg)
-  {
-    this->kp = _arg;
-    return *this;
-  }
-  Type & set__kd(
-    const float & _arg)
-  {
-    this->kd = _arg;
-    return *this;
-  }
-  Type & set__reserve(
-    const std::array<uint32_t, 3> & _arg)
-  {
-    this->reserve = _arg;
-    return *this;
-  }
-
-  // constant declarations
-
-  // pointer types
-  using RawPtr =
-    unitree_go::msg::MotorCmd_<ContainerAllocator> *;
-  using ConstRawPtr =
-    const unitree_go::msg::MotorCmd_<ContainerAllocator> *;
-  using SharedPtr =
-    std::shared_ptr<unitree_go::msg::MotorCmd_<ContainerAllocator>>;
-  using ConstSharedPtr =
-    std::shared_ptr<unitree_go::msg::MotorCmd_<ContainerAllocator> const>;
-
-  template<typename Deleter = std::default_delete<
-      unitree_go::msg::MotorCmd_<ContainerAllocator>>>
-  using UniquePtrWithDeleter =
-    std::unique_ptr<unitree_go::msg::MotorCmd_<ContainerAllocator>, Deleter>;
-
-  using UniquePtr = UniquePtrWithDeleter<>;
-
-  template<typename Deleter = std::default_delete<
-      unitree_go::msg::MotorCmd_<ContainerAllocator>>>
-  using ConstUniquePtrWithDeleter =
-    std::unique_ptr<unitree_go::msg::MotorCmd_<ContainerAllocator> const, Deleter>;
-  using ConstUniquePtr = ConstUniquePtrWithDeleter<>;
-
-  using WeakPtr =
-    std::weak_ptr<unitree_go::msg::MotorCmd_<ContainerAllocator>>;
-  using ConstWeakPtr =
-    std::weak_ptr<unitree_go::msg::MotorCmd_<ContainerAllocator> const>;
-
-  // pointer types similar to ROS 1, use SharedPtr / ConstSharedPtr instead
-  // NOTE: Can't use 'using' here because GNU C++ can't parse attributes properly
-  typedef DEPRECATED__unitree_go__msg__MotorCmd
-    std::shared_ptr<unitree_go::msg::MotorCmd_<ContainerAllocator>>
-    Ptr;
-  typedef DEPRECATED__unitree_go__msg__MotorCmd
-    std::shared_ptr<unitree_go::msg::MotorCmd_<ContainerAllocator> const>
-    ConstPtr;
-
-  // comparison operators
-  bool operator==(const MotorCmd_ & other) const
-  {
-    if (this->mode != other.mode) {
-      return false;
-    }
-    if (this->q != other.q) {
-      return false;
-    }
-    if (this->dq != other.dq) {
-      return false;
-    }
-    if (this->tau != other.tau) {
-      return false;
-    }
-    if (this->kp != other.kp) {
-      return false;
-    }
-    if (this->kd != other.kd) {
-      return false;
-    }
-    if (this->reserve != other.reserve) {
-      return false;
-    }
-    return true;
-  }
-  bool operator!=(const MotorCmd_ & other) const
-  {
-    return !this->operator==(other);
-  }
-};  // struct MotorCmd_
-
-// alias to use template instance with default allocator
-using MotorCmd =
-  unitree_go::msg::MotorCmd_<std::allocator<void>>;
-
-// constant definitions
-
-}  // namespace msg
-
-}  // namespace unitree_go
-
-#endif  // UNITREE_GO__MSG__DETAIL__MOTOR_CMD__STRUCT_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_cmd__traits.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_cmd__traits.hpp
deleted file mode 100644
index c1ea718..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_cmd__traits.hpp
+++ /dev/null
@@ -1,42 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__traits.hpp.em
-// with input from unitree_go:msg/MotorCmd.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__MOTOR_CMD__TRAITS_HPP_
-#define UNITREE_GO__MSG__DETAIL__MOTOR_CMD__TRAITS_HPP_
-
-#include "unitree_go/msg/detail/motor_cmd__struct.hpp"
-#include <rosidl_runtime_cpp/traits.hpp>
-#include <stdint.h>
-#include <type_traits>
-
-namespace rosidl_generator_traits
-{
-
-template<>
-inline const char * data_type<unitree_go::msg::MotorCmd>()
-{
-  return "unitree_go::msg::MotorCmd";
-}
-
-template<>
-inline const char * name<unitree_go::msg::MotorCmd>()
-{
-  return "unitree_go/msg/MotorCmd";
-}
-
-template<>
-struct has_fixed_size<unitree_go::msg::MotorCmd>
-  : std::integral_constant<bool, true> {};
-
-template<>
-struct has_bounded_size<unitree_go::msg::MotorCmd>
-  : std::integral_constant<bool, true> {};
-
-template<>
-struct is_message<unitree_go::msg::MotorCmd>
-  : std::true_type {};
-
-}  // namespace rosidl_generator_traits
-
-#endif  // UNITREE_GO__MSG__DETAIL__MOTOR_CMD__TRAITS_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_cmd__type_support.c b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_cmd__type_support.c
deleted file mode 100644
index 7a7b7b6..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_cmd__type_support.c
+++ /dev/null
@@ -1,171 +0,0 @@
-// generated from rosidl_typesupport_introspection_c/resource/idl__type_support.c.em
-// with input from unitree_go:msg/MotorCmd.idl
-// generated code does not contain a copyright notice
-
-#include <stddef.h>
-#include "unitree_go/msg/detail/motor_cmd__rosidl_typesupport_introspection_c.h"
-#include "unitree_go/msg/rosidl_typesupport_introspection_c__visibility_control.h"
-#include "rosidl_typesupport_introspection_c/field_types.h"
-#include "rosidl_typesupport_introspection_c/identifier.h"
-#include "rosidl_typesupport_introspection_c/message_introspection.h"
-#include "unitree_go/msg/detail/motor_cmd__functions.h"
-#include "unitree_go/msg/detail/motor_cmd__struct.h"
-
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-void MotorCmd__rosidl_typesupport_introspection_c__MotorCmd_init_function(
-  void * message_memory, enum rosidl_runtime_c__message_initialization _init)
-{
-  // TODO(karsten1987): initializers are not yet implemented for typesupport c
-  // see https://github.com/ros2/ros2/issues/397
-  (void) _init;
-  unitree_go__msg__MotorCmd__init(message_memory);
-}
-
-void MotorCmd__rosidl_typesupport_introspection_c__MotorCmd_fini_function(void * message_memory)
-{
-  unitree_go__msg__MotorCmd__fini(message_memory);
-}
-
-static rosidl_typesupport_introspection_c__MessageMember MotorCmd__rosidl_typesupport_introspection_c__MotorCmd_message_member_array[7] = {
-  {
-    "mode",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_UINT8,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__MotorCmd, mode),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "q",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__MotorCmd, q),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "dq",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__MotorCmd, dq),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "tau",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__MotorCmd, tau),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "kp",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__MotorCmd, kp),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "kd",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__MotorCmd, kd),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "reserve",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_UINT32,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    true,  // is array
-    3,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__MotorCmd, reserve),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  }
-};
-
-static const rosidl_typesupport_introspection_c__MessageMembers MotorCmd__rosidl_typesupport_introspection_c__MotorCmd_message_members = {
-  "unitree_go__msg",  // message namespace
-  "MotorCmd",  // message name
-  7,  // number of fields
-  sizeof(unitree_go__msg__MotorCmd),
-  MotorCmd__rosidl_typesupport_introspection_c__MotorCmd_message_member_array,  // message members
-  MotorCmd__rosidl_typesupport_introspection_c__MotorCmd_init_function,  // function to initialize message memory (memory has to be allocated)
-  MotorCmd__rosidl_typesupport_introspection_c__MotorCmd_fini_function  // function to terminate message instance (will not free memory)
-};
-
-// this is not const since it must be initialized on first access
-// since C does not allow non-integral compile-time constants
-static rosidl_message_type_support_t MotorCmd__rosidl_typesupport_introspection_c__MotorCmd_message_type_support_handle = {
-  0,
-  &MotorCmd__rosidl_typesupport_introspection_c__MotorCmd_message_members,
-  get_message_typesupport_handle_function,
-};
-
-ROSIDL_TYPESUPPORT_INTROSPECTION_C_EXPORT_unitree_go
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, unitree_go, msg, MotorCmd)() {
-  if (!MotorCmd__rosidl_typesupport_introspection_c__MotorCmd_message_type_support_handle.typesupport_identifier) {
-    MotorCmd__rosidl_typesupport_introspection_c__MotorCmd_message_type_support_handle.typesupport_identifier =
-      rosidl_typesupport_introspection_c__identifier;
-  }
-  return &MotorCmd__rosidl_typesupport_introspection_c__MotorCmd_message_type_support_handle;
-}
-#ifdef __cplusplus
-}
-#endif
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_cmd__type_support.cpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_cmd__type_support.cpp
deleted file mode 100644
index acbca4f..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_cmd__type_support.cpp
+++ /dev/null
@@ -1,217 +0,0 @@
-// generated from rosidl_typesupport_introspection_cpp/resource/idl__type_support.cpp.em
-// with input from unitree_go:msg/MotorCmd.idl
-// generated code does not contain a copyright notice
-
-#include "array"
-#include "cstddef"
-#include "string"
-#include "vector"
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_cpp/message_type_support.hpp"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_go/msg/detail/motor_cmd__struct.hpp"
-#include "rosidl_typesupport_introspection_cpp/field_types.hpp"
-#include "rosidl_typesupport_introspection_cpp/identifier.hpp"
-#include "rosidl_typesupport_introspection_cpp/message_introspection.hpp"
-#include "rosidl_typesupport_introspection_cpp/message_type_support_decl.hpp"
-#include "rosidl_typesupport_introspection_cpp/visibility_control.h"
-
-namespace unitree_go
-{
-
-namespace msg
-{
-
-namespace rosidl_typesupport_introspection_cpp
-{
-
-void MotorCmd_init_function(
-  void * message_memory, rosidl_runtime_cpp::MessageInitialization _init)
-{
-  new (message_memory) unitree_go::msg::MotorCmd(_init);
-}
-
-void MotorCmd_fini_function(void * message_memory)
-{
-  auto typed_message = static_cast<unitree_go::msg::MotorCmd *>(message_memory);
-  typed_message->~MotorCmd();
-}
-
-size_t size_function__MotorCmd__reserve(const void * untyped_member)
-{
-  (void)untyped_member;
-  return 3;
-}
-
-const void * get_const_function__MotorCmd__reserve(const void * untyped_member, size_t index)
-{
-  const auto & member =
-    *reinterpret_cast<const std::array<uint32_t, 3> *>(untyped_member);
-  return &member[index];
-}
-
-void * get_function__MotorCmd__reserve(void * untyped_member, size_t index)
-{
-  auto & member =
-    *reinterpret_cast<std::array<uint32_t, 3> *>(untyped_member);
-  return &member[index];
-}
-
-static const ::rosidl_typesupport_introspection_cpp::MessageMember MotorCmd_message_member_array[7] = {
-  {
-    "mode",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT8,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::MotorCmd, mode),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "q",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::MotorCmd, q),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "dq",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::MotorCmd, dq),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "tau",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::MotorCmd, tau),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "kp",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::MotorCmd, kp),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "kd",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::MotorCmd, kd),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "reserve",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT32,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    true,  // is array
-    3,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::MotorCmd, reserve),  // bytes offset in struct
-    nullptr,  // default value
-    size_function__MotorCmd__reserve,  // size() function pointer
-    get_const_function__MotorCmd__reserve,  // get_const(index) function pointer
-    get_function__MotorCmd__reserve,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  }
-};
-
-static const ::rosidl_typesupport_introspection_cpp::MessageMembers MotorCmd_message_members = {
-  "unitree_go::msg",  // message namespace
-  "MotorCmd",  // message name
-  7,  // number of fields
-  sizeof(unitree_go::msg::MotorCmd),
-  MotorCmd_message_member_array,  // message members
-  MotorCmd_init_function,  // function to initialize message memory (memory has to be allocated)
-  MotorCmd_fini_function  // function to terminate message instance (will not free memory)
-};
-
-static const rosidl_message_type_support_t MotorCmd_message_type_support_handle = {
-  ::rosidl_typesupport_introspection_cpp::typesupport_identifier,
-  &MotorCmd_message_members,
-  get_message_typesupport_handle_function,
-};
-
-}  // namespace rosidl_typesupport_introspection_cpp
-
-}  // namespace msg
-
-}  // namespace unitree_go
-
-
-namespace rosidl_typesupport_introspection_cpp
-{
-
-template<>
-ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
-const rosidl_message_type_support_t *
-get_message_type_support_handle<unitree_go::msg::MotorCmd>()
-{
-  return &::unitree_go::msg::rosidl_typesupport_introspection_cpp::MotorCmd_message_type_support_handle;
-}
-
-}  // namespace rosidl_typesupport_introspection_cpp
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_cpp, unitree_go, msg, MotorCmd)() {
-  return &::unitree_go::msg::rosidl_typesupport_introspection_cpp::MotorCmd_message_type_support_handle;
-}
-
-#ifdef __cplusplus
-}
-#endif
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_cmd__type_support.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_cmd__type_support.h
deleted file mode 100644
index 3592b44..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_cmd__type_support.h
+++ /dev/null
@@ -1,33 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__type_support.h.em
-// with input from unitree_go:msg/MotorCmd.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__MOTOR_CMD__TYPE_SUPPORT_H_
-#define UNITREE_GO__MSG__DETAIL__MOTOR_CMD__TYPE_SUPPORT_H_
-
-#include "rosidl_typesupport_interface/macros.h"
-
-#include "unitree_go/msg/rosidl_generator_c__visibility_control.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-
-// Forward declare the get type support functions for this type.
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
-  rosidl_typesupport_c,
-  unitree_go,
-  msg,
-  MotorCmd
-)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__MOTOR_CMD__TYPE_SUPPORT_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_cmd__type_support.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_cmd__type_support.hpp
deleted file mode 100644
index f5a4dd5..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_cmd__type_support.hpp
+++ /dev/null
@@ -1,31 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__type_support.hpp.em
-// with input from unitree_go:msg/MotorCmd.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__MOTOR_CMD__TYPE_SUPPORT_HPP_
-#define UNITREE_GO__MSG__DETAIL__MOTOR_CMD__TYPE_SUPPORT_HPP_
-
-#include "rosidl_typesupport_interface/macros.h"
-
-#include "unitree_go/msg/rosidl_generator_cpp__visibility_control.hpp"
-
-#include "rosidl_typesupport_cpp/message_type_support.hpp"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-// Forward declare the get type support functions for this type.
-ROSIDL_GENERATOR_CPP_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
-  rosidl_typesupport_cpp,
-  unitree_go,
-  msg,
-  MotorCmd
-)();
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__MOTOR_CMD__TYPE_SUPPORT_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_state__builder.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_state__builder.hpp
deleted file mode 100644
index bf44597..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_state__builder.hpp
+++ /dev/null
@@ -1,215 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__builder.hpp.em
-// with input from unitree_go:msg/MotorState.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__MOTOR_STATE__BUILDER_HPP_
-#define UNITREE_GO__MSG__DETAIL__MOTOR_STATE__BUILDER_HPP_
-
-#include "unitree_go/msg/detail/motor_state__struct.hpp"
-#include <rosidl_runtime_cpp/message_initialization.hpp>
-#include <algorithm>
-#include <utility>
-
-
-namespace unitree_go
-{
-
-namespace msg
-{
-
-namespace builder
-{
-
-class Init_MotorState_reserve
-{
-public:
-  explicit Init_MotorState_reserve(::unitree_go::msg::MotorState & msg)
-  : msg_(msg)
-  {}
-  ::unitree_go::msg::MotorState reserve(::unitree_go::msg::MotorState::_reserve_type arg)
-  {
-    msg_.reserve = std::move(arg);
-    return std::move(msg_);
-  }
-
-private:
-  ::unitree_go::msg::MotorState msg_;
-};
-
-class Init_MotorState_lost
-{
-public:
-  explicit Init_MotorState_lost(::unitree_go::msg::MotorState & msg)
-  : msg_(msg)
-  {}
-  Init_MotorState_reserve lost(::unitree_go::msg::MotorState::_lost_type arg)
-  {
-    msg_.lost = std::move(arg);
-    return Init_MotorState_reserve(msg_);
-  }
-
-private:
-  ::unitree_go::msg::MotorState msg_;
-};
-
-class Init_MotorState_temperature
-{
-public:
-  explicit Init_MotorState_temperature(::unitree_go::msg::MotorState & msg)
-  : msg_(msg)
-  {}
-  Init_MotorState_lost temperature(::unitree_go::msg::MotorState::_temperature_type arg)
-  {
-    msg_.temperature = std::move(arg);
-    return Init_MotorState_lost(msg_);
-  }
-
-private:
-  ::unitree_go::msg::MotorState msg_;
-};
-
-class Init_MotorState_ddq_raw
-{
-public:
-  explicit Init_MotorState_ddq_raw(::unitree_go::msg::MotorState & msg)
-  : msg_(msg)
-  {}
-  Init_MotorState_temperature ddq_raw(::unitree_go::msg::MotorState::_ddq_raw_type arg)
-  {
-    msg_.ddq_raw = std::move(arg);
-    return Init_MotorState_temperature(msg_);
-  }
-
-private:
-  ::unitree_go::msg::MotorState msg_;
-};
-
-class Init_MotorState_dq_raw
-{
-public:
-  explicit Init_MotorState_dq_raw(::unitree_go::msg::MotorState & msg)
-  : msg_(msg)
-  {}
-  Init_MotorState_ddq_raw dq_raw(::unitree_go::msg::MotorState::_dq_raw_type arg)
-  {
-    msg_.dq_raw = std::move(arg);
-    return Init_MotorState_ddq_raw(msg_);
-  }
-
-private:
-  ::unitree_go::msg::MotorState msg_;
-};
-
-class Init_MotorState_q_raw
-{
-public:
-  explicit Init_MotorState_q_raw(::unitree_go::msg::MotorState & msg)
-  : msg_(msg)
-  {}
-  Init_MotorState_dq_raw q_raw(::unitree_go::msg::MotorState::_q_raw_type arg)
-  {
-    msg_.q_raw = std::move(arg);
-    return Init_MotorState_dq_raw(msg_);
-  }
-
-private:
-  ::unitree_go::msg::MotorState msg_;
-};
-
-class Init_MotorState_tau_est
-{
-public:
-  explicit Init_MotorState_tau_est(::unitree_go::msg::MotorState & msg)
-  : msg_(msg)
-  {}
-  Init_MotorState_q_raw tau_est(::unitree_go::msg::MotorState::_tau_est_type arg)
-  {
-    msg_.tau_est = std::move(arg);
-    return Init_MotorState_q_raw(msg_);
-  }
-
-private:
-  ::unitree_go::msg::MotorState msg_;
-};
-
-class Init_MotorState_ddq
-{
-public:
-  explicit Init_MotorState_ddq(::unitree_go::msg::MotorState & msg)
-  : msg_(msg)
-  {}
-  Init_MotorState_tau_est ddq(::unitree_go::msg::MotorState::_ddq_type arg)
-  {
-    msg_.ddq = std::move(arg);
-    return Init_MotorState_tau_est(msg_);
-  }
-
-private:
-  ::unitree_go::msg::MotorState msg_;
-};
-
-class Init_MotorState_dq
-{
-public:
-  explicit Init_MotorState_dq(::unitree_go::msg::MotorState & msg)
-  : msg_(msg)
-  {}
-  Init_MotorState_ddq dq(::unitree_go::msg::MotorState::_dq_type arg)
-  {
-    msg_.dq = std::move(arg);
-    return Init_MotorState_ddq(msg_);
-  }
-
-private:
-  ::unitree_go::msg::MotorState msg_;
-};
-
-class Init_MotorState_q
-{
-public:
-  explicit Init_MotorState_q(::unitree_go::msg::MotorState & msg)
-  : msg_(msg)
-  {}
-  Init_MotorState_dq q(::unitree_go::msg::MotorState::_q_type arg)
-  {
-    msg_.q = std::move(arg);
-    return Init_MotorState_dq(msg_);
-  }
-
-private:
-  ::unitree_go::msg::MotorState msg_;
-};
-
-class Init_MotorState_mode
-{
-public:
-  Init_MotorState_mode()
-  : msg_(::rosidl_runtime_cpp::MessageInitialization::SKIP)
-  {}
-  Init_MotorState_q mode(::unitree_go::msg::MotorState::_mode_type arg)
-  {
-    msg_.mode = std::move(arg);
-    return Init_MotorState_q(msg_);
-  }
-
-private:
-  ::unitree_go::msg::MotorState msg_;
-};
-
-}  // namespace builder
-
-}  // namespace msg
-
-template<typename MessageType>
-auto build();
-
-template<>
-inline
-auto build<::unitree_go::msg::MotorState>()
-{
-  return unitree_go::msg::builder::Init_MotorState_mode();
-}
-
-}  // namespace unitree_go
-
-#endif  // UNITREE_GO__MSG__DETAIL__MOTOR_STATE__BUILDER_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_state__functions.c b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_state__functions.c
deleted file mode 100644
index ff2301e..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_state__functions.c
+++ /dev/null
@@ -1,315 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__functions.c.em
-// with input from unitree_go:msg/MotorState.idl
-// generated code does not contain a copyright notice
-#include "unitree_go/msg/detail/motor_state__functions.h"
-
-#include <assert.h>
-#include <stdbool.h>
-#include <stdlib.h>
-#include <string.h>
-
-#include "rcutils/allocator.h"
-
-
-bool
-unitree_go__msg__MotorState__init(unitree_go__msg__MotorState * msg)
-{
-  if (!msg) {
-    return false;
-  }
-  // mode
-  // q
-  // dq
-  // ddq
-  // tau_est
-  // q_raw
-  // dq_raw
-  // ddq_raw
-  // temperature
-  // lost
-  // reserve
-  return true;
-}
-
-void
-unitree_go__msg__MotorState__fini(unitree_go__msg__MotorState * msg)
-{
-  if (!msg) {
-    return;
-  }
-  // mode
-  // q
-  // dq
-  // ddq
-  // tau_est
-  // q_raw
-  // dq_raw
-  // ddq_raw
-  // temperature
-  // lost
-  // reserve
-}
-
-bool
-unitree_go__msg__MotorState__are_equal(const unitree_go__msg__MotorState * lhs, const unitree_go__msg__MotorState * rhs)
-{
-  if (!lhs || !rhs) {
-    return false;
-  }
-  // mode
-  if (lhs->mode != rhs->mode) {
-    return false;
-  }
-  // q
-  if (lhs->q != rhs->q) {
-    return false;
-  }
-  // dq
-  if (lhs->dq != rhs->dq) {
-    return false;
-  }
-  // ddq
-  if (lhs->ddq != rhs->ddq) {
-    return false;
-  }
-  // tau_est
-  if (lhs->tau_est != rhs->tau_est) {
-    return false;
-  }
-  // q_raw
-  if (lhs->q_raw != rhs->q_raw) {
-    return false;
-  }
-  // dq_raw
-  if (lhs->dq_raw != rhs->dq_raw) {
-    return false;
-  }
-  // ddq_raw
-  if (lhs->ddq_raw != rhs->ddq_raw) {
-    return false;
-  }
-  // temperature
-  if (lhs->temperature != rhs->temperature) {
-    return false;
-  }
-  // lost
-  if (lhs->lost != rhs->lost) {
-    return false;
-  }
-  // reserve
-  for (size_t i = 0; i < 2; ++i) {
-    if (lhs->reserve[i] != rhs->reserve[i]) {
-      return false;
-    }
-  }
-  return true;
-}
-
-bool
-unitree_go__msg__MotorState__copy(
-  const unitree_go__msg__MotorState * input,
-  unitree_go__msg__MotorState * output)
-{
-  if (!input || !output) {
-    return false;
-  }
-  // mode
-  output->mode = input->mode;
-  // q
-  output->q = input->q;
-  // dq
-  output->dq = input->dq;
-  // ddq
-  output->ddq = input->ddq;
-  // tau_est
-  output->tau_est = input->tau_est;
-  // q_raw
-  output->q_raw = input->q_raw;
-  // dq_raw
-  output->dq_raw = input->dq_raw;
-  // ddq_raw
-  output->ddq_raw = input->ddq_raw;
-  // temperature
-  output->temperature = input->temperature;
-  // lost
-  output->lost = input->lost;
-  // reserve
-  for (size_t i = 0; i < 2; ++i) {
-    output->reserve[i] = input->reserve[i];
-  }
-  return true;
-}
-
-unitree_go__msg__MotorState *
-unitree_go__msg__MotorState__create()
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  unitree_go__msg__MotorState * msg = (unitree_go__msg__MotorState *)allocator.allocate(sizeof(unitree_go__msg__MotorState), allocator.state);
-  if (!msg) {
-    return NULL;
-  }
-  memset(msg, 0, sizeof(unitree_go__msg__MotorState));
-  bool success = unitree_go__msg__MotorState__init(msg);
-  if (!success) {
-    allocator.deallocate(msg, allocator.state);
-    return NULL;
-  }
-  return msg;
-}
-
-void
-unitree_go__msg__MotorState__destroy(unitree_go__msg__MotorState * msg)
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  if (msg) {
-    unitree_go__msg__MotorState__fini(msg);
-  }
-  allocator.deallocate(msg, allocator.state);
-}
-
-
-bool
-unitree_go__msg__MotorState__Sequence__init(unitree_go__msg__MotorState__Sequence * array, size_t size)
-{
-  if (!array) {
-    return false;
-  }
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  unitree_go__msg__MotorState * data = NULL;
-
-  if (size) {
-    data = (unitree_go__msg__MotorState *)allocator.zero_allocate(size, sizeof(unitree_go__msg__MotorState), allocator.state);
-    if (!data) {
-      return false;
-    }
-    // initialize all array elements
-    size_t i;
-    for (i = 0; i < size; ++i) {
-      bool success = unitree_go__msg__MotorState__init(&data[i]);
-      if (!success) {
-        break;
-      }
-    }
-    if (i < size) {
-      // if initialization failed finalize the already initialized array elements
-      for (; i > 0; --i) {
-        unitree_go__msg__MotorState__fini(&data[i - 1]);
-      }
-      allocator.deallocate(data, allocator.state);
-      return false;
-    }
-  }
-  array->data = data;
-  array->size = size;
-  array->capacity = size;
-  return true;
-}
-
-void
-unitree_go__msg__MotorState__Sequence__fini(unitree_go__msg__MotorState__Sequence * array)
-{
-  if (!array) {
-    return;
-  }
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-
-  if (array->data) {
-    // ensure that data and capacity values are consistent
-    assert(array->capacity > 0);
-    // finalize all array elements
-    for (size_t i = 0; i < array->capacity; ++i) {
-      unitree_go__msg__MotorState__fini(&array->data[i]);
-    }
-    allocator.deallocate(array->data, allocator.state);
-    array->data = NULL;
-    array->size = 0;
-    array->capacity = 0;
-  } else {
-    // ensure that data, size, and capacity values are consistent
-    assert(0 == array->size);
-    assert(0 == array->capacity);
-  }
-}
-
-unitree_go__msg__MotorState__Sequence *
-unitree_go__msg__MotorState__Sequence__create(size_t size)
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  unitree_go__msg__MotorState__Sequence * array = (unitree_go__msg__MotorState__Sequence *)allocator.allocate(sizeof(unitree_go__msg__MotorState__Sequence), allocator.state);
-  if (!array) {
-    return NULL;
-  }
-  bool success = unitree_go__msg__MotorState__Sequence__init(array, size);
-  if (!success) {
-    allocator.deallocate(array, allocator.state);
-    return NULL;
-  }
-  return array;
-}
-
-void
-unitree_go__msg__MotorState__Sequence__destroy(unitree_go__msg__MotorState__Sequence * array)
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  if (array) {
-    unitree_go__msg__MotorState__Sequence__fini(array);
-  }
-  allocator.deallocate(array, allocator.state);
-}
-
-bool
-unitree_go__msg__MotorState__Sequence__are_equal(const unitree_go__msg__MotorState__Sequence * lhs, const unitree_go__msg__MotorState__Sequence * rhs)
-{
-  if (!lhs || !rhs) {
-    return false;
-  }
-  if (lhs->size != rhs->size) {
-    return false;
-  }
-  for (size_t i = 0; i < lhs->size; ++i) {
-    if (!unitree_go__msg__MotorState__are_equal(&(lhs->data[i]), &(rhs->data[i]))) {
-      return false;
-    }
-  }
-  return true;
-}
-
-bool
-unitree_go__msg__MotorState__Sequence__copy(
-  const unitree_go__msg__MotorState__Sequence * input,
-  unitree_go__msg__MotorState__Sequence * output)
-{
-  if (!input || !output) {
-    return false;
-  }
-  if (output->capacity < input->size) {
-    const size_t allocation_size =
-      input->size * sizeof(unitree_go__msg__MotorState);
-    unitree_go__msg__MotorState * data =
-      (unitree_go__msg__MotorState *)realloc(output->data, allocation_size);
-    if (!data) {
-      return false;
-    }
-    for (size_t i = output->capacity; i < input->size; ++i) {
-      if (!unitree_go__msg__MotorState__init(&data[i])) {
-        /* free currently allocated and return false */
-        for (; i-- > output->capacity; ) {
-          unitree_go__msg__MotorState__fini(&data[i]);
-        }
-        free(data);
-        return false;
-      }
-    }
-    output->data = data;
-    output->capacity = input->size;
-  }
-  output->size = input->size;
-  for (size_t i = 0; i < input->size; ++i) {
-    if (!unitree_go__msg__MotorState__copy(
-        &(input->data[i]), &(output->data[i])))
-    {
-      return false;
-    }
-  }
-  return true;
-}
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_state__functions.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_state__functions.h
deleted file mode 100644
index ed99679..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_state__functions.h
+++ /dev/null
@@ -1,177 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__functions.h.em
-// with input from unitree_go:msg/MotorState.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__MOTOR_STATE__FUNCTIONS_H_
-#define UNITREE_GO__MSG__DETAIL__MOTOR_STATE__FUNCTIONS_H_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include <stdbool.h>
-#include <stdlib.h>
-
-#include "rosidl_runtime_c/visibility_control.h"
-#include "unitree_go/msg/rosidl_generator_c__visibility_control.h"
-
-#include "unitree_go/msg/detail/motor_state__struct.h"
-
-/// Initialize msg/MotorState message.
-/**
- * If the init function is called twice for the same message without
- * calling fini inbetween previously allocated memory will be leaked.
- * \param[in,out] msg The previously allocated message pointer.
- * Fields without a default value will not be initialized by this function.
- * You might want to call memset(msg, 0, sizeof(
- * unitree_go__msg__MotorState
- * )) before or use
- * unitree_go__msg__MotorState__create()
- * to allocate and initialize the message.
- * \return true if initialization was successful, otherwise false
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__MotorState__init(unitree_go__msg__MotorState * msg);
-
-/// Finalize msg/MotorState message.
-/**
- * \param[in,out] msg The allocated message pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-void
-unitree_go__msg__MotorState__fini(unitree_go__msg__MotorState * msg);
-
-/// Create msg/MotorState message.
-/**
- * It allocates the memory for the message, sets the memory to zero, and
- * calls
- * unitree_go__msg__MotorState__init().
- * \return The pointer to the initialized message if successful,
- * otherwise NULL
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-unitree_go__msg__MotorState *
-unitree_go__msg__MotorState__create();
-
-/// Destroy msg/MotorState message.
-/**
- * It calls
- * unitree_go__msg__MotorState__fini()
- * and frees the memory of the message.
- * \param[in,out] msg The allocated message pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-void
-unitree_go__msg__MotorState__destroy(unitree_go__msg__MotorState * msg);
-
-/// Check for msg/MotorState message equality.
-/**
- * \param[in] lhs The message on the left hand size of the equality operator.
- * \param[in] rhs The message on the right hand size of the equality operator.
- * \return true if messages are equal, otherwise false.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__MotorState__are_equal(const unitree_go__msg__MotorState * lhs, const unitree_go__msg__MotorState * rhs);
-
-/// Copy a msg/MotorState message.
-/**
- * This functions performs a deep copy, as opposed to the shallow copy that
- * plain assignment yields.
- *
- * \param[in] input The source message pointer.
- * \param[out] output The target message pointer, which must
- *   have been initialized before calling this function.
- * \return true if successful, or false if either pointer is null
- *   or memory allocation fails.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__MotorState__copy(
-  const unitree_go__msg__MotorState * input,
-  unitree_go__msg__MotorState * output);
-
-/// Initialize array of msg/MotorState messages.
-/**
- * It allocates the memory for the number of elements and calls
- * unitree_go__msg__MotorState__init()
- * for each element of the array.
- * \param[in,out] array The allocated array pointer.
- * \param[in] size The size / capacity of the array.
- * \return true if initialization was successful, otherwise false
- * If the array pointer is valid and the size is zero it is guaranteed
- # to return true.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__MotorState__Sequence__init(unitree_go__msg__MotorState__Sequence * array, size_t size);
-
-/// Finalize array of msg/MotorState messages.
-/**
- * It calls
- * unitree_go__msg__MotorState__fini()
- * for each element of the array and frees the memory for the number of
- * elements.
- * \param[in,out] array The initialized array pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-void
-unitree_go__msg__MotorState__Sequence__fini(unitree_go__msg__MotorState__Sequence * array);
-
-/// Create array of msg/MotorState messages.
-/**
- * It allocates the memory for the array and calls
- * unitree_go__msg__MotorState__Sequence__init().
- * \param[in] size The size / capacity of the array.
- * \return The pointer to the initialized array if successful, otherwise NULL
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-unitree_go__msg__MotorState__Sequence *
-unitree_go__msg__MotorState__Sequence__create(size_t size);
-
-/// Destroy array of msg/MotorState messages.
-/**
- * It calls
- * unitree_go__msg__MotorState__Sequence__fini()
- * on the array,
- * and frees the memory of the array.
- * \param[in,out] array The initialized array pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-void
-unitree_go__msg__MotorState__Sequence__destroy(unitree_go__msg__MotorState__Sequence * array);
-
-/// Check for msg/MotorState message array equality.
-/**
- * \param[in] lhs The message array on the left hand size of the equality operator.
- * \param[in] rhs The message array on the right hand size of the equality operator.
- * \return true if message arrays are equal in size and content, otherwise false.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__MotorState__Sequence__are_equal(const unitree_go__msg__MotorState__Sequence * lhs, const unitree_go__msg__MotorState__Sequence * rhs);
-
-/// Copy an array of msg/MotorState messages.
-/**
- * This functions performs a deep copy, as opposed to the shallow copy that
- * plain assignment yields.
- *
- * \param[in] input The source array pointer.
- * \param[out] output The target array pointer, which must
- *   have been initialized before calling this function.
- * \return true if successful, or false if either pointer
- *   is null or memory allocation fails.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__MotorState__Sequence__copy(
-  const unitree_go__msg__MotorState__Sequence * input,
-  unitree_go__msg__MotorState__Sequence * output);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__MOTOR_STATE__FUNCTIONS_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_state__rosidl_typesupport_fastrtps_c.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_state__rosidl_typesupport_fastrtps_c.h
deleted file mode 100644
index c3b4398..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_state__rosidl_typesupport_fastrtps_c.h
+++ /dev/null
@@ -1,36 +0,0 @@
-// generated from rosidl_typesupport_fastrtps_c/resource/idl__rosidl_typesupport_fastrtps_c.h.em
-// with input from unitree_go:msg/MotorState.idl
-// generated code does not contain a copyright notice
-#ifndef UNITREE_GO__MSG__DETAIL__MOTOR_STATE__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_
-#define UNITREE_GO__MSG__DETAIL__MOTOR_STATE__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_
-
-
-#include <stddef.h>
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_go/msg/rosidl_typesupport_fastrtps_c__visibility_control.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_go
-size_t get_serialized_size_unitree_go__msg__MotorState(
-  const void * untyped_ros_message,
-  size_t current_alignment);
-
-ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_go
-size_t max_serialized_size_unitree_go__msg__MotorState(
-  bool & full_bounded,
-  size_t current_alignment);
-
-ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_fastrtps_c, unitree_go, msg, MotorState)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__MOTOR_STATE__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_state__rosidl_typesupport_fastrtps_cpp.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_state__rosidl_typesupport_fastrtps_cpp.hpp
deleted file mode 100644
index 5698ffb..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_state__rosidl_typesupport_fastrtps_cpp.hpp
+++ /dev/null
@@ -1,79 +0,0 @@
-// generated from rosidl_typesupport_fastrtps_cpp/resource/idl__rosidl_typesupport_fastrtps_cpp.hpp.em
-// with input from unitree_go:msg/MotorState.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__MOTOR_STATE__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_
-#define UNITREE_GO__MSG__DETAIL__MOTOR_STATE__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_go/msg/rosidl_typesupport_fastrtps_cpp__visibility_control.h"
-#include "unitree_go/msg/detail/motor_state__struct.hpp"
-
-#ifndef _WIN32
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wunused-parameter"
-# ifdef __clang__
-#  pragma clang diagnostic ignored "-Wdeprecated-register"
-#  pragma clang diagnostic ignored "-Wreturn-type-c-linkage"
-# endif
-#endif
-#ifndef _WIN32
-# pragma GCC diagnostic pop
-#endif
-
-#include "fastcdr/Cdr.h"
-
-namespace unitree_go
-{
-
-namespace msg
-{
-
-namespace typesupport_fastrtps_cpp
-{
-
-bool
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-cdr_serialize(
-  const unitree_go::msg::MotorState & ros_message,
-  eprosima::fastcdr::Cdr & cdr);
-
-bool
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-cdr_deserialize(
-  eprosima::fastcdr::Cdr & cdr,
-  unitree_go::msg::MotorState & ros_message);
-
-size_t
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-get_serialized_size(
-  const unitree_go::msg::MotorState & ros_message,
-  size_t current_alignment);
-
-size_t
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-max_serialized_size_MotorState(
-  bool & full_bounded,
-  size_t current_alignment);
-
-}  // namespace typesupport_fastrtps_cpp
-
-}  // namespace msg
-
-}  // namespace unitree_go
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_fastrtps_cpp, unitree_go, msg, MotorState)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__MOTOR_STATE__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_state__rosidl_typesupport_introspection_c.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_state__rosidl_typesupport_introspection_c.h
deleted file mode 100644
index 75a202a..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_state__rosidl_typesupport_introspection_c.h
+++ /dev/null
@@ -1,26 +0,0 @@
-// generated from rosidl_typesupport_introspection_c/resource/idl__rosidl_typesupport_introspection_c.h.em
-// with input from unitree_go:msg/MotorState.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__MOTOR_STATE__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
-#define UNITREE_GO__MSG__DETAIL__MOTOR_STATE__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_go/msg/rosidl_typesupport_introspection_c__visibility_control.h"
-
-ROSIDL_TYPESUPPORT_INTROSPECTION_C_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, unitree_go, msg, MotorState)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__MOTOR_STATE__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_state__rosidl_typesupport_introspection_cpp.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_state__rosidl_typesupport_introspection_cpp.hpp
deleted file mode 100644
index 1213021..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_state__rosidl_typesupport_introspection_cpp.hpp
+++ /dev/null
@@ -1,27 +0,0 @@
-// generated from rosidl_typesupport_introspection_cpp/resource/idl__rosidl_typesupport_introspection_cpp.h.em
-// with input from unitree_go:msg/MotorState.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__MOTOR_STATE__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_
-#define UNITREE_GO__MSG__DETAIL__MOTOR_STATE__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_
-
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "rosidl_typesupport_introspection_cpp/visibility_control.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-// TODO(dirk-thomas) these visibility macros should be message package specific
-ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
-const rosidl_message_type_support_t *
-  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_cpp, unitree_go, msg, MotorState)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__MOTOR_STATE__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_state__struct.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_state__struct.h
deleted file mode 100644
index c662d90..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_state__struct.h
+++ /dev/null
@@ -1,50 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__struct.h.em
-// with input from unitree_go:msg/MotorState.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__MOTOR_STATE__STRUCT_H_
-#define UNITREE_GO__MSG__DETAIL__MOTOR_STATE__STRUCT_H_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include <stdbool.h>
-#include <stddef.h>
-#include <stdint.h>
-
-
-// Constants defined in the message
-
-// Struct defined in msg/MotorState in the package unitree_go.
-typedef struct unitree_go__msg__MotorState
-{
-  uint8_t mode;
-  float q;
-  float dq;
-  float ddq;
-  float tau_est;
-  float q_raw;
-  float dq_raw;
-  float ddq_raw;
-  int8_t temperature;
-  uint32_t lost;
-  uint32_t reserve[2];
-} unitree_go__msg__MotorState;
-
-// Struct for a sequence of unitree_go__msg__MotorState.
-typedef struct unitree_go__msg__MotorState__Sequence
-{
-  unitree_go__msg__MotorState * data;
-  /// The number of valid items in data
-  size_t size;
-  /// The number of allocated items in data
-  size_t capacity;
-} unitree_go__msg__MotorState__Sequence;
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__MOTOR_STATE__STRUCT_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_state__struct.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_state__struct.hpp
deleted file mode 100644
index 5b3a0ad..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_state__struct.hpp
+++ /dev/null
@@ -1,270 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__struct.hpp.em
-// with input from unitree_go:msg/MotorState.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__MOTOR_STATE__STRUCT_HPP_
-#define UNITREE_GO__MSG__DETAIL__MOTOR_STATE__STRUCT_HPP_
-
-#include <rosidl_runtime_cpp/bounded_vector.hpp>
-#include <rosidl_runtime_cpp/message_initialization.hpp>
-#include <algorithm>
-#include <array>
-#include <memory>
-#include <string>
-#include <vector>
-
-
-#ifndef _WIN32
-# define DEPRECATED__unitree_go__msg__MotorState __attribute__((deprecated))
-#else
-# define DEPRECATED__unitree_go__msg__MotorState __declspec(deprecated)
-#endif
-
-namespace unitree_go
-{
-
-namespace msg
-{
-
-// message struct
-template<class ContainerAllocator>
-struct MotorState_
-{
-  using Type = MotorState_<ContainerAllocator>;
-
-  explicit MotorState_(rosidl_runtime_cpp::MessageInitialization _init = rosidl_runtime_cpp::MessageInitialization::ALL)
-  {
-    if (rosidl_runtime_cpp::MessageInitialization::ALL == _init ||
-      rosidl_runtime_cpp::MessageInitialization::ZERO == _init)
-    {
-      this->mode = 0;
-      this->q = 0.0f;
-      this->dq = 0.0f;
-      this->ddq = 0.0f;
-      this->tau_est = 0.0f;
-      this->q_raw = 0.0f;
-      this->dq_raw = 0.0f;
-      this->ddq_raw = 0.0f;
-      this->temperature = 0;
-      this->lost = 0ul;
-      std::fill<typename std::array<uint32_t, 2>::iterator, uint32_t>(this->reserve.begin(), this->reserve.end(), 0ul);
-    }
-  }
-
-  explicit MotorState_(const ContainerAllocator & _alloc, rosidl_runtime_cpp::MessageInitialization _init = rosidl_runtime_cpp::MessageInitialization::ALL)
-  : reserve(_alloc)
-  {
-    if (rosidl_runtime_cpp::MessageInitialization::ALL == _init ||
-      rosidl_runtime_cpp::MessageInitialization::ZERO == _init)
-    {
-      this->mode = 0;
-      this->q = 0.0f;
-      this->dq = 0.0f;
-      this->ddq = 0.0f;
-      this->tau_est = 0.0f;
-      this->q_raw = 0.0f;
-      this->dq_raw = 0.0f;
-      this->ddq_raw = 0.0f;
-      this->temperature = 0;
-      this->lost = 0ul;
-      std::fill<typename std::array<uint32_t, 2>::iterator, uint32_t>(this->reserve.begin(), this->reserve.end(), 0ul);
-    }
-  }
-
-  // field types and members
-  using _mode_type =
-    uint8_t;
-  _mode_type mode;
-  using _q_type =
-    float;
-  _q_type q;
-  using _dq_type =
-    float;
-  _dq_type dq;
-  using _ddq_type =
-    float;
-  _ddq_type ddq;
-  using _tau_est_type =
-    float;
-  _tau_est_type tau_est;
-  using _q_raw_type =
-    float;
-  _q_raw_type q_raw;
-  using _dq_raw_type =
-    float;
-  _dq_raw_type dq_raw;
-  using _ddq_raw_type =
-    float;
-  _ddq_raw_type ddq_raw;
-  using _temperature_type =
-    int8_t;
-  _temperature_type temperature;
-  using _lost_type =
-    uint32_t;
-  _lost_type lost;
-  using _reserve_type =
-    std::array<uint32_t, 2>;
-  _reserve_type reserve;
-
-  // setters for named parameter idiom
-  Type & set__mode(
-    const uint8_t & _arg)
-  {
-    this->mode = _arg;
-    return *this;
-  }
-  Type & set__q(
-    const float & _arg)
-  {
-    this->q = _arg;
-    return *this;
-  }
-  Type & set__dq(
-    const float & _arg)
-  {
-    this->dq = _arg;
-    return *this;
-  }
-  Type & set__ddq(
-    const float & _arg)
-  {
-    this->ddq = _arg;
-    return *this;
-  }
-  Type & set__tau_est(
-    const float & _arg)
-  {
-    this->tau_est = _arg;
-    return *this;
-  }
-  Type & set__q_raw(
-    const float & _arg)
-  {
-    this->q_raw = _arg;
-    return *this;
-  }
-  Type & set__dq_raw(
-    const float & _arg)
-  {
-    this->dq_raw = _arg;
-    return *this;
-  }
-  Type & set__ddq_raw(
-    const float & _arg)
-  {
-    this->ddq_raw = _arg;
-    return *this;
-  }
-  Type & set__temperature(
-    const int8_t & _arg)
-  {
-    this->temperature = _arg;
-    return *this;
-  }
-  Type & set__lost(
-    const uint32_t & _arg)
-  {
-    this->lost = _arg;
-    return *this;
-  }
-  Type & set__reserve(
-    const std::array<uint32_t, 2> & _arg)
-  {
-    this->reserve = _arg;
-    return *this;
-  }
-
-  // constant declarations
-
-  // pointer types
-  using RawPtr =
-    unitree_go::msg::MotorState_<ContainerAllocator> *;
-  using ConstRawPtr =
-    const unitree_go::msg::MotorState_<ContainerAllocator> *;
-  using SharedPtr =
-    std::shared_ptr<unitree_go::msg::MotorState_<ContainerAllocator>>;
-  using ConstSharedPtr =
-    std::shared_ptr<unitree_go::msg::MotorState_<ContainerAllocator> const>;
-
-  template<typename Deleter = std::default_delete<
-      unitree_go::msg::MotorState_<ContainerAllocator>>>
-  using UniquePtrWithDeleter =
-    std::unique_ptr<unitree_go::msg::MotorState_<ContainerAllocator>, Deleter>;
-
-  using UniquePtr = UniquePtrWithDeleter<>;
-
-  template<typename Deleter = std::default_delete<
-      unitree_go::msg::MotorState_<ContainerAllocator>>>
-  using ConstUniquePtrWithDeleter =
-    std::unique_ptr<unitree_go::msg::MotorState_<ContainerAllocator> const, Deleter>;
-  using ConstUniquePtr = ConstUniquePtrWithDeleter<>;
-
-  using WeakPtr =
-    std::weak_ptr<unitree_go::msg::MotorState_<ContainerAllocator>>;
-  using ConstWeakPtr =
-    std::weak_ptr<unitree_go::msg::MotorState_<ContainerAllocator> const>;
-
-  // pointer types similar to ROS 1, use SharedPtr / ConstSharedPtr instead
-  // NOTE: Can't use 'using' here because GNU C++ can't parse attributes properly
-  typedef DEPRECATED__unitree_go__msg__MotorState
-    std::shared_ptr<unitree_go::msg::MotorState_<ContainerAllocator>>
-    Ptr;
-  typedef DEPRECATED__unitree_go__msg__MotorState
-    std::shared_ptr<unitree_go::msg::MotorState_<ContainerAllocator> const>
-    ConstPtr;
-
-  // comparison operators
-  bool operator==(const MotorState_ & other) const
-  {
-    if (this->mode != other.mode) {
-      return false;
-    }
-    if (this->q != other.q) {
-      return false;
-    }
-    if (this->dq != other.dq) {
-      return false;
-    }
-    if (this->ddq != other.ddq) {
-      return false;
-    }
-    if (this->tau_est != other.tau_est) {
-      return false;
-    }
-    if (this->q_raw != other.q_raw) {
-      return false;
-    }
-    if (this->dq_raw != other.dq_raw) {
-      return false;
-    }
-    if (this->ddq_raw != other.ddq_raw) {
-      return false;
-    }
-    if (this->temperature != other.temperature) {
-      return false;
-    }
-    if (this->lost != other.lost) {
-      return false;
-    }
-    if (this->reserve != other.reserve) {
-      return false;
-    }
-    return true;
-  }
-  bool operator!=(const MotorState_ & other) const
-  {
-    return !this->operator==(other);
-  }
-};  // struct MotorState_
-
-// alias to use template instance with default allocator
-using MotorState =
-  unitree_go::msg::MotorState_<std::allocator<void>>;
-
-// constant definitions
-
-}  // namespace msg
-
-}  // namespace unitree_go
-
-#endif  // UNITREE_GO__MSG__DETAIL__MOTOR_STATE__STRUCT_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_state__traits.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_state__traits.hpp
deleted file mode 100644
index b928e75..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_state__traits.hpp
+++ /dev/null
@@ -1,42 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__traits.hpp.em
-// with input from unitree_go:msg/MotorState.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__MOTOR_STATE__TRAITS_HPP_
-#define UNITREE_GO__MSG__DETAIL__MOTOR_STATE__TRAITS_HPP_
-
-#include "unitree_go/msg/detail/motor_state__struct.hpp"
-#include <rosidl_runtime_cpp/traits.hpp>
-#include <stdint.h>
-#include <type_traits>
-
-namespace rosidl_generator_traits
-{
-
-template<>
-inline const char * data_type<unitree_go::msg::MotorState>()
-{
-  return "unitree_go::msg::MotorState";
-}
-
-template<>
-inline const char * name<unitree_go::msg::MotorState>()
-{
-  return "unitree_go/msg/MotorState";
-}
-
-template<>
-struct has_fixed_size<unitree_go::msg::MotorState>
-  : std::integral_constant<bool, true> {};
-
-template<>
-struct has_bounded_size<unitree_go::msg::MotorState>
-  : std::integral_constant<bool, true> {};
-
-template<>
-struct is_message<unitree_go::msg::MotorState>
-  : std::true_type {};
-
-}  // namespace rosidl_generator_traits
-
-#endif  // UNITREE_GO__MSG__DETAIL__MOTOR_STATE__TRAITS_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_state__type_support.c b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_state__type_support.c
deleted file mode 100644
index 7ea060c..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_state__type_support.c
+++ /dev/null
@@ -1,231 +0,0 @@
-// generated from rosidl_typesupport_introspection_c/resource/idl__type_support.c.em
-// with input from unitree_go:msg/MotorState.idl
-// generated code does not contain a copyright notice
-
-#include <stddef.h>
-#include "unitree_go/msg/detail/motor_state__rosidl_typesupport_introspection_c.h"
-#include "unitree_go/msg/rosidl_typesupport_introspection_c__visibility_control.h"
-#include "rosidl_typesupport_introspection_c/field_types.h"
-#include "rosidl_typesupport_introspection_c/identifier.h"
-#include "rosidl_typesupport_introspection_c/message_introspection.h"
-#include "unitree_go/msg/detail/motor_state__functions.h"
-#include "unitree_go/msg/detail/motor_state__struct.h"
-
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-void MotorState__rosidl_typesupport_introspection_c__MotorState_init_function(
-  void * message_memory, enum rosidl_runtime_c__message_initialization _init)
-{
-  // TODO(karsten1987): initializers are not yet implemented for typesupport c
-  // see https://github.com/ros2/ros2/issues/397
-  (void) _init;
-  unitree_go__msg__MotorState__init(message_memory);
-}
-
-void MotorState__rosidl_typesupport_introspection_c__MotorState_fini_function(void * message_memory)
-{
-  unitree_go__msg__MotorState__fini(message_memory);
-}
-
-static rosidl_typesupport_introspection_c__MessageMember MotorState__rosidl_typesupport_introspection_c__MotorState_message_member_array[11] = {
-  {
-    "mode",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_UINT8,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__MotorState, mode),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "q",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__MotorState, q),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "dq",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__MotorState, dq),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "ddq",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__MotorState, ddq),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "tau_est",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__MotorState, tau_est),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "q_raw",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__MotorState, q_raw),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "dq_raw",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__MotorState, dq_raw),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "ddq_raw",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__MotorState, ddq_raw),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "temperature",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_INT8,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__MotorState, temperature),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "lost",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_UINT32,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__MotorState, lost),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "reserve",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_UINT32,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    true,  // is array
-    2,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__MotorState, reserve),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  }
-};
-
-static const rosidl_typesupport_introspection_c__MessageMembers MotorState__rosidl_typesupport_introspection_c__MotorState_message_members = {
-  "unitree_go__msg",  // message namespace
-  "MotorState",  // message name
-  11,  // number of fields
-  sizeof(unitree_go__msg__MotorState),
-  MotorState__rosidl_typesupport_introspection_c__MotorState_message_member_array,  // message members
-  MotorState__rosidl_typesupport_introspection_c__MotorState_init_function,  // function to initialize message memory (memory has to be allocated)
-  MotorState__rosidl_typesupport_introspection_c__MotorState_fini_function  // function to terminate message instance (will not free memory)
-};
-
-// this is not const since it must be initialized on first access
-// since C does not allow non-integral compile-time constants
-static rosidl_message_type_support_t MotorState__rosidl_typesupport_introspection_c__MotorState_message_type_support_handle = {
-  0,
-  &MotorState__rosidl_typesupport_introspection_c__MotorState_message_members,
-  get_message_typesupport_handle_function,
-};
-
-ROSIDL_TYPESUPPORT_INTROSPECTION_C_EXPORT_unitree_go
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, unitree_go, msg, MotorState)() {
-  if (!MotorState__rosidl_typesupport_introspection_c__MotorState_message_type_support_handle.typesupport_identifier) {
-    MotorState__rosidl_typesupport_introspection_c__MotorState_message_type_support_handle.typesupport_identifier =
-      rosidl_typesupport_introspection_c__identifier;
-  }
-  return &MotorState__rosidl_typesupport_introspection_c__MotorState_message_type_support_handle;
-}
-#ifdef __cplusplus
-}
-#endif
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_state__type_support.cpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_state__type_support.cpp
deleted file mode 100644
index 2f9d84c..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_state__type_support.cpp
+++ /dev/null
@@ -1,277 +0,0 @@
-// generated from rosidl_typesupport_introspection_cpp/resource/idl__type_support.cpp.em
-// with input from unitree_go:msg/MotorState.idl
-// generated code does not contain a copyright notice
-
-#include "array"
-#include "cstddef"
-#include "string"
-#include "vector"
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_cpp/message_type_support.hpp"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_go/msg/detail/motor_state__struct.hpp"
-#include "rosidl_typesupport_introspection_cpp/field_types.hpp"
-#include "rosidl_typesupport_introspection_cpp/identifier.hpp"
-#include "rosidl_typesupport_introspection_cpp/message_introspection.hpp"
-#include "rosidl_typesupport_introspection_cpp/message_type_support_decl.hpp"
-#include "rosidl_typesupport_introspection_cpp/visibility_control.h"
-
-namespace unitree_go
-{
-
-namespace msg
-{
-
-namespace rosidl_typesupport_introspection_cpp
-{
-
-void MotorState_init_function(
-  void * message_memory, rosidl_runtime_cpp::MessageInitialization _init)
-{
-  new (message_memory) unitree_go::msg::MotorState(_init);
-}
-
-void MotorState_fini_function(void * message_memory)
-{
-  auto typed_message = static_cast<unitree_go::msg::MotorState *>(message_memory);
-  typed_message->~MotorState();
-}
-
-size_t size_function__MotorState__reserve(const void * untyped_member)
-{
-  (void)untyped_member;
-  return 2;
-}
-
-const void * get_const_function__MotorState__reserve(const void * untyped_member, size_t index)
-{
-  const auto & member =
-    *reinterpret_cast<const std::array<uint32_t, 2> *>(untyped_member);
-  return &member[index];
-}
-
-void * get_function__MotorState__reserve(void * untyped_member, size_t index)
-{
-  auto & member =
-    *reinterpret_cast<std::array<uint32_t, 2> *>(untyped_member);
-  return &member[index];
-}
-
-static const ::rosidl_typesupport_introspection_cpp::MessageMember MotorState_message_member_array[11] = {
-  {
-    "mode",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT8,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::MotorState, mode),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "q",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::MotorState, q),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "dq",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::MotorState, dq),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "ddq",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::MotorState, ddq),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "tau_est",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::MotorState, tau_est),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "q_raw",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::MotorState, q_raw),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "dq_raw",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::MotorState, dq_raw),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "ddq_raw",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::MotorState, ddq_raw),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "temperature",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_INT8,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::MotorState, temperature),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "lost",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT32,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::MotorState, lost),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "reserve",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT32,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    true,  // is array
-    2,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::MotorState, reserve),  // bytes offset in struct
-    nullptr,  // default value
-    size_function__MotorState__reserve,  // size() function pointer
-    get_const_function__MotorState__reserve,  // get_const(index) function pointer
-    get_function__MotorState__reserve,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  }
-};
-
-static const ::rosidl_typesupport_introspection_cpp::MessageMembers MotorState_message_members = {
-  "unitree_go::msg",  // message namespace
-  "MotorState",  // message name
-  11,  // number of fields
-  sizeof(unitree_go::msg::MotorState),
-  MotorState_message_member_array,  // message members
-  MotorState_init_function,  // function to initialize message memory (memory has to be allocated)
-  MotorState_fini_function  // function to terminate message instance (will not free memory)
-};
-
-static const rosidl_message_type_support_t MotorState_message_type_support_handle = {
-  ::rosidl_typesupport_introspection_cpp::typesupport_identifier,
-  &MotorState_message_members,
-  get_message_typesupport_handle_function,
-};
-
-}  // namespace rosidl_typesupport_introspection_cpp
-
-}  // namespace msg
-
-}  // namespace unitree_go
-
-
-namespace rosidl_typesupport_introspection_cpp
-{
-
-template<>
-ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
-const rosidl_message_type_support_t *
-get_message_type_support_handle<unitree_go::msg::MotorState>()
-{
-  return &::unitree_go::msg::rosidl_typesupport_introspection_cpp::MotorState_message_type_support_handle;
-}
-
-}  // namespace rosidl_typesupport_introspection_cpp
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_cpp, unitree_go, msg, MotorState)() {
-  return &::unitree_go::msg::rosidl_typesupport_introspection_cpp::MotorState_message_type_support_handle;
-}
-
-#ifdef __cplusplus
-}
-#endif
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_state__type_support.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_state__type_support.h
deleted file mode 100644
index 656c602..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_state__type_support.h
+++ /dev/null
@@ -1,33 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__type_support.h.em
-// with input from unitree_go:msg/MotorState.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__MOTOR_STATE__TYPE_SUPPORT_H_
-#define UNITREE_GO__MSG__DETAIL__MOTOR_STATE__TYPE_SUPPORT_H_
-
-#include "rosidl_typesupport_interface/macros.h"
-
-#include "unitree_go/msg/rosidl_generator_c__visibility_control.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-
-// Forward declare the get type support functions for this type.
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
-  rosidl_typesupport_c,
-  unitree_go,
-  msg,
-  MotorState
-)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__MOTOR_STATE__TYPE_SUPPORT_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_state__type_support.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_state__type_support.hpp
deleted file mode 100644
index c551d2d..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_state__type_support.hpp
+++ /dev/null
@@ -1,31 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__type_support.hpp.em
-// with input from unitree_go:msg/MotorState.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__MOTOR_STATE__TYPE_SUPPORT_HPP_
-#define UNITREE_GO__MSG__DETAIL__MOTOR_STATE__TYPE_SUPPORT_HPP_
-
-#include "rosidl_typesupport_interface/macros.h"
-
-#include "unitree_go/msg/rosidl_generator_cpp__visibility_control.hpp"
-
-#include "rosidl_typesupport_cpp/message_type_support.hpp"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-// Forward declare the get type support functions for this type.
-ROSIDL_GENERATOR_CPP_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
-  rosidl_typesupport_cpp,
-  unitree_go,
-  msg,
-  MotorState
-)();
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__MOTOR_STATE__TYPE_SUPPORT_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/path_point__builder.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/path_point__builder.hpp
deleted file mode 100644
index 480e4f7..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/path_point__builder.hpp
+++ /dev/null
@@ -1,151 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__builder.hpp.em
-// with input from unitree_go:msg/PathPoint.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__PATH_POINT__BUILDER_HPP_
-#define UNITREE_GO__MSG__DETAIL__PATH_POINT__BUILDER_HPP_
-
-#include "unitree_go/msg/detail/path_point__struct.hpp"
-#include <rosidl_runtime_cpp/message_initialization.hpp>
-#include <algorithm>
-#include <utility>
-
-
-namespace unitree_go
-{
-
-namespace msg
-{
-
-namespace builder
-{
-
-class Init_PathPoint_vyaw
-{
-public:
-  explicit Init_PathPoint_vyaw(::unitree_go::msg::PathPoint & msg)
-  : msg_(msg)
-  {}
-  ::unitree_go::msg::PathPoint vyaw(::unitree_go::msg::PathPoint::_vyaw_type arg)
-  {
-    msg_.vyaw = std::move(arg);
-    return std::move(msg_);
-  }
-
-private:
-  ::unitree_go::msg::PathPoint msg_;
-};
-
-class Init_PathPoint_vy
-{
-public:
-  explicit Init_PathPoint_vy(::unitree_go::msg::PathPoint & msg)
-  : msg_(msg)
-  {}
-  Init_PathPoint_vyaw vy(::unitree_go::msg::PathPoint::_vy_type arg)
-  {
-    msg_.vy = std::move(arg);
-    return Init_PathPoint_vyaw(msg_);
-  }
-
-private:
-  ::unitree_go::msg::PathPoint msg_;
-};
-
-class Init_PathPoint_vx
-{
-public:
-  explicit Init_PathPoint_vx(::unitree_go::msg::PathPoint & msg)
-  : msg_(msg)
-  {}
-  Init_PathPoint_vy vx(::unitree_go::msg::PathPoint::_vx_type arg)
-  {
-    msg_.vx = std::move(arg);
-    return Init_PathPoint_vy(msg_);
-  }
-
-private:
-  ::unitree_go::msg::PathPoint msg_;
-};
-
-class Init_PathPoint_yaw
-{
-public:
-  explicit Init_PathPoint_yaw(::unitree_go::msg::PathPoint & msg)
-  : msg_(msg)
-  {}
-  Init_PathPoint_vx yaw(::unitree_go::msg::PathPoint::_yaw_type arg)
-  {
-    msg_.yaw = std::move(arg);
-    return Init_PathPoint_vx(msg_);
-  }
-
-private:
-  ::unitree_go::msg::PathPoint msg_;
-};
-
-class Init_PathPoint_y
-{
-public:
-  explicit Init_PathPoint_y(::unitree_go::msg::PathPoint & msg)
-  : msg_(msg)
-  {}
-  Init_PathPoint_yaw y(::unitree_go::msg::PathPoint::_y_type arg)
-  {
-    msg_.y = std::move(arg);
-    return Init_PathPoint_yaw(msg_);
-  }
-
-private:
-  ::unitree_go::msg::PathPoint msg_;
-};
-
-class Init_PathPoint_x
-{
-public:
-  explicit Init_PathPoint_x(::unitree_go::msg::PathPoint & msg)
-  : msg_(msg)
-  {}
-  Init_PathPoint_y x(::unitree_go::msg::PathPoint::_x_type arg)
-  {
-    msg_.x = std::move(arg);
-    return Init_PathPoint_y(msg_);
-  }
-
-private:
-  ::unitree_go::msg::PathPoint msg_;
-};
-
-class Init_PathPoint_t_from_start
-{
-public:
-  Init_PathPoint_t_from_start()
-  : msg_(::rosidl_runtime_cpp::MessageInitialization::SKIP)
-  {}
-  Init_PathPoint_x t_from_start(::unitree_go::msg::PathPoint::_t_from_start_type arg)
-  {
-    msg_.t_from_start = std::move(arg);
-    return Init_PathPoint_x(msg_);
-  }
-
-private:
-  ::unitree_go::msg::PathPoint msg_;
-};
-
-}  // namespace builder
-
-}  // namespace msg
-
-template<typename MessageType>
-auto build();
-
-template<>
-inline
-auto build<::unitree_go::msg::PathPoint>()
-{
-  return unitree_go::msg::builder::Init_PathPoint_t_from_start();
-}
-
-}  // namespace unitree_go
-
-#endif  // UNITREE_GO__MSG__DETAIL__PATH_POINT__BUILDER_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/path_point__functions.c b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/path_point__functions.c
deleted file mode 100644
index ee9e885..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/path_point__functions.c
+++ /dev/null
@@ -1,279 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__functions.c.em
-// with input from unitree_go:msg/PathPoint.idl
-// generated code does not contain a copyright notice
-#include "unitree_go/msg/detail/path_point__functions.h"
-
-#include <assert.h>
-#include <stdbool.h>
-#include <stdlib.h>
-#include <string.h>
-
-#include "rcutils/allocator.h"
-
-
-bool
-unitree_go__msg__PathPoint__init(unitree_go__msg__PathPoint * msg)
-{
-  if (!msg) {
-    return false;
-  }
-  // t_from_start
-  // x
-  // y
-  // yaw
-  // vx
-  // vy
-  // vyaw
-  return true;
-}
-
-void
-unitree_go__msg__PathPoint__fini(unitree_go__msg__PathPoint * msg)
-{
-  if (!msg) {
-    return;
-  }
-  // t_from_start
-  // x
-  // y
-  // yaw
-  // vx
-  // vy
-  // vyaw
-}
-
-bool
-unitree_go__msg__PathPoint__are_equal(const unitree_go__msg__PathPoint * lhs, const unitree_go__msg__PathPoint * rhs)
-{
-  if (!lhs || !rhs) {
-    return false;
-  }
-  // t_from_start
-  if (lhs->t_from_start != rhs->t_from_start) {
-    return false;
-  }
-  // x
-  if (lhs->x != rhs->x) {
-    return false;
-  }
-  // y
-  if (lhs->y != rhs->y) {
-    return false;
-  }
-  // yaw
-  if (lhs->yaw != rhs->yaw) {
-    return false;
-  }
-  // vx
-  if (lhs->vx != rhs->vx) {
-    return false;
-  }
-  // vy
-  if (lhs->vy != rhs->vy) {
-    return false;
-  }
-  // vyaw
-  if (lhs->vyaw != rhs->vyaw) {
-    return false;
-  }
-  return true;
-}
-
-bool
-unitree_go__msg__PathPoint__copy(
-  const unitree_go__msg__PathPoint * input,
-  unitree_go__msg__PathPoint * output)
-{
-  if (!input || !output) {
-    return false;
-  }
-  // t_from_start
-  output->t_from_start = input->t_from_start;
-  // x
-  output->x = input->x;
-  // y
-  output->y = input->y;
-  // yaw
-  output->yaw = input->yaw;
-  // vx
-  output->vx = input->vx;
-  // vy
-  output->vy = input->vy;
-  // vyaw
-  output->vyaw = input->vyaw;
-  return true;
-}
-
-unitree_go__msg__PathPoint *
-unitree_go__msg__PathPoint__create()
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  unitree_go__msg__PathPoint * msg = (unitree_go__msg__PathPoint *)allocator.allocate(sizeof(unitree_go__msg__PathPoint), allocator.state);
-  if (!msg) {
-    return NULL;
-  }
-  memset(msg, 0, sizeof(unitree_go__msg__PathPoint));
-  bool success = unitree_go__msg__PathPoint__init(msg);
-  if (!success) {
-    allocator.deallocate(msg, allocator.state);
-    return NULL;
-  }
-  return msg;
-}
-
-void
-unitree_go__msg__PathPoint__destroy(unitree_go__msg__PathPoint * msg)
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  if (msg) {
-    unitree_go__msg__PathPoint__fini(msg);
-  }
-  allocator.deallocate(msg, allocator.state);
-}
-
-
-bool
-unitree_go__msg__PathPoint__Sequence__init(unitree_go__msg__PathPoint__Sequence * array, size_t size)
-{
-  if (!array) {
-    return false;
-  }
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  unitree_go__msg__PathPoint * data = NULL;
-
-  if (size) {
-    data = (unitree_go__msg__PathPoint *)allocator.zero_allocate(size, sizeof(unitree_go__msg__PathPoint), allocator.state);
-    if (!data) {
-      return false;
-    }
-    // initialize all array elements
-    size_t i;
-    for (i = 0; i < size; ++i) {
-      bool success = unitree_go__msg__PathPoint__init(&data[i]);
-      if (!success) {
-        break;
-      }
-    }
-    if (i < size) {
-      // if initialization failed finalize the already initialized array elements
-      for (; i > 0; --i) {
-        unitree_go__msg__PathPoint__fini(&data[i - 1]);
-      }
-      allocator.deallocate(data, allocator.state);
-      return false;
-    }
-  }
-  array->data = data;
-  array->size = size;
-  array->capacity = size;
-  return true;
-}
-
-void
-unitree_go__msg__PathPoint__Sequence__fini(unitree_go__msg__PathPoint__Sequence * array)
-{
-  if (!array) {
-    return;
-  }
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-
-  if (array->data) {
-    // ensure that data and capacity values are consistent
-    assert(array->capacity > 0);
-    // finalize all array elements
-    for (size_t i = 0; i < array->capacity; ++i) {
-      unitree_go__msg__PathPoint__fini(&array->data[i]);
-    }
-    allocator.deallocate(array->data, allocator.state);
-    array->data = NULL;
-    array->size = 0;
-    array->capacity = 0;
-  } else {
-    // ensure that data, size, and capacity values are consistent
-    assert(0 == array->size);
-    assert(0 == array->capacity);
-  }
-}
-
-unitree_go__msg__PathPoint__Sequence *
-unitree_go__msg__PathPoint__Sequence__create(size_t size)
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  unitree_go__msg__PathPoint__Sequence * array = (unitree_go__msg__PathPoint__Sequence *)allocator.allocate(sizeof(unitree_go__msg__PathPoint__Sequence), allocator.state);
-  if (!array) {
-    return NULL;
-  }
-  bool success = unitree_go__msg__PathPoint__Sequence__init(array, size);
-  if (!success) {
-    allocator.deallocate(array, allocator.state);
-    return NULL;
-  }
-  return array;
-}
-
-void
-unitree_go__msg__PathPoint__Sequence__destroy(unitree_go__msg__PathPoint__Sequence * array)
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  if (array) {
-    unitree_go__msg__PathPoint__Sequence__fini(array);
-  }
-  allocator.deallocate(array, allocator.state);
-}
-
-bool
-unitree_go__msg__PathPoint__Sequence__are_equal(const unitree_go__msg__PathPoint__Sequence * lhs, const unitree_go__msg__PathPoint__Sequence * rhs)
-{
-  if (!lhs || !rhs) {
-    return false;
-  }
-  if (lhs->size != rhs->size) {
-    return false;
-  }
-  for (size_t i = 0; i < lhs->size; ++i) {
-    if (!unitree_go__msg__PathPoint__are_equal(&(lhs->data[i]), &(rhs->data[i]))) {
-      return false;
-    }
-  }
-  return true;
-}
-
-bool
-unitree_go__msg__PathPoint__Sequence__copy(
-  const unitree_go__msg__PathPoint__Sequence * input,
-  unitree_go__msg__PathPoint__Sequence * output)
-{
-  if (!input || !output) {
-    return false;
-  }
-  if (output->capacity < input->size) {
-    const size_t allocation_size =
-      input->size * sizeof(unitree_go__msg__PathPoint);
-    unitree_go__msg__PathPoint * data =
-      (unitree_go__msg__PathPoint *)realloc(output->data, allocation_size);
-    if (!data) {
-      return false;
-    }
-    for (size_t i = output->capacity; i < input->size; ++i) {
-      if (!unitree_go__msg__PathPoint__init(&data[i])) {
-        /* free currently allocated and return false */
-        for (; i-- > output->capacity; ) {
-          unitree_go__msg__PathPoint__fini(&data[i]);
-        }
-        free(data);
-        return false;
-      }
-    }
-    output->data = data;
-    output->capacity = input->size;
-  }
-  output->size = input->size;
-  for (size_t i = 0; i < input->size; ++i) {
-    if (!unitree_go__msg__PathPoint__copy(
-        &(input->data[i]), &(output->data[i])))
-    {
-      return false;
-    }
-  }
-  return true;
-}
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/path_point__functions.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/path_point__functions.h
deleted file mode 100644
index 679f242..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/path_point__functions.h
+++ /dev/null
@@ -1,177 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__functions.h.em
-// with input from unitree_go:msg/PathPoint.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__PATH_POINT__FUNCTIONS_H_
-#define UNITREE_GO__MSG__DETAIL__PATH_POINT__FUNCTIONS_H_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include <stdbool.h>
-#include <stdlib.h>
-
-#include "rosidl_runtime_c/visibility_control.h"
-#include "unitree_go/msg/rosidl_generator_c__visibility_control.h"
-
-#include "unitree_go/msg/detail/path_point__struct.h"
-
-/// Initialize msg/PathPoint message.
-/**
- * If the init function is called twice for the same message without
- * calling fini inbetween previously allocated memory will be leaked.
- * \param[in,out] msg The previously allocated message pointer.
- * Fields without a default value will not be initialized by this function.
- * You might want to call memset(msg, 0, sizeof(
- * unitree_go__msg__PathPoint
- * )) before or use
- * unitree_go__msg__PathPoint__create()
- * to allocate and initialize the message.
- * \return true if initialization was successful, otherwise false
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__PathPoint__init(unitree_go__msg__PathPoint * msg);
-
-/// Finalize msg/PathPoint message.
-/**
- * \param[in,out] msg The allocated message pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-void
-unitree_go__msg__PathPoint__fini(unitree_go__msg__PathPoint * msg);
-
-/// Create msg/PathPoint message.
-/**
- * It allocates the memory for the message, sets the memory to zero, and
- * calls
- * unitree_go__msg__PathPoint__init().
- * \return The pointer to the initialized message if successful,
- * otherwise NULL
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-unitree_go__msg__PathPoint *
-unitree_go__msg__PathPoint__create();
-
-/// Destroy msg/PathPoint message.
-/**
- * It calls
- * unitree_go__msg__PathPoint__fini()
- * and frees the memory of the message.
- * \param[in,out] msg The allocated message pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-void
-unitree_go__msg__PathPoint__destroy(unitree_go__msg__PathPoint * msg);
-
-/// Check for msg/PathPoint message equality.
-/**
- * \param[in] lhs The message on the left hand size of the equality operator.
- * \param[in] rhs The message on the right hand size of the equality operator.
- * \return true if messages are equal, otherwise false.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__PathPoint__are_equal(const unitree_go__msg__PathPoint * lhs, const unitree_go__msg__PathPoint * rhs);
-
-/// Copy a msg/PathPoint message.
-/**
- * This functions performs a deep copy, as opposed to the shallow copy that
- * plain assignment yields.
- *
- * \param[in] input The source message pointer.
- * \param[out] output The target message pointer, which must
- *   have been initialized before calling this function.
- * \return true if successful, or false if either pointer is null
- *   or memory allocation fails.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__PathPoint__copy(
-  const unitree_go__msg__PathPoint * input,
-  unitree_go__msg__PathPoint * output);
-
-/// Initialize array of msg/PathPoint messages.
-/**
- * It allocates the memory for the number of elements and calls
- * unitree_go__msg__PathPoint__init()
- * for each element of the array.
- * \param[in,out] array The allocated array pointer.
- * \param[in] size The size / capacity of the array.
- * \return true if initialization was successful, otherwise false
- * If the array pointer is valid and the size is zero it is guaranteed
- # to return true.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__PathPoint__Sequence__init(unitree_go__msg__PathPoint__Sequence * array, size_t size);
-
-/// Finalize array of msg/PathPoint messages.
-/**
- * It calls
- * unitree_go__msg__PathPoint__fini()
- * for each element of the array and frees the memory for the number of
- * elements.
- * \param[in,out] array The initialized array pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-void
-unitree_go__msg__PathPoint__Sequence__fini(unitree_go__msg__PathPoint__Sequence * array);
-
-/// Create array of msg/PathPoint messages.
-/**
- * It allocates the memory for the array and calls
- * unitree_go__msg__PathPoint__Sequence__init().
- * \param[in] size The size / capacity of the array.
- * \return The pointer to the initialized array if successful, otherwise NULL
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-unitree_go__msg__PathPoint__Sequence *
-unitree_go__msg__PathPoint__Sequence__create(size_t size);
-
-/// Destroy array of msg/PathPoint messages.
-/**
- * It calls
- * unitree_go__msg__PathPoint__Sequence__fini()
- * on the array,
- * and frees the memory of the array.
- * \param[in,out] array The initialized array pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-void
-unitree_go__msg__PathPoint__Sequence__destroy(unitree_go__msg__PathPoint__Sequence * array);
-
-/// Check for msg/PathPoint message array equality.
-/**
- * \param[in] lhs The message array on the left hand size of the equality operator.
- * \param[in] rhs The message array on the right hand size of the equality operator.
- * \return true if message arrays are equal in size and content, otherwise false.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__PathPoint__Sequence__are_equal(const unitree_go__msg__PathPoint__Sequence * lhs, const unitree_go__msg__PathPoint__Sequence * rhs);
-
-/// Copy an array of msg/PathPoint messages.
-/**
- * This functions performs a deep copy, as opposed to the shallow copy that
- * plain assignment yields.
- *
- * \param[in] input The source array pointer.
- * \param[out] output The target array pointer, which must
- *   have been initialized before calling this function.
- * \return true if successful, or false if either pointer
- *   is null or memory allocation fails.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__PathPoint__Sequence__copy(
-  const unitree_go__msg__PathPoint__Sequence * input,
-  unitree_go__msg__PathPoint__Sequence * output);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__PATH_POINT__FUNCTIONS_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/path_point__rosidl_typesupport_fastrtps_c.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/path_point__rosidl_typesupport_fastrtps_c.h
deleted file mode 100644
index f1ee400..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/path_point__rosidl_typesupport_fastrtps_c.h
+++ /dev/null
@@ -1,36 +0,0 @@
-// generated from rosidl_typesupport_fastrtps_c/resource/idl__rosidl_typesupport_fastrtps_c.h.em
-// with input from unitree_go:msg/PathPoint.idl
-// generated code does not contain a copyright notice
-#ifndef UNITREE_GO__MSG__DETAIL__PATH_POINT__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_
-#define UNITREE_GO__MSG__DETAIL__PATH_POINT__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_
-
-
-#include <stddef.h>
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_go/msg/rosidl_typesupport_fastrtps_c__visibility_control.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_go
-size_t get_serialized_size_unitree_go__msg__PathPoint(
-  const void * untyped_ros_message,
-  size_t current_alignment);
-
-ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_go
-size_t max_serialized_size_unitree_go__msg__PathPoint(
-  bool & full_bounded,
-  size_t current_alignment);
-
-ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_fastrtps_c, unitree_go, msg, PathPoint)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__PATH_POINT__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/path_point__rosidl_typesupport_fastrtps_cpp.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/path_point__rosidl_typesupport_fastrtps_cpp.hpp
deleted file mode 100644
index 2218e77..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/path_point__rosidl_typesupport_fastrtps_cpp.hpp
+++ /dev/null
@@ -1,79 +0,0 @@
-// generated from rosidl_typesupport_fastrtps_cpp/resource/idl__rosidl_typesupport_fastrtps_cpp.hpp.em
-// with input from unitree_go:msg/PathPoint.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__PATH_POINT__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_
-#define UNITREE_GO__MSG__DETAIL__PATH_POINT__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_go/msg/rosidl_typesupport_fastrtps_cpp__visibility_control.h"
-#include "unitree_go/msg/detail/path_point__struct.hpp"
-
-#ifndef _WIN32
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wunused-parameter"
-# ifdef __clang__
-#  pragma clang diagnostic ignored "-Wdeprecated-register"
-#  pragma clang diagnostic ignored "-Wreturn-type-c-linkage"
-# endif
-#endif
-#ifndef _WIN32
-# pragma GCC diagnostic pop
-#endif
-
-#include "fastcdr/Cdr.h"
-
-namespace unitree_go
-{
-
-namespace msg
-{
-
-namespace typesupport_fastrtps_cpp
-{
-
-bool
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-cdr_serialize(
-  const unitree_go::msg::PathPoint & ros_message,
-  eprosima::fastcdr::Cdr & cdr);
-
-bool
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-cdr_deserialize(
-  eprosima::fastcdr::Cdr & cdr,
-  unitree_go::msg::PathPoint & ros_message);
-
-size_t
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-get_serialized_size(
-  const unitree_go::msg::PathPoint & ros_message,
-  size_t current_alignment);
-
-size_t
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-max_serialized_size_PathPoint(
-  bool & full_bounded,
-  size_t current_alignment);
-
-}  // namespace typesupport_fastrtps_cpp
-
-}  // namespace msg
-
-}  // namespace unitree_go
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_fastrtps_cpp, unitree_go, msg, PathPoint)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__PATH_POINT__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/path_point__rosidl_typesupport_introspection_c.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/path_point__rosidl_typesupport_introspection_c.h
deleted file mode 100644
index a3d256b..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/path_point__rosidl_typesupport_introspection_c.h
+++ /dev/null
@@ -1,26 +0,0 @@
-// generated from rosidl_typesupport_introspection_c/resource/idl__rosidl_typesupport_introspection_c.h.em
-// with input from unitree_go:msg/PathPoint.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__PATH_POINT__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
-#define UNITREE_GO__MSG__DETAIL__PATH_POINT__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_go/msg/rosidl_typesupport_introspection_c__visibility_control.h"
-
-ROSIDL_TYPESUPPORT_INTROSPECTION_C_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, unitree_go, msg, PathPoint)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__PATH_POINT__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/path_point__rosidl_typesupport_introspection_cpp.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/path_point__rosidl_typesupport_introspection_cpp.hpp
deleted file mode 100644
index 26eaf44..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/path_point__rosidl_typesupport_introspection_cpp.hpp
+++ /dev/null
@@ -1,27 +0,0 @@
-// generated from rosidl_typesupport_introspection_cpp/resource/idl__rosidl_typesupport_introspection_cpp.h.em
-// with input from unitree_go:msg/PathPoint.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__PATH_POINT__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_
-#define UNITREE_GO__MSG__DETAIL__PATH_POINT__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_
-
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "rosidl_typesupport_introspection_cpp/visibility_control.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-// TODO(dirk-thomas) these visibility macros should be message package specific
-ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
-const rosidl_message_type_support_t *
-  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_cpp, unitree_go, msg, PathPoint)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__PATH_POINT__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/path_point__struct.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/path_point__struct.h
deleted file mode 100644
index 10d75fe..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/path_point__struct.h
+++ /dev/null
@@ -1,46 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__struct.h.em
-// with input from unitree_go:msg/PathPoint.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__PATH_POINT__STRUCT_H_
-#define UNITREE_GO__MSG__DETAIL__PATH_POINT__STRUCT_H_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include <stdbool.h>
-#include <stddef.h>
-#include <stdint.h>
-
-
-// Constants defined in the message
-
-// Struct defined in msg/PathPoint in the package unitree_go.
-typedef struct unitree_go__msg__PathPoint
-{
-  float t_from_start;
-  float x;
-  float y;
-  float yaw;
-  float vx;
-  float vy;
-  float vyaw;
-} unitree_go__msg__PathPoint;
-
-// Struct for a sequence of unitree_go__msg__PathPoint.
-typedef struct unitree_go__msg__PathPoint__Sequence
-{
-  unitree_go__msg__PathPoint * data;
-  /// The number of valid items in data
-  size_t size;
-  /// The number of allocated items in data
-  size_t capacity;
-} unitree_go__msg__PathPoint__Sequence;
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__PATH_POINT__STRUCT_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/path_point__struct.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/path_point__struct.hpp
deleted file mode 100644
index 81630fb..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/path_point__struct.hpp
+++ /dev/null
@@ -1,214 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__struct.hpp.em
-// with input from unitree_go:msg/PathPoint.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__PATH_POINT__STRUCT_HPP_
-#define UNITREE_GO__MSG__DETAIL__PATH_POINT__STRUCT_HPP_
-
-#include <rosidl_runtime_cpp/bounded_vector.hpp>
-#include <rosidl_runtime_cpp/message_initialization.hpp>
-#include <algorithm>
-#include <array>
-#include <memory>
-#include <string>
-#include <vector>
-
-
-#ifndef _WIN32
-# define DEPRECATED__unitree_go__msg__PathPoint __attribute__((deprecated))
-#else
-# define DEPRECATED__unitree_go__msg__PathPoint __declspec(deprecated)
-#endif
-
-namespace unitree_go
-{
-
-namespace msg
-{
-
-// message struct
-template<class ContainerAllocator>
-struct PathPoint_
-{
-  using Type = PathPoint_<ContainerAllocator>;
-
-  explicit PathPoint_(rosidl_runtime_cpp::MessageInitialization _init = rosidl_runtime_cpp::MessageInitialization::ALL)
-  {
-    if (rosidl_runtime_cpp::MessageInitialization::ALL == _init ||
-      rosidl_runtime_cpp::MessageInitialization::ZERO == _init)
-    {
-      this->t_from_start = 0.0f;
-      this->x = 0.0f;
-      this->y = 0.0f;
-      this->yaw = 0.0f;
-      this->vx = 0.0f;
-      this->vy = 0.0f;
-      this->vyaw = 0.0f;
-    }
-  }
-
-  explicit PathPoint_(const ContainerAllocator & _alloc, rosidl_runtime_cpp::MessageInitialization _init = rosidl_runtime_cpp::MessageInitialization::ALL)
-  {
-    (void)_alloc;
-    if (rosidl_runtime_cpp::MessageInitialization::ALL == _init ||
-      rosidl_runtime_cpp::MessageInitialization::ZERO == _init)
-    {
-      this->t_from_start = 0.0f;
-      this->x = 0.0f;
-      this->y = 0.0f;
-      this->yaw = 0.0f;
-      this->vx = 0.0f;
-      this->vy = 0.0f;
-      this->vyaw = 0.0f;
-    }
-  }
-
-  // field types and members
-  using _t_from_start_type =
-    float;
-  _t_from_start_type t_from_start;
-  using _x_type =
-    float;
-  _x_type x;
-  using _y_type =
-    float;
-  _y_type y;
-  using _yaw_type =
-    float;
-  _yaw_type yaw;
-  using _vx_type =
-    float;
-  _vx_type vx;
-  using _vy_type =
-    float;
-  _vy_type vy;
-  using _vyaw_type =
-    float;
-  _vyaw_type vyaw;
-
-  // setters for named parameter idiom
-  Type & set__t_from_start(
-    const float & _arg)
-  {
-    this->t_from_start = _arg;
-    return *this;
-  }
-  Type & set__x(
-    const float & _arg)
-  {
-    this->x = _arg;
-    return *this;
-  }
-  Type & set__y(
-    const float & _arg)
-  {
-    this->y = _arg;
-    return *this;
-  }
-  Type & set__yaw(
-    const float & _arg)
-  {
-    this->yaw = _arg;
-    return *this;
-  }
-  Type & set__vx(
-    const float & _arg)
-  {
-    this->vx = _arg;
-    return *this;
-  }
-  Type & set__vy(
-    const float & _arg)
-  {
-    this->vy = _arg;
-    return *this;
-  }
-  Type & set__vyaw(
-    const float & _arg)
-  {
-    this->vyaw = _arg;
-    return *this;
-  }
-
-  // constant declarations
-
-  // pointer types
-  using RawPtr =
-    unitree_go::msg::PathPoint_<ContainerAllocator> *;
-  using ConstRawPtr =
-    const unitree_go::msg::PathPoint_<ContainerAllocator> *;
-  using SharedPtr =
-    std::shared_ptr<unitree_go::msg::PathPoint_<ContainerAllocator>>;
-  using ConstSharedPtr =
-    std::shared_ptr<unitree_go::msg::PathPoint_<ContainerAllocator> const>;
-
-  template<typename Deleter = std::default_delete<
-      unitree_go::msg::PathPoint_<ContainerAllocator>>>
-  using UniquePtrWithDeleter =
-    std::unique_ptr<unitree_go::msg::PathPoint_<ContainerAllocator>, Deleter>;
-
-  using UniquePtr = UniquePtrWithDeleter<>;
-
-  template<typename Deleter = std::default_delete<
-      unitree_go::msg::PathPoint_<ContainerAllocator>>>
-  using ConstUniquePtrWithDeleter =
-    std::unique_ptr<unitree_go::msg::PathPoint_<ContainerAllocator> const, Deleter>;
-  using ConstUniquePtr = ConstUniquePtrWithDeleter<>;
-
-  using WeakPtr =
-    std::weak_ptr<unitree_go::msg::PathPoint_<ContainerAllocator>>;
-  using ConstWeakPtr =
-    std::weak_ptr<unitree_go::msg::PathPoint_<ContainerAllocator> const>;
-
-  // pointer types similar to ROS 1, use SharedPtr / ConstSharedPtr instead
-  // NOTE: Can't use 'using' here because GNU C++ can't parse attributes properly
-  typedef DEPRECATED__unitree_go__msg__PathPoint
-    std::shared_ptr<unitree_go::msg::PathPoint_<ContainerAllocator>>
-    Ptr;
-  typedef DEPRECATED__unitree_go__msg__PathPoint
-    std::shared_ptr<unitree_go::msg::PathPoint_<ContainerAllocator> const>
-    ConstPtr;
-
-  // comparison operators
-  bool operator==(const PathPoint_ & other) const
-  {
-    if (this->t_from_start != other.t_from_start) {
-      return false;
-    }
-    if (this->x != other.x) {
-      return false;
-    }
-    if (this->y != other.y) {
-      return false;
-    }
-    if (this->yaw != other.yaw) {
-      return false;
-    }
-    if (this->vx != other.vx) {
-      return false;
-    }
-    if (this->vy != other.vy) {
-      return false;
-    }
-    if (this->vyaw != other.vyaw) {
-      return false;
-    }
-    return true;
-  }
-  bool operator!=(const PathPoint_ & other) const
-  {
-    return !this->operator==(other);
-  }
-};  // struct PathPoint_
-
-// alias to use template instance with default allocator
-using PathPoint =
-  unitree_go::msg::PathPoint_<std::allocator<void>>;
-
-// constant definitions
-
-}  // namespace msg
-
-}  // namespace unitree_go
-
-#endif  // UNITREE_GO__MSG__DETAIL__PATH_POINT__STRUCT_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/path_point__traits.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/path_point__traits.hpp
deleted file mode 100644
index ed48ad0..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/path_point__traits.hpp
+++ /dev/null
@@ -1,42 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__traits.hpp.em
-// with input from unitree_go:msg/PathPoint.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__PATH_POINT__TRAITS_HPP_
-#define UNITREE_GO__MSG__DETAIL__PATH_POINT__TRAITS_HPP_
-
-#include "unitree_go/msg/detail/path_point__struct.hpp"
-#include <rosidl_runtime_cpp/traits.hpp>
-#include <stdint.h>
-#include <type_traits>
-
-namespace rosidl_generator_traits
-{
-
-template<>
-inline const char * data_type<unitree_go::msg::PathPoint>()
-{
-  return "unitree_go::msg::PathPoint";
-}
-
-template<>
-inline const char * name<unitree_go::msg::PathPoint>()
-{
-  return "unitree_go/msg/PathPoint";
-}
-
-template<>
-struct has_fixed_size<unitree_go::msg::PathPoint>
-  : std::integral_constant<bool, true> {};
-
-template<>
-struct has_bounded_size<unitree_go::msg::PathPoint>
-  : std::integral_constant<bool, true> {};
-
-template<>
-struct is_message<unitree_go::msg::PathPoint>
-  : std::true_type {};
-
-}  // namespace rosidl_generator_traits
-
-#endif  // UNITREE_GO__MSG__DETAIL__PATH_POINT__TRAITS_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/path_point__type_support.c b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/path_point__type_support.c
deleted file mode 100644
index 866f188..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/path_point__type_support.c
+++ /dev/null
@@ -1,171 +0,0 @@
-// generated from rosidl_typesupport_introspection_c/resource/idl__type_support.c.em
-// with input from unitree_go:msg/PathPoint.idl
-// generated code does not contain a copyright notice
-
-#include <stddef.h>
-#include "unitree_go/msg/detail/path_point__rosidl_typesupport_introspection_c.h"
-#include "unitree_go/msg/rosidl_typesupport_introspection_c__visibility_control.h"
-#include "rosidl_typesupport_introspection_c/field_types.h"
-#include "rosidl_typesupport_introspection_c/identifier.h"
-#include "rosidl_typesupport_introspection_c/message_introspection.h"
-#include "unitree_go/msg/detail/path_point__functions.h"
-#include "unitree_go/msg/detail/path_point__struct.h"
-
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-void PathPoint__rosidl_typesupport_introspection_c__PathPoint_init_function(
-  void * message_memory, enum rosidl_runtime_c__message_initialization _init)
-{
-  // TODO(karsten1987): initializers are not yet implemented for typesupport c
-  // see https://github.com/ros2/ros2/issues/397
-  (void) _init;
-  unitree_go__msg__PathPoint__init(message_memory);
-}
-
-void PathPoint__rosidl_typesupport_introspection_c__PathPoint_fini_function(void * message_memory)
-{
-  unitree_go__msg__PathPoint__fini(message_memory);
-}
-
-static rosidl_typesupport_introspection_c__MessageMember PathPoint__rosidl_typesupport_introspection_c__PathPoint_message_member_array[7] = {
-  {
-    "t_from_start",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__PathPoint, t_from_start),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "x",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__PathPoint, x),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "y",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__PathPoint, y),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "yaw",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__PathPoint, yaw),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "vx",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__PathPoint, vx),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "vy",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__PathPoint, vy),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "vyaw",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__PathPoint, vyaw),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  }
-};
-
-static const rosidl_typesupport_introspection_c__MessageMembers PathPoint__rosidl_typesupport_introspection_c__PathPoint_message_members = {
-  "unitree_go__msg",  // message namespace
-  "PathPoint",  // message name
-  7,  // number of fields
-  sizeof(unitree_go__msg__PathPoint),
-  PathPoint__rosidl_typesupport_introspection_c__PathPoint_message_member_array,  // message members
-  PathPoint__rosidl_typesupport_introspection_c__PathPoint_init_function,  // function to initialize message memory (memory has to be allocated)
-  PathPoint__rosidl_typesupport_introspection_c__PathPoint_fini_function  // function to terminate message instance (will not free memory)
-};
-
-// this is not const since it must be initialized on first access
-// since C does not allow non-integral compile-time constants
-static rosidl_message_type_support_t PathPoint__rosidl_typesupport_introspection_c__PathPoint_message_type_support_handle = {
-  0,
-  &PathPoint__rosidl_typesupport_introspection_c__PathPoint_message_members,
-  get_message_typesupport_handle_function,
-};
-
-ROSIDL_TYPESUPPORT_INTROSPECTION_C_EXPORT_unitree_go
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, unitree_go, msg, PathPoint)() {
-  if (!PathPoint__rosidl_typesupport_introspection_c__PathPoint_message_type_support_handle.typesupport_identifier) {
-    PathPoint__rosidl_typesupport_introspection_c__PathPoint_message_type_support_handle.typesupport_identifier =
-      rosidl_typesupport_introspection_c__identifier;
-  }
-  return &PathPoint__rosidl_typesupport_introspection_c__PathPoint_message_type_support_handle;
-}
-#ifdef __cplusplus
-}
-#endif
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/path_point__type_support.cpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/path_point__type_support.cpp
deleted file mode 100644
index 1b07bc5..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/path_point__type_support.cpp
+++ /dev/null
@@ -1,197 +0,0 @@
-// generated from rosidl_typesupport_introspection_cpp/resource/idl__type_support.cpp.em
-// with input from unitree_go:msg/PathPoint.idl
-// generated code does not contain a copyright notice
-
-#include "array"
-#include "cstddef"
-#include "string"
-#include "vector"
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_cpp/message_type_support.hpp"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_go/msg/detail/path_point__struct.hpp"
-#include "rosidl_typesupport_introspection_cpp/field_types.hpp"
-#include "rosidl_typesupport_introspection_cpp/identifier.hpp"
-#include "rosidl_typesupport_introspection_cpp/message_introspection.hpp"
-#include "rosidl_typesupport_introspection_cpp/message_type_support_decl.hpp"
-#include "rosidl_typesupport_introspection_cpp/visibility_control.h"
-
-namespace unitree_go
-{
-
-namespace msg
-{
-
-namespace rosidl_typesupport_introspection_cpp
-{
-
-void PathPoint_init_function(
-  void * message_memory, rosidl_runtime_cpp::MessageInitialization _init)
-{
-  new (message_memory) unitree_go::msg::PathPoint(_init);
-}
-
-void PathPoint_fini_function(void * message_memory)
-{
-  auto typed_message = static_cast<unitree_go::msg::PathPoint *>(message_memory);
-  typed_message->~PathPoint();
-}
-
-static const ::rosidl_typesupport_introspection_cpp::MessageMember PathPoint_message_member_array[7] = {
-  {
-    "t_from_start",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::PathPoint, t_from_start),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "x",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::PathPoint, x),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "y",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::PathPoint, y),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "yaw",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::PathPoint, yaw),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "vx",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::PathPoint, vx),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "vy",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::PathPoint, vy),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "vyaw",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::PathPoint, vyaw),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  }
-};
-
-static const ::rosidl_typesupport_introspection_cpp::MessageMembers PathPoint_message_members = {
-  "unitree_go::msg",  // message namespace
-  "PathPoint",  // message name
-  7,  // number of fields
-  sizeof(unitree_go::msg::PathPoint),
-  PathPoint_message_member_array,  // message members
-  PathPoint_init_function,  // function to initialize message memory (memory has to be allocated)
-  PathPoint_fini_function  // function to terminate message instance (will not free memory)
-};
-
-static const rosidl_message_type_support_t PathPoint_message_type_support_handle = {
-  ::rosidl_typesupport_introspection_cpp::typesupport_identifier,
-  &PathPoint_message_members,
-  get_message_typesupport_handle_function,
-};
-
-}  // namespace rosidl_typesupport_introspection_cpp
-
-}  // namespace msg
-
-}  // namespace unitree_go
-
-
-namespace rosidl_typesupport_introspection_cpp
-{
-
-template<>
-ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
-const rosidl_message_type_support_t *
-get_message_type_support_handle<unitree_go::msg::PathPoint>()
-{
-  return &::unitree_go::msg::rosidl_typesupport_introspection_cpp::PathPoint_message_type_support_handle;
-}
-
-}  // namespace rosidl_typesupport_introspection_cpp
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_cpp, unitree_go, msg, PathPoint)() {
-  return &::unitree_go::msg::rosidl_typesupport_introspection_cpp::PathPoint_message_type_support_handle;
-}
-
-#ifdef __cplusplus
-}
-#endif
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/path_point__type_support.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/path_point__type_support.h
deleted file mode 100644
index 78f2d25..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/path_point__type_support.h
+++ /dev/null
@@ -1,33 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__type_support.h.em
-// with input from unitree_go:msg/PathPoint.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__PATH_POINT__TYPE_SUPPORT_H_
-#define UNITREE_GO__MSG__DETAIL__PATH_POINT__TYPE_SUPPORT_H_
-
-#include "rosidl_typesupport_interface/macros.h"
-
-#include "unitree_go/msg/rosidl_generator_c__visibility_control.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-
-// Forward declare the get type support functions for this type.
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
-  rosidl_typesupport_c,
-  unitree_go,
-  msg,
-  PathPoint
-)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__PATH_POINT__TYPE_SUPPORT_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/path_point__type_support.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/path_point__type_support.hpp
deleted file mode 100644
index f890102..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/path_point__type_support.hpp
+++ /dev/null
@@ -1,31 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__type_support.hpp.em
-// with input from unitree_go:msg/PathPoint.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__PATH_POINT__TYPE_SUPPORT_HPP_
-#define UNITREE_GO__MSG__DETAIL__PATH_POINT__TYPE_SUPPORT_HPP_
-
-#include "rosidl_typesupport_interface/macros.h"
-
-#include "unitree_go/msg/rosidl_generator_cpp__visibility_control.hpp"
-
-#include "rosidl_typesupport_cpp/message_type_support.hpp"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-// Forward declare the get type support functions for this type.
-ROSIDL_GENERATOR_CPP_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
-  rosidl_typesupport_cpp,
-  unitree_go,
-  msg,
-  PathPoint
-)();
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__PATH_POINT__TYPE_SUPPORT_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/req__builder.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/req__builder.hpp
deleted file mode 100644
index ee1922b..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/req__builder.hpp
+++ /dev/null
@@ -1,71 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__builder.hpp.em
-// with input from unitree_go:msg/Req.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__REQ__BUILDER_HPP_
-#define UNITREE_GO__MSG__DETAIL__REQ__BUILDER_HPP_
-
-#include "unitree_go/msg/detail/req__struct.hpp"
-#include <rosidl_runtime_cpp/message_initialization.hpp>
-#include <algorithm>
-#include <utility>
-
-
-namespace unitree_go
-{
-
-namespace msg
-{
-
-namespace builder
-{
-
-class Init_Req_body
-{
-public:
-  explicit Init_Req_body(::unitree_go::msg::Req & msg)
-  : msg_(msg)
-  {}
-  ::unitree_go::msg::Req body(::unitree_go::msg::Req::_body_type arg)
-  {
-    msg_.body = std::move(arg);
-    return std::move(msg_);
-  }
-
-private:
-  ::unitree_go::msg::Req msg_;
-};
-
-class Init_Req_uuid
-{
-public:
-  Init_Req_uuid()
-  : msg_(::rosidl_runtime_cpp::MessageInitialization::SKIP)
-  {}
-  Init_Req_body uuid(::unitree_go::msg::Req::_uuid_type arg)
-  {
-    msg_.uuid = std::move(arg);
-    return Init_Req_body(msg_);
-  }
-
-private:
-  ::unitree_go::msg::Req msg_;
-};
-
-}  // namespace builder
-
-}  // namespace msg
-
-template<typename MessageType>
-auto build();
-
-template<>
-inline
-auto build<::unitree_go::msg::Req>()
-{
-  return unitree_go::msg::builder::Init_Req_uuid();
-}
-
-}  // namespace unitree_go
-
-#endif  // UNITREE_GO__MSG__DETAIL__REQ__BUILDER_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/req__functions.c b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/req__functions.c
deleted file mode 100644
index 648e054..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/req__functions.c
+++ /dev/null
@@ -1,266 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__functions.c.em
-// with input from unitree_go:msg/Req.idl
-// generated code does not contain a copyright notice
-#include "unitree_go/msg/detail/req__functions.h"
-
-#include <assert.h>
-#include <stdbool.h>
-#include <stdlib.h>
-#include <string.h>
-
-#include "rcutils/allocator.h"
-
-
-// Include directives for member types
-// Member `uuid`
-// Member `body`
-#include "rosidl_runtime_c/string_functions.h"
-
-bool
-unitree_go__msg__Req__init(unitree_go__msg__Req * msg)
-{
-  if (!msg) {
-    return false;
-  }
-  // uuid
-  if (!rosidl_runtime_c__String__init(&msg->uuid)) {
-    unitree_go__msg__Req__fini(msg);
-    return false;
-  }
-  // body
-  if (!rosidl_runtime_c__String__init(&msg->body)) {
-    unitree_go__msg__Req__fini(msg);
-    return false;
-  }
-  return true;
-}
-
-void
-unitree_go__msg__Req__fini(unitree_go__msg__Req * msg)
-{
-  if (!msg) {
-    return;
-  }
-  // uuid
-  rosidl_runtime_c__String__fini(&msg->uuid);
-  // body
-  rosidl_runtime_c__String__fini(&msg->body);
-}
-
-bool
-unitree_go__msg__Req__are_equal(const unitree_go__msg__Req * lhs, const unitree_go__msg__Req * rhs)
-{
-  if (!lhs || !rhs) {
-    return false;
-  }
-  // uuid
-  if (!rosidl_runtime_c__String__are_equal(
-      &(lhs->uuid), &(rhs->uuid)))
-  {
-    return false;
-  }
-  // body
-  if (!rosidl_runtime_c__String__are_equal(
-      &(lhs->body), &(rhs->body)))
-  {
-    return false;
-  }
-  return true;
-}
-
-bool
-unitree_go__msg__Req__copy(
-  const unitree_go__msg__Req * input,
-  unitree_go__msg__Req * output)
-{
-  if (!input || !output) {
-    return false;
-  }
-  // uuid
-  if (!rosidl_runtime_c__String__copy(
-      &(input->uuid), &(output->uuid)))
-  {
-    return false;
-  }
-  // body
-  if (!rosidl_runtime_c__String__copy(
-      &(input->body), &(output->body)))
-  {
-    return false;
-  }
-  return true;
-}
-
-unitree_go__msg__Req *
-unitree_go__msg__Req__create()
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  unitree_go__msg__Req * msg = (unitree_go__msg__Req *)allocator.allocate(sizeof(unitree_go__msg__Req), allocator.state);
-  if (!msg) {
-    return NULL;
-  }
-  memset(msg, 0, sizeof(unitree_go__msg__Req));
-  bool success = unitree_go__msg__Req__init(msg);
-  if (!success) {
-    allocator.deallocate(msg, allocator.state);
-    return NULL;
-  }
-  return msg;
-}
-
-void
-unitree_go__msg__Req__destroy(unitree_go__msg__Req * msg)
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  if (msg) {
-    unitree_go__msg__Req__fini(msg);
-  }
-  allocator.deallocate(msg, allocator.state);
-}
-
-
-bool
-unitree_go__msg__Req__Sequence__init(unitree_go__msg__Req__Sequence * array, size_t size)
-{
-  if (!array) {
-    return false;
-  }
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  unitree_go__msg__Req * data = NULL;
-
-  if (size) {
-    data = (unitree_go__msg__Req *)allocator.zero_allocate(size, sizeof(unitree_go__msg__Req), allocator.state);
-    if (!data) {
-      return false;
-    }
-    // initialize all array elements
-    size_t i;
-    for (i = 0; i < size; ++i) {
-      bool success = unitree_go__msg__Req__init(&data[i]);
-      if (!success) {
-        break;
-      }
-    }
-    if (i < size) {
-      // if initialization failed finalize the already initialized array elements
-      for (; i > 0; --i) {
-        unitree_go__msg__Req__fini(&data[i - 1]);
-      }
-      allocator.deallocate(data, allocator.state);
-      return false;
-    }
-  }
-  array->data = data;
-  array->size = size;
-  array->capacity = size;
-  return true;
-}
-
-void
-unitree_go__msg__Req__Sequence__fini(unitree_go__msg__Req__Sequence * array)
-{
-  if (!array) {
-    return;
-  }
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-
-  if (array->data) {
-    // ensure that data and capacity values are consistent
-    assert(array->capacity > 0);
-    // finalize all array elements
-    for (size_t i = 0; i < array->capacity; ++i) {
-      unitree_go__msg__Req__fini(&array->data[i]);
-    }
-    allocator.deallocate(array->data, allocator.state);
-    array->data = NULL;
-    array->size = 0;
-    array->capacity = 0;
-  } else {
-    // ensure that data, size, and capacity values are consistent
-    assert(0 == array->size);
-    assert(0 == array->capacity);
-  }
-}
-
-unitree_go__msg__Req__Sequence *
-unitree_go__msg__Req__Sequence__create(size_t size)
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  unitree_go__msg__Req__Sequence * array = (unitree_go__msg__Req__Sequence *)allocator.allocate(sizeof(unitree_go__msg__Req__Sequence), allocator.state);
-  if (!array) {
-    return NULL;
-  }
-  bool success = unitree_go__msg__Req__Sequence__init(array, size);
-  if (!success) {
-    allocator.deallocate(array, allocator.state);
-    return NULL;
-  }
-  return array;
-}
-
-void
-unitree_go__msg__Req__Sequence__destroy(unitree_go__msg__Req__Sequence * array)
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  if (array) {
-    unitree_go__msg__Req__Sequence__fini(array);
-  }
-  allocator.deallocate(array, allocator.state);
-}
-
-bool
-unitree_go__msg__Req__Sequence__are_equal(const unitree_go__msg__Req__Sequence * lhs, const unitree_go__msg__Req__Sequence * rhs)
-{
-  if (!lhs || !rhs) {
-    return false;
-  }
-  if (lhs->size != rhs->size) {
-    return false;
-  }
-  for (size_t i = 0; i < lhs->size; ++i) {
-    if (!unitree_go__msg__Req__are_equal(&(lhs->data[i]), &(rhs->data[i]))) {
-      return false;
-    }
-  }
-  return true;
-}
-
-bool
-unitree_go__msg__Req__Sequence__copy(
-  const unitree_go__msg__Req__Sequence * input,
-  unitree_go__msg__Req__Sequence * output)
-{
-  if (!input || !output) {
-    return false;
-  }
-  if (output->capacity < input->size) {
-    const size_t allocation_size =
-      input->size * sizeof(unitree_go__msg__Req);
-    unitree_go__msg__Req * data =
-      (unitree_go__msg__Req *)realloc(output->data, allocation_size);
-    if (!data) {
-      return false;
-    }
-    for (size_t i = output->capacity; i < input->size; ++i) {
-      if (!unitree_go__msg__Req__init(&data[i])) {
-        /* free currently allocated and return false */
-        for (; i-- > output->capacity; ) {
-          unitree_go__msg__Req__fini(&data[i]);
-        }
-        free(data);
-        return false;
-      }
-    }
-    output->data = data;
-    output->capacity = input->size;
-  }
-  output->size = input->size;
-  for (size_t i = 0; i < input->size; ++i) {
-    if (!unitree_go__msg__Req__copy(
-        &(input->data[i]), &(output->data[i])))
-    {
-      return false;
-    }
-  }
-  return true;
-}
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/req__functions.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/req__functions.h
deleted file mode 100644
index 32d6d67..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/req__functions.h
+++ /dev/null
@@ -1,177 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__functions.h.em
-// with input from unitree_go:msg/Req.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__REQ__FUNCTIONS_H_
-#define UNITREE_GO__MSG__DETAIL__REQ__FUNCTIONS_H_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include <stdbool.h>
-#include <stdlib.h>
-
-#include "rosidl_runtime_c/visibility_control.h"
-#include "unitree_go/msg/rosidl_generator_c__visibility_control.h"
-
-#include "unitree_go/msg/detail/req__struct.h"
-
-/// Initialize msg/Req message.
-/**
- * If the init function is called twice for the same message without
- * calling fini inbetween previously allocated memory will be leaked.
- * \param[in,out] msg The previously allocated message pointer.
- * Fields without a default value will not be initialized by this function.
- * You might want to call memset(msg, 0, sizeof(
- * unitree_go__msg__Req
- * )) before or use
- * unitree_go__msg__Req__create()
- * to allocate and initialize the message.
- * \return true if initialization was successful, otherwise false
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__Req__init(unitree_go__msg__Req * msg);
-
-/// Finalize msg/Req message.
-/**
- * \param[in,out] msg The allocated message pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-void
-unitree_go__msg__Req__fini(unitree_go__msg__Req * msg);
-
-/// Create msg/Req message.
-/**
- * It allocates the memory for the message, sets the memory to zero, and
- * calls
- * unitree_go__msg__Req__init().
- * \return The pointer to the initialized message if successful,
- * otherwise NULL
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-unitree_go__msg__Req *
-unitree_go__msg__Req__create();
-
-/// Destroy msg/Req message.
-/**
- * It calls
- * unitree_go__msg__Req__fini()
- * and frees the memory of the message.
- * \param[in,out] msg The allocated message pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-void
-unitree_go__msg__Req__destroy(unitree_go__msg__Req * msg);
-
-/// Check for msg/Req message equality.
-/**
- * \param[in] lhs The message on the left hand size of the equality operator.
- * \param[in] rhs The message on the right hand size of the equality operator.
- * \return true if messages are equal, otherwise false.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__Req__are_equal(const unitree_go__msg__Req * lhs, const unitree_go__msg__Req * rhs);
-
-/// Copy a msg/Req message.
-/**
- * This functions performs a deep copy, as opposed to the shallow copy that
- * plain assignment yields.
- *
- * \param[in] input The source message pointer.
- * \param[out] output The target message pointer, which must
- *   have been initialized before calling this function.
- * \return true if successful, or false if either pointer is null
- *   or memory allocation fails.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__Req__copy(
-  const unitree_go__msg__Req * input,
-  unitree_go__msg__Req * output);
-
-/// Initialize array of msg/Req messages.
-/**
- * It allocates the memory for the number of elements and calls
- * unitree_go__msg__Req__init()
- * for each element of the array.
- * \param[in,out] array The allocated array pointer.
- * \param[in] size The size / capacity of the array.
- * \return true if initialization was successful, otherwise false
- * If the array pointer is valid and the size is zero it is guaranteed
- # to return true.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__Req__Sequence__init(unitree_go__msg__Req__Sequence * array, size_t size);
-
-/// Finalize array of msg/Req messages.
-/**
- * It calls
- * unitree_go__msg__Req__fini()
- * for each element of the array and frees the memory for the number of
- * elements.
- * \param[in,out] array The initialized array pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-void
-unitree_go__msg__Req__Sequence__fini(unitree_go__msg__Req__Sequence * array);
-
-/// Create array of msg/Req messages.
-/**
- * It allocates the memory for the array and calls
- * unitree_go__msg__Req__Sequence__init().
- * \param[in] size The size / capacity of the array.
- * \return The pointer to the initialized array if successful, otherwise NULL
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-unitree_go__msg__Req__Sequence *
-unitree_go__msg__Req__Sequence__create(size_t size);
-
-/// Destroy array of msg/Req messages.
-/**
- * It calls
- * unitree_go__msg__Req__Sequence__fini()
- * on the array,
- * and frees the memory of the array.
- * \param[in,out] array The initialized array pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-void
-unitree_go__msg__Req__Sequence__destroy(unitree_go__msg__Req__Sequence * array);
-
-/// Check for msg/Req message array equality.
-/**
- * \param[in] lhs The message array on the left hand size of the equality operator.
- * \param[in] rhs The message array on the right hand size of the equality operator.
- * \return true if message arrays are equal in size and content, otherwise false.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__Req__Sequence__are_equal(const unitree_go__msg__Req__Sequence * lhs, const unitree_go__msg__Req__Sequence * rhs);
-
-/// Copy an array of msg/Req messages.
-/**
- * This functions performs a deep copy, as opposed to the shallow copy that
- * plain assignment yields.
- *
- * \param[in] input The source array pointer.
- * \param[out] output The target array pointer, which must
- *   have been initialized before calling this function.
- * \return true if successful, or false if either pointer
- *   is null or memory allocation fails.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__Req__Sequence__copy(
-  const unitree_go__msg__Req__Sequence * input,
-  unitree_go__msg__Req__Sequence * output);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__REQ__FUNCTIONS_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/req__rosidl_typesupport_fastrtps_c.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/req__rosidl_typesupport_fastrtps_c.h
deleted file mode 100644
index 8a60f3b..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/req__rosidl_typesupport_fastrtps_c.h
+++ /dev/null
@@ -1,36 +0,0 @@
-// generated from rosidl_typesupport_fastrtps_c/resource/idl__rosidl_typesupport_fastrtps_c.h.em
-// with input from unitree_go:msg/Req.idl
-// generated code does not contain a copyright notice
-#ifndef UNITREE_GO__MSG__DETAIL__REQ__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_
-#define UNITREE_GO__MSG__DETAIL__REQ__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_
-
-
-#include <stddef.h>
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_go/msg/rosidl_typesupport_fastrtps_c__visibility_control.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_go
-size_t get_serialized_size_unitree_go__msg__Req(
-  const void * untyped_ros_message,
-  size_t current_alignment);
-
-ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_go
-size_t max_serialized_size_unitree_go__msg__Req(
-  bool & full_bounded,
-  size_t current_alignment);
-
-ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_fastrtps_c, unitree_go, msg, Req)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__REQ__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/req__rosidl_typesupport_fastrtps_cpp.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/req__rosidl_typesupport_fastrtps_cpp.hpp
deleted file mode 100644
index b888527..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/req__rosidl_typesupport_fastrtps_cpp.hpp
+++ /dev/null
@@ -1,79 +0,0 @@
-// generated from rosidl_typesupport_fastrtps_cpp/resource/idl__rosidl_typesupport_fastrtps_cpp.hpp.em
-// with input from unitree_go:msg/Req.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__REQ__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_
-#define UNITREE_GO__MSG__DETAIL__REQ__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_go/msg/rosidl_typesupport_fastrtps_cpp__visibility_control.h"
-#include "unitree_go/msg/detail/req__struct.hpp"
-
-#ifndef _WIN32
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wunused-parameter"
-# ifdef __clang__
-#  pragma clang diagnostic ignored "-Wdeprecated-register"
-#  pragma clang diagnostic ignored "-Wreturn-type-c-linkage"
-# endif
-#endif
-#ifndef _WIN32
-# pragma GCC diagnostic pop
-#endif
-
-#include "fastcdr/Cdr.h"
-
-namespace unitree_go
-{
-
-namespace msg
-{
-
-namespace typesupport_fastrtps_cpp
-{
-
-bool
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-cdr_serialize(
-  const unitree_go::msg::Req & ros_message,
-  eprosima::fastcdr::Cdr & cdr);
-
-bool
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-cdr_deserialize(
-  eprosima::fastcdr::Cdr & cdr,
-  unitree_go::msg::Req & ros_message);
-
-size_t
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-get_serialized_size(
-  const unitree_go::msg::Req & ros_message,
-  size_t current_alignment);
-
-size_t
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-max_serialized_size_Req(
-  bool & full_bounded,
-  size_t current_alignment);
-
-}  // namespace typesupport_fastrtps_cpp
-
-}  // namespace msg
-
-}  // namespace unitree_go
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_fastrtps_cpp, unitree_go, msg, Req)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__REQ__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/req__rosidl_typesupport_introspection_c.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/req__rosidl_typesupport_introspection_c.h
deleted file mode 100644
index 76f8331..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/req__rosidl_typesupport_introspection_c.h
+++ /dev/null
@@ -1,26 +0,0 @@
-// generated from rosidl_typesupport_introspection_c/resource/idl__rosidl_typesupport_introspection_c.h.em
-// with input from unitree_go:msg/Req.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__REQ__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
-#define UNITREE_GO__MSG__DETAIL__REQ__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_go/msg/rosidl_typesupport_introspection_c__visibility_control.h"
-
-ROSIDL_TYPESUPPORT_INTROSPECTION_C_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, unitree_go, msg, Req)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__REQ__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/req__rosidl_typesupport_introspection_cpp.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/req__rosidl_typesupport_introspection_cpp.hpp
deleted file mode 100644
index 1c49e1e..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/req__rosidl_typesupport_introspection_cpp.hpp
+++ /dev/null
@@ -1,27 +0,0 @@
-// generated from rosidl_typesupport_introspection_cpp/resource/idl__rosidl_typesupport_introspection_cpp.h.em
-// with input from unitree_go:msg/Req.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__REQ__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_
-#define UNITREE_GO__MSG__DETAIL__REQ__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_
-
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "rosidl_typesupport_introspection_cpp/visibility_control.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-// TODO(dirk-thomas) these visibility macros should be message package specific
-ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
-const rosidl_message_type_support_t *
-  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_cpp, unitree_go, msg, Req)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__REQ__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/req__struct.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/req__struct.h
deleted file mode 100644
index dfda661..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/req__struct.h
+++ /dev/null
@@ -1,46 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__struct.h.em
-// with input from unitree_go:msg/Req.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__REQ__STRUCT_H_
-#define UNITREE_GO__MSG__DETAIL__REQ__STRUCT_H_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include <stdbool.h>
-#include <stddef.h>
-#include <stdint.h>
-
-
-// Constants defined in the message
-
-// Include directives for member types
-// Member 'uuid'
-// Member 'body'
-#include "rosidl_runtime_c/string.h"
-
-// Struct defined in msg/Req in the package unitree_go.
-typedef struct unitree_go__msg__Req
-{
-  rosidl_runtime_c__String uuid;
-  rosidl_runtime_c__String body;
-} unitree_go__msg__Req;
-
-// Struct for a sequence of unitree_go__msg__Req.
-typedef struct unitree_go__msg__Req__Sequence
-{
-  unitree_go__msg__Req * data;
-  /// The number of valid items in data
-  size_t size;
-  /// The number of allocated items in data
-  size_t capacity;
-} unitree_go__msg__Req__Sequence;
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__REQ__STRUCT_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/req__struct.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/req__struct.hpp
deleted file mode 100644
index c21935c..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/req__struct.hpp
+++ /dev/null
@@ -1,145 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__struct.hpp.em
-// with input from unitree_go:msg/Req.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__REQ__STRUCT_HPP_
-#define UNITREE_GO__MSG__DETAIL__REQ__STRUCT_HPP_
-
-#include <rosidl_runtime_cpp/bounded_vector.hpp>
-#include <rosidl_runtime_cpp/message_initialization.hpp>
-#include <algorithm>
-#include <array>
-#include <memory>
-#include <string>
-#include <vector>
-
-
-#ifndef _WIN32
-# define DEPRECATED__unitree_go__msg__Req __attribute__((deprecated))
-#else
-# define DEPRECATED__unitree_go__msg__Req __declspec(deprecated)
-#endif
-
-namespace unitree_go
-{
-
-namespace msg
-{
-
-// message struct
-template<class ContainerAllocator>
-struct Req_
-{
-  using Type = Req_<ContainerAllocator>;
-
-  explicit Req_(rosidl_runtime_cpp::MessageInitialization _init = rosidl_runtime_cpp::MessageInitialization::ALL)
-  {
-    if (rosidl_runtime_cpp::MessageInitialization::ALL == _init ||
-      rosidl_runtime_cpp::MessageInitialization::ZERO == _init)
-    {
-      this->uuid = "";
-      this->body = "";
-    }
-  }
-
-  explicit Req_(const ContainerAllocator & _alloc, rosidl_runtime_cpp::MessageInitialization _init = rosidl_runtime_cpp::MessageInitialization::ALL)
-  : uuid(_alloc),
-    body(_alloc)
-  {
-    if (rosidl_runtime_cpp::MessageInitialization::ALL == _init ||
-      rosidl_runtime_cpp::MessageInitialization::ZERO == _init)
-    {
-      this->uuid = "";
-      this->body = "";
-    }
-  }
-
-  // field types and members
-  using _uuid_type =
-    std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other>;
-  _uuid_type uuid;
-  using _body_type =
-    std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other>;
-  _body_type body;
-
-  // setters for named parameter idiom
-  Type & set__uuid(
-    const std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other> & _arg)
-  {
-    this->uuid = _arg;
-    return *this;
-  }
-  Type & set__body(
-    const std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other> & _arg)
-  {
-    this->body = _arg;
-    return *this;
-  }
-
-  // constant declarations
-
-  // pointer types
-  using RawPtr =
-    unitree_go::msg::Req_<ContainerAllocator> *;
-  using ConstRawPtr =
-    const unitree_go::msg::Req_<ContainerAllocator> *;
-  using SharedPtr =
-    std::shared_ptr<unitree_go::msg::Req_<ContainerAllocator>>;
-  using ConstSharedPtr =
-    std::shared_ptr<unitree_go::msg::Req_<ContainerAllocator> const>;
-
-  template<typename Deleter = std::default_delete<
-      unitree_go::msg::Req_<ContainerAllocator>>>
-  using UniquePtrWithDeleter =
-    std::unique_ptr<unitree_go::msg::Req_<ContainerAllocator>, Deleter>;
-
-  using UniquePtr = UniquePtrWithDeleter<>;
-
-  template<typename Deleter = std::default_delete<
-      unitree_go::msg::Req_<ContainerAllocator>>>
-  using ConstUniquePtrWithDeleter =
-    std::unique_ptr<unitree_go::msg::Req_<ContainerAllocator> const, Deleter>;
-  using ConstUniquePtr = ConstUniquePtrWithDeleter<>;
-
-  using WeakPtr =
-    std::weak_ptr<unitree_go::msg::Req_<ContainerAllocator>>;
-  using ConstWeakPtr =
-    std::weak_ptr<unitree_go::msg::Req_<ContainerAllocator> const>;
-
-  // pointer types similar to ROS 1, use SharedPtr / ConstSharedPtr instead
-  // NOTE: Can't use 'using' here because GNU C++ can't parse attributes properly
-  typedef DEPRECATED__unitree_go__msg__Req
-    std::shared_ptr<unitree_go::msg::Req_<ContainerAllocator>>
-    Ptr;
-  typedef DEPRECATED__unitree_go__msg__Req
-    std::shared_ptr<unitree_go::msg::Req_<ContainerAllocator> const>
-    ConstPtr;
-
-  // comparison operators
-  bool operator==(const Req_ & other) const
-  {
-    if (this->uuid != other.uuid) {
-      return false;
-    }
-    if (this->body != other.body) {
-      return false;
-    }
-    return true;
-  }
-  bool operator!=(const Req_ & other) const
-  {
-    return !this->operator==(other);
-  }
-};  // struct Req_
-
-// alias to use template instance with default allocator
-using Req =
-  unitree_go::msg::Req_<std::allocator<void>>;
-
-// constant definitions
-
-}  // namespace msg
-
-}  // namespace unitree_go
-
-#endif  // UNITREE_GO__MSG__DETAIL__REQ__STRUCT_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/req__traits.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/req__traits.hpp
deleted file mode 100644
index 5fc99c1..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/req__traits.hpp
+++ /dev/null
@@ -1,42 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__traits.hpp.em
-// with input from unitree_go:msg/Req.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__REQ__TRAITS_HPP_
-#define UNITREE_GO__MSG__DETAIL__REQ__TRAITS_HPP_
-
-#include "unitree_go/msg/detail/req__struct.hpp"
-#include <rosidl_runtime_cpp/traits.hpp>
-#include <stdint.h>
-#include <type_traits>
-
-namespace rosidl_generator_traits
-{
-
-template<>
-inline const char * data_type<unitree_go::msg::Req>()
-{
-  return "unitree_go::msg::Req";
-}
-
-template<>
-inline const char * name<unitree_go::msg::Req>()
-{
-  return "unitree_go/msg/Req";
-}
-
-template<>
-struct has_fixed_size<unitree_go::msg::Req>
-  : std::integral_constant<bool, false> {};
-
-template<>
-struct has_bounded_size<unitree_go::msg::Req>
-  : std::integral_constant<bool, false> {};
-
-template<>
-struct is_message<unitree_go::msg::Req>
-  : std::true_type {};
-
-}  // namespace rosidl_generator_traits
-
-#endif  // UNITREE_GO__MSG__DETAIL__REQ__TRAITS_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/req__type_support.c b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/req__type_support.c
deleted file mode 100644
index 29996a1..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/req__type_support.c
+++ /dev/null
@@ -1,101 +0,0 @@
-// generated from rosidl_typesupport_introspection_c/resource/idl__type_support.c.em
-// with input from unitree_go:msg/Req.idl
-// generated code does not contain a copyright notice
-
-#include <stddef.h>
-#include "unitree_go/msg/detail/req__rosidl_typesupport_introspection_c.h"
-#include "unitree_go/msg/rosidl_typesupport_introspection_c__visibility_control.h"
-#include "rosidl_typesupport_introspection_c/field_types.h"
-#include "rosidl_typesupport_introspection_c/identifier.h"
-#include "rosidl_typesupport_introspection_c/message_introspection.h"
-#include "unitree_go/msg/detail/req__functions.h"
-#include "unitree_go/msg/detail/req__struct.h"
-
-
-// Include directives for member types
-// Member `uuid`
-// Member `body`
-#include "rosidl_runtime_c/string_functions.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-void Req__rosidl_typesupport_introspection_c__Req_init_function(
-  void * message_memory, enum rosidl_runtime_c__message_initialization _init)
-{
-  // TODO(karsten1987): initializers are not yet implemented for typesupport c
-  // see https://github.com/ros2/ros2/issues/397
-  (void) _init;
-  unitree_go__msg__Req__init(message_memory);
-}
-
-void Req__rosidl_typesupport_introspection_c__Req_fini_function(void * message_memory)
-{
-  unitree_go__msg__Req__fini(message_memory);
-}
-
-static rosidl_typesupport_introspection_c__MessageMember Req__rosidl_typesupport_introspection_c__Req_message_member_array[2] = {
-  {
-    "uuid",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_STRING,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__Req, uuid),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "body",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_STRING,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__Req, body),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  }
-};
-
-static const rosidl_typesupport_introspection_c__MessageMembers Req__rosidl_typesupport_introspection_c__Req_message_members = {
-  "unitree_go__msg",  // message namespace
-  "Req",  // message name
-  2,  // number of fields
-  sizeof(unitree_go__msg__Req),
-  Req__rosidl_typesupport_introspection_c__Req_message_member_array,  // message members
-  Req__rosidl_typesupport_introspection_c__Req_init_function,  // function to initialize message memory (memory has to be allocated)
-  Req__rosidl_typesupport_introspection_c__Req_fini_function  // function to terminate message instance (will not free memory)
-};
-
-// this is not const since it must be initialized on first access
-// since C does not allow non-integral compile-time constants
-static rosidl_message_type_support_t Req__rosidl_typesupport_introspection_c__Req_message_type_support_handle = {
-  0,
-  &Req__rosidl_typesupport_introspection_c__Req_message_members,
-  get_message_typesupport_handle_function,
-};
-
-ROSIDL_TYPESUPPORT_INTROSPECTION_C_EXPORT_unitree_go
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, unitree_go, msg, Req)() {
-  if (!Req__rosidl_typesupport_introspection_c__Req_message_type_support_handle.typesupport_identifier) {
-    Req__rosidl_typesupport_introspection_c__Req_message_type_support_handle.typesupport_identifier =
-      rosidl_typesupport_introspection_c__identifier;
-  }
-  return &Req__rosidl_typesupport_introspection_c__Req_message_type_support_handle;
-}
-#ifdef __cplusplus
-}
-#endif
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/req__type_support.cpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/req__type_support.cpp
deleted file mode 100644
index 0f8d54e..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/req__type_support.cpp
+++ /dev/null
@@ -1,122 +0,0 @@
-// generated from rosidl_typesupport_introspection_cpp/resource/idl__type_support.cpp.em
-// with input from unitree_go:msg/Req.idl
-// generated code does not contain a copyright notice
-
-#include "array"
-#include "cstddef"
-#include "string"
-#include "vector"
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_cpp/message_type_support.hpp"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_go/msg/detail/req__struct.hpp"
-#include "rosidl_typesupport_introspection_cpp/field_types.hpp"
-#include "rosidl_typesupport_introspection_cpp/identifier.hpp"
-#include "rosidl_typesupport_introspection_cpp/message_introspection.hpp"
-#include "rosidl_typesupport_introspection_cpp/message_type_support_decl.hpp"
-#include "rosidl_typesupport_introspection_cpp/visibility_control.h"
-
-namespace unitree_go
-{
-
-namespace msg
-{
-
-namespace rosidl_typesupport_introspection_cpp
-{
-
-void Req_init_function(
-  void * message_memory, rosidl_runtime_cpp::MessageInitialization _init)
-{
-  new (message_memory) unitree_go::msg::Req(_init);
-}
-
-void Req_fini_function(void * message_memory)
-{
-  auto typed_message = static_cast<unitree_go::msg::Req *>(message_memory);
-  typed_message->~Req();
-}
-
-static const ::rosidl_typesupport_introspection_cpp::MessageMember Req_message_member_array[2] = {
-  {
-    "uuid",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_STRING,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::Req, uuid),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "body",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_STRING,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::Req, body),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  }
-};
-
-static const ::rosidl_typesupport_introspection_cpp::MessageMembers Req_message_members = {
-  "unitree_go::msg",  // message namespace
-  "Req",  // message name
-  2,  // number of fields
-  sizeof(unitree_go::msg::Req),
-  Req_message_member_array,  // message members
-  Req_init_function,  // function to initialize message memory (memory has to be allocated)
-  Req_fini_function  // function to terminate message instance (will not free memory)
-};
-
-static const rosidl_message_type_support_t Req_message_type_support_handle = {
-  ::rosidl_typesupport_introspection_cpp::typesupport_identifier,
-  &Req_message_members,
-  get_message_typesupport_handle_function,
-};
-
-}  // namespace rosidl_typesupport_introspection_cpp
-
-}  // namespace msg
-
-}  // namespace unitree_go
-
-
-namespace rosidl_typesupport_introspection_cpp
-{
-
-template<>
-ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
-const rosidl_message_type_support_t *
-get_message_type_support_handle<unitree_go::msg::Req>()
-{
-  return &::unitree_go::msg::rosidl_typesupport_introspection_cpp::Req_message_type_support_handle;
-}
-
-}  // namespace rosidl_typesupport_introspection_cpp
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_cpp, unitree_go, msg, Req)() {
-  return &::unitree_go::msg::rosidl_typesupport_introspection_cpp::Req_message_type_support_handle;
-}
-
-#ifdef __cplusplus
-}
-#endif
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/req__type_support.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/req__type_support.h
deleted file mode 100644
index b62b1e6..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/req__type_support.h
+++ /dev/null
@@ -1,33 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__type_support.h.em
-// with input from unitree_go:msg/Req.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__REQ__TYPE_SUPPORT_H_
-#define UNITREE_GO__MSG__DETAIL__REQ__TYPE_SUPPORT_H_
-
-#include "rosidl_typesupport_interface/macros.h"
-
-#include "unitree_go/msg/rosidl_generator_c__visibility_control.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-
-// Forward declare the get type support functions for this type.
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
-  rosidl_typesupport_c,
-  unitree_go,
-  msg,
-  Req
-)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__REQ__TYPE_SUPPORT_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/req__type_support.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/req__type_support.hpp
deleted file mode 100644
index f7ee4bc..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/req__type_support.hpp
+++ /dev/null
@@ -1,31 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__type_support.hpp.em
-// with input from unitree_go:msg/Req.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__REQ__TYPE_SUPPORT_HPP_
-#define UNITREE_GO__MSG__DETAIL__REQ__TYPE_SUPPORT_HPP_
-
-#include "rosidl_typesupport_interface/macros.h"
-
-#include "unitree_go/msg/rosidl_generator_cpp__visibility_control.hpp"
-
-#include "rosidl_typesupport_cpp/message_type_support.hpp"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-// Forward declare the get type support functions for this type.
-ROSIDL_GENERATOR_CPP_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
-  rosidl_typesupport_cpp,
-  unitree_go,
-  msg,
-  Req
-)();
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__REQ__TYPE_SUPPORT_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/res__builder.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/res__builder.hpp
deleted file mode 100644
index 734b284..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/res__builder.hpp
+++ /dev/null
@@ -1,87 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__builder.hpp.em
-// with input from unitree_go:msg/Res.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__RES__BUILDER_HPP_
-#define UNITREE_GO__MSG__DETAIL__RES__BUILDER_HPP_
-
-#include "unitree_go/msg/detail/res__struct.hpp"
-#include <rosidl_runtime_cpp/message_initialization.hpp>
-#include <algorithm>
-#include <utility>
-
-
-namespace unitree_go
-{
-
-namespace msg
-{
-
-namespace builder
-{
-
-class Init_Res_body
-{
-public:
-  explicit Init_Res_body(::unitree_go::msg::Res & msg)
-  : msg_(msg)
-  {}
-  ::unitree_go::msg::Res body(::unitree_go::msg::Res::_body_type arg)
-  {
-    msg_.body = std::move(arg);
-    return std::move(msg_);
-  }
-
-private:
-  ::unitree_go::msg::Res msg_;
-};
-
-class Init_Res_data
-{
-public:
-  explicit Init_Res_data(::unitree_go::msg::Res & msg)
-  : msg_(msg)
-  {}
-  Init_Res_body data(::unitree_go::msg::Res::_data_type arg)
-  {
-    msg_.data = std::move(arg);
-    return Init_Res_body(msg_);
-  }
-
-private:
-  ::unitree_go::msg::Res msg_;
-};
-
-class Init_Res_uuid
-{
-public:
-  Init_Res_uuid()
-  : msg_(::rosidl_runtime_cpp::MessageInitialization::SKIP)
-  {}
-  Init_Res_data uuid(::unitree_go::msg::Res::_uuid_type arg)
-  {
-    msg_.uuid = std::move(arg);
-    return Init_Res_data(msg_);
-  }
-
-private:
-  ::unitree_go::msg::Res msg_;
-};
-
-}  // namespace builder
-
-}  // namespace msg
-
-template<typename MessageType>
-auto build();
-
-template<>
-inline
-auto build<::unitree_go::msg::Res>()
-{
-  return unitree_go::msg::builder::Init_Res_uuid();
-}
-
-}  // namespace unitree_go
-
-#endif  // UNITREE_GO__MSG__DETAIL__RES__BUILDER_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/res__functions.c b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/res__functions.c
deleted file mode 100644
index 1a6194e..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/res__functions.c
+++ /dev/null
@@ -1,287 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__functions.c.em
-// with input from unitree_go:msg/Res.idl
-// generated code does not contain a copyright notice
-#include "unitree_go/msg/detail/res__functions.h"
-
-#include <assert.h>
-#include <stdbool.h>
-#include <stdlib.h>
-#include <string.h>
-
-#include "rcutils/allocator.h"
-
-
-// Include directives for member types
-// Member `uuid`
-// Member `body`
-#include "rosidl_runtime_c/string_functions.h"
-// Member `data`
-#include "rosidl_runtime_c/primitives_sequence_functions.h"
-
-bool
-unitree_go__msg__Res__init(unitree_go__msg__Res * msg)
-{
-  if (!msg) {
-    return false;
-  }
-  // uuid
-  if (!rosidl_runtime_c__String__init(&msg->uuid)) {
-    unitree_go__msg__Res__fini(msg);
-    return false;
-  }
-  // data
-  if (!rosidl_runtime_c__uint8__Sequence__init(&msg->data, 0)) {
-    unitree_go__msg__Res__fini(msg);
-    return false;
-  }
-  // body
-  if (!rosidl_runtime_c__String__init(&msg->body)) {
-    unitree_go__msg__Res__fini(msg);
-    return false;
-  }
-  return true;
-}
-
-void
-unitree_go__msg__Res__fini(unitree_go__msg__Res * msg)
-{
-  if (!msg) {
-    return;
-  }
-  // uuid
-  rosidl_runtime_c__String__fini(&msg->uuid);
-  // data
-  rosidl_runtime_c__uint8__Sequence__fini(&msg->data);
-  // body
-  rosidl_runtime_c__String__fini(&msg->body);
-}
-
-bool
-unitree_go__msg__Res__are_equal(const unitree_go__msg__Res * lhs, const unitree_go__msg__Res * rhs)
-{
-  if (!lhs || !rhs) {
-    return false;
-  }
-  // uuid
-  if (!rosidl_runtime_c__String__are_equal(
-      &(lhs->uuid), &(rhs->uuid)))
-  {
-    return false;
-  }
-  // data
-  if (!rosidl_runtime_c__uint8__Sequence__are_equal(
-      &(lhs->data), &(rhs->data)))
-  {
-    return false;
-  }
-  // body
-  if (!rosidl_runtime_c__String__are_equal(
-      &(lhs->body), &(rhs->body)))
-  {
-    return false;
-  }
-  return true;
-}
-
-bool
-unitree_go__msg__Res__copy(
-  const unitree_go__msg__Res * input,
-  unitree_go__msg__Res * output)
-{
-  if (!input || !output) {
-    return false;
-  }
-  // uuid
-  if (!rosidl_runtime_c__String__copy(
-      &(input->uuid), &(output->uuid)))
-  {
-    return false;
-  }
-  // data
-  if (!rosidl_runtime_c__uint8__Sequence__copy(
-      &(input->data), &(output->data)))
-  {
-    return false;
-  }
-  // body
-  if (!rosidl_runtime_c__String__copy(
-      &(input->body), &(output->body)))
-  {
-    return false;
-  }
-  return true;
-}
-
-unitree_go__msg__Res *
-unitree_go__msg__Res__create()
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  unitree_go__msg__Res * msg = (unitree_go__msg__Res *)allocator.allocate(sizeof(unitree_go__msg__Res), allocator.state);
-  if (!msg) {
-    return NULL;
-  }
-  memset(msg, 0, sizeof(unitree_go__msg__Res));
-  bool success = unitree_go__msg__Res__init(msg);
-  if (!success) {
-    allocator.deallocate(msg, allocator.state);
-    return NULL;
-  }
-  return msg;
-}
-
-void
-unitree_go__msg__Res__destroy(unitree_go__msg__Res * msg)
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  if (msg) {
-    unitree_go__msg__Res__fini(msg);
-  }
-  allocator.deallocate(msg, allocator.state);
-}
-
-
-bool
-unitree_go__msg__Res__Sequence__init(unitree_go__msg__Res__Sequence * array, size_t size)
-{
-  if (!array) {
-    return false;
-  }
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  unitree_go__msg__Res * data = NULL;
-
-  if (size) {
-    data = (unitree_go__msg__Res *)allocator.zero_allocate(size, sizeof(unitree_go__msg__Res), allocator.state);
-    if (!data) {
-      return false;
-    }
-    // initialize all array elements
-    size_t i;
-    for (i = 0; i < size; ++i) {
-      bool success = unitree_go__msg__Res__init(&data[i]);
-      if (!success) {
-        break;
-      }
-    }
-    if (i < size) {
-      // if initialization failed finalize the already initialized array elements
-      for (; i > 0; --i) {
-        unitree_go__msg__Res__fini(&data[i - 1]);
-      }
-      allocator.deallocate(data, allocator.state);
-      return false;
-    }
-  }
-  array->data = data;
-  array->size = size;
-  array->capacity = size;
-  return true;
-}
-
-void
-unitree_go__msg__Res__Sequence__fini(unitree_go__msg__Res__Sequence * array)
-{
-  if (!array) {
-    return;
-  }
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-
-  if (array->data) {
-    // ensure that data and capacity values are consistent
-    assert(array->capacity > 0);
-    // finalize all array elements
-    for (size_t i = 0; i < array->capacity; ++i) {
-      unitree_go__msg__Res__fini(&array->data[i]);
-    }
-    allocator.deallocate(array->data, allocator.state);
-    array->data = NULL;
-    array->size = 0;
-    array->capacity = 0;
-  } else {
-    // ensure that data, size, and capacity values are consistent
-    assert(0 == array->size);
-    assert(0 == array->capacity);
-  }
-}
-
-unitree_go__msg__Res__Sequence *
-unitree_go__msg__Res__Sequence__create(size_t size)
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  unitree_go__msg__Res__Sequence * array = (unitree_go__msg__Res__Sequence *)allocator.allocate(sizeof(unitree_go__msg__Res__Sequence), allocator.state);
-  if (!array) {
-    return NULL;
-  }
-  bool success = unitree_go__msg__Res__Sequence__init(array, size);
-  if (!success) {
-    allocator.deallocate(array, allocator.state);
-    return NULL;
-  }
-  return array;
-}
-
-void
-unitree_go__msg__Res__Sequence__destroy(unitree_go__msg__Res__Sequence * array)
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  if (array) {
-    unitree_go__msg__Res__Sequence__fini(array);
-  }
-  allocator.deallocate(array, allocator.state);
-}
-
-bool
-unitree_go__msg__Res__Sequence__are_equal(const unitree_go__msg__Res__Sequence * lhs, const unitree_go__msg__Res__Sequence * rhs)
-{
-  if (!lhs || !rhs) {
-    return false;
-  }
-  if (lhs->size != rhs->size) {
-    return false;
-  }
-  for (size_t i = 0; i < lhs->size; ++i) {
-    if (!unitree_go__msg__Res__are_equal(&(lhs->data[i]), &(rhs->data[i]))) {
-      return false;
-    }
-  }
-  return true;
-}
-
-bool
-unitree_go__msg__Res__Sequence__copy(
-  const unitree_go__msg__Res__Sequence * input,
-  unitree_go__msg__Res__Sequence * output)
-{
-  if (!input || !output) {
-    return false;
-  }
-  if (output->capacity < input->size) {
-    const size_t allocation_size =
-      input->size * sizeof(unitree_go__msg__Res);
-    unitree_go__msg__Res * data =
-      (unitree_go__msg__Res *)realloc(output->data, allocation_size);
-    if (!data) {
-      return false;
-    }
-    for (size_t i = output->capacity; i < input->size; ++i) {
-      if (!unitree_go__msg__Res__init(&data[i])) {
-        /* free currently allocated and return false */
-        for (; i-- > output->capacity; ) {
-          unitree_go__msg__Res__fini(&data[i]);
-        }
-        free(data);
-        return false;
-      }
-    }
-    output->data = data;
-    output->capacity = input->size;
-  }
-  output->size = input->size;
-  for (size_t i = 0; i < input->size; ++i) {
-    if (!unitree_go__msg__Res__copy(
-        &(input->data[i]), &(output->data[i])))
-    {
-      return false;
-    }
-  }
-  return true;
-}
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/res__functions.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/res__functions.h
deleted file mode 100644
index 81fddbe..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/res__functions.h
+++ /dev/null
@@ -1,177 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__functions.h.em
-// with input from unitree_go:msg/Res.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__RES__FUNCTIONS_H_
-#define UNITREE_GO__MSG__DETAIL__RES__FUNCTIONS_H_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include <stdbool.h>
-#include <stdlib.h>
-
-#include "rosidl_runtime_c/visibility_control.h"
-#include "unitree_go/msg/rosidl_generator_c__visibility_control.h"
-
-#include "unitree_go/msg/detail/res__struct.h"
-
-/// Initialize msg/Res message.
-/**
- * If the init function is called twice for the same message without
- * calling fini inbetween previously allocated memory will be leaked.
- * \param[in,out] msg The previously allocated message pointer.
- * Fields without a default value will not be initialized by this function.
- * You might want to call memset(msg, 0, sizeof(
- * unitree_go__msg__Res
- * )) before or use
- * unitree_go__msg__Res__create()
- * to allocate and initialize the message.
- * \return true if initialization was successful, otherwise false
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__Res__init(unitree_go__msg__Res * msg);
-
-/// Finalize msg/Res message.
-/**
- * \param[in,out] msg The allocated message pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-void
-unitree_go__msg__Res__fini(unitree_go__msg__Res * msg);
-
-/// Create msg/Res message.
-/**
- * It allocates the memory for the message, sets the memory to zero, and
- * calls
- * unitree_go__msg__Res__init().
- * \return The pointer to the initialized message if successful,
- * otherwise NULL
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-unitree_go__msg__Res *
-unitree_go__msg__Res__create();
-
-/// Destroy msg/Res message.
-/**
- * It calls
- * unitree_go__msg__Res__fini()
- * and frees the memory of the message.
- * \param[in,out] msg The allocated message pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-void
-unitree_go__msg__Res__destroy(unitree_go__msg__Res * msg);
-
-/// Check for msg/Res message equality.
-/**
- * \param[in] lhs The message on the left hand size of the equality operator.
- * \param[in] rhs The message on the right hand size of the equality operator.
- * \return true if messages are equal, otherwise false.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__Res__are_equal(const unitree_go__msg__Res * lhs, const unitree_go__msg__Res * rhs);
-
-/// Copy a msg/Res message.
-/**
- * This functions performs a deep copy, as opposed to the shallow copy that
- * plain assignment yields.
- *
- * \param[in] input The source message pointer.
- * \param[out] output The target message pointer, which must
- *   have been initialized before calling this function.
- * \return true if successful, or false if either pointer is null
- *   or memory allocation fails.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__Res__copy(
-  const unitree_go__msg__Res * input,
-  unitree_go__msg__Res * output);
-
-/// Initialize array of msg/Res messages.
-/**
- * It allocates the memory for the number of elements and calls
- * unitree_go__msg__Res__init()
- * for each element of the array.
- * \param[in,out] array The allocated array pointer.
- * \param[in] size The size / capacity of the array.
- * \return true if initialization was successful, otherwise false
- * If the array pointer is valid and the size is zero it is guaranteed
- # to return true.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__Res__Sequence__init(unitree_go__msg__Res__Sequence * array, size_t size);
-
-/// Finalize array of msg/Res messages.
-/**
- * It calls
- * unitree_go__msg__Res__fini()
- * for each element of the array and frees the memory for the number of
- * elements.
- * \param[in,out] array The initialized array pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-void
-unitree_go__msg__Res__Sequence__fini(unitree_go__msg__Res__Sequence * array);
-
-/// Create array of msg/Res messages.
-/**
- * It allocates the memory for the array and calls
- * unitree_go__msg__Res__Sequence__init().
- * \param[in] size The size / capacity of the array.
- * \return The pointer to the initialized array if successful, otherwise NULL
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-unitree_go__msg__Res__Sequence *
-unitree_go__msg__Res__Sequence__create(size_t size);
-
-/// Destroy array of msg/Res messages.
-/**
- * It calls
- * unitree_go__msg__Res__Sequence__fini()
- * on the array,
- * and frees the memory of the array.
- * \param[in,out] array The initialized array pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-void
-unitree_go__msg__Res__Sequence__destroy(unitree_go__msg__Res__Sequence * array);
-
-/// Check for msg/Res message array equality.
-/**
- * \param[in] lhs The message array on the left hand size of the equality operator.
- * \param[in] rhs The message array on the right hand size of the equality operator.
- * \return true if message arrays are equal in size and content, otherwise false.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__Res__Sequence__are_equal(const unitree_go__msg__Res__Sequence * lhs, const unitree_go__msg__Res__Sequence * rhs);
-
-/// Copy an array of msg/Res messages.
-/**
- * This functions performs a deep copy, as opposed to the shallow copy that
- * plain assignment yields.
- *
- * \param[in] input The source array pointer.
- * \param[out] output The target array pointer, which must
- *   have been initialized before calling this function.
- * \return true if successful, or false if either pointer
- *   is null or memory allocation fails.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__Res__Sequence__copy(
-  const unitree_go__msg__Res__Sequence * input,
-  unitree_go__msg__Res__Sequence * output);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__RES__FUNCTIONS_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/res__rosidl_typesupport_fastrtps_c.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/res__rosidl_typesupport_fastrtps_c.h
deleted file mode 100644
index 40ae30f..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/res__rosidl_typesupport_fastrtps_c.h
+++ /dev/null
@@ -1,36 +0,0 @@
-// generated from rosidl_typesupport_fastrtps_c/resource/idl__rosidl_typesupport_fastrtps_c.h.em
-// with input from unitree_go:msg/Res.idl
-// generated code does not contain a copyright notice
-#ifndef UNITREE_GO__MSG__DETAIL__RES__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_
-#define UNITREE_GO__MSG__DETAIL__RES__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_
-
-
-#include <stddef.h>
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_go/msg/rosidl_typesupport_fastrtps_c__visibility_control.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_go
-size_t get_serialized_size_unitree_go__msg__Res(
-  const void * untyped_ros_message,
-  size_t current_alignment);
-
-ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_go
-size_t max_serialized_size_unitree_go__msg__Res(
-  bool & full_bounded,
-  size_t current_alignment);
-
-ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_fastrtps_c, unitree_go, msg, Res)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__RES__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/res__rosidl_typesupport_fastrtps_cpp.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/res__rosidl_typesupport_fastrtps_cpp.hpp
deleted file mode 100644
index eacf6e5..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/res__rosidl_typesupport_fastrtps_cpp.hpp
+++ /dev/null
@@ -1,79 +0,0 @@
-// generated from rosidl_typesupport_fastrtps_cpp/resource/idl__rosidl_typesupport_fastrtps_cpp.hpp.em
-// with input from unitree_go:msg/Res.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__RES__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_
-#define UNITREE_GO__MSG__DETAIL__RES__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_go/msg/rosidl_typesupport_fastrtps_cpp__visibility_control.h"
-#include "unitree_go/msg/detail/res__struct.hpp"
-
-#ifndef _WIN32
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wunused-parameter"
-# ifdef __clang__
-#  pragma clang diagnostic ignored "-Wdeprecated-register"
-#  pragma clang diagnostic ignored "-Wreturn-type-c-linkage"
-# endif
-#endif
-#ifndef _WIN32
-# pragma GCC diagnostic pop
-#endif
-
-#include "fastcdr/Cdr.h"
-
-namespace unitree_go
-{
-
-namespace msg
-{
-
-namespace typesupport_fastrtps_cpp
-{
-
-bool
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-cdr_serialize(
-  const unitree_go::msg::Res & ros_message,
-  eprosima::fastcdr::Cdr & cdr);
-
-bool
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-cdr_deserialize(
-  eprosima::fastcdr::Cdr & cdr,
-  unitree_go::msg::Res & ros_message);
-
-size_t
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-get_serialized_size(
-  const unitree_go::msg::Res & ros_message,
-  size_t current_alignment);
-
-size_t
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-max_serialized_size_Res(
-  bool & full_bounded,
-  size_t current_alignment);
-
-}  // namespace typesupport_fastrtps_cpp
-
-}  // namespace msg
-
-}  // namespace unitree_go
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_fastrtps_cpp, unitree_go, msg, Res)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__RES__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/res__rosidl_typesupport_introspection_c.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/res__rosidl_typesupport_introspection_c.h
deleted file mode 100644
index a4af5bd..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/res__rosidl_typesupport_introspection_c.h
+++ /dev/null
@@ -1,26 +0,0 @@
-// generated from rosidl_typesupport_introspection_c/resource/idl__rosidl_typesupport_introspection_c.h.em
-// with input from unitree_go:msg/Res.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__RES__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
-#define UNITREE_GO__MSG__DETAIL__RES__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_go/msg/rosidl_typesupport_introspection_c__visibility_control.h"
-
-ROSIDL_TYPESUPPORT_INTROSPECTION_C_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, unitree_go, msg, Res)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__RES__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/res__rosidl_typesupport_introspection_cpp.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/res__rosidl_typesupport_introspection_cpp.hpp
deleted file mode 100644
index d3e3967..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/res__rosidl_typesupport_introspection_cpp.hpp
+++ /dev/null
@@ -1,27 +0,0 @@
-// generated from rosidl_typesupport_introspection_cpp/resource/idl__rosidl_typesupport_introspection_cpp.h.em
-// with input from unitree_go:msg/Res.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__RES__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_
-#define UNITREE_GO__MSG__DETAIL__RES__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_
-
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "rosidl_typesupport_introspection_cpp/visibility_control.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-// TODO(dirk-thomas) these visibility macros should be message package specific
-ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
-const rosidl_message_type_support_t *
-  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_cpp, unitree_go, msg, Res)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__RES__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/res__struct.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/res__struct.h
deleted file mode 100644
index ac3ce4b..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/res__struct.h
+++ /dev/null
@@ -1,49 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__struct.h.em
-// with input from unitree_go:msg/Res.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__RES__STRUCT_H_
-#define UNITREE_GO__MSG__DETAIL__RES__STRUCT_H_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include <stdbool.h>
-#include <stddef.h>
-#include <stdint.h>
-
-
-// Constants defined in the message
-
-// Include directives for member types
-// Member 'uuid'
-// Member 'body'
-#include "rosidl_runtime_c/string.h"
-// Member 'data'
-#include "rosidl_runtime_c/primitives_sequence.h"
-
-// Struct defined in msg/Res in the package unitree_go.
-typedef struct unitree_go__msg__Res
-{
-  rosidl_runtime_c__String uuid;
-  rosidl_runtime_c__uint8__Sequence data;
-  rosidl_runtime_c__String body;
-} unitree_go__msg__Res;
-
-// Struct for a sequence of unitree_go__msg__Res.
-typedef struct unitree_go__msg__Res__Sequence
-{
-  unitree_go__msg__Res * data;
-  /// The number of valid items in data
-  size_t size;
-  /// The number of allocated items in data
-  size_t capacity;
-} unitree_go__msg__Res__Sequence;
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__RES__STRUCT_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/res__struct.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/res__struct.hpp
deleted file mode 100644
index 6b17a00..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/res__struct.hpp
+++ /dev/null
@@ -1,157 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__struct.hpp.em
-// with input from unitree_go:msg/Res.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__RES__STRUCT_HPP_
-#define UNITREE_GO__MSG__DETAIL__RES__STRUCT_HPP_
-
-#include <rosidl_runtime_cpp/bounded_vector.hpp>
-#include <rosidl_runtime_cpp/message_initialization.hpp>
-#include <algorithm>
-#include <array>
-#include <memory>
-#include <string>
-#include <vector>
-
-
-#ifndef _WIN32
-# define DEPRECATED__unitree_go__msg__Res __attribute__((deprecated))
-#else
-# define DEPRECATED__unitree_go__msg__Res __declspec(deprecated)
-#endif
-
-namespace unitree_go
-{
-
-namespace msg
-{
-
-// message struct
-template<class ContainerAllocator>
-struct Res_
-{
-  using Type = Res_<ContainerAllocator>;
-
-  explicit Res_(rosidl_runtime_cpp::MessageInitialization _init = rosidl_runtime_cpp::MessageInitialization::ALL)
-  {
-    if (rosidl_runtime_cpp::MessageInitialization::ALL == _init ||
-      rosidl_runtime_cpp::MessageInitialization::ZERO == _init)
-    {
-      this->uuid = "";
-      this->body = "";
-    }
-  }
-
-  explicit Res_(const ContainerAllocator & _alloc, rosidl_runtime_cpp::MessageInitialization _init = rosidl_runtime_cpp::MessageInitialization::ALL)
-  : uuid(_alloc),
-    body(_alloc)
-  {
-    if (rosidl_runtime_cpp::MessageInitialization::ALL == _init ||
-      rosidl_runtime_cpp::MessageInitialization::ZERO == _init)
-    {
-      this->uuid = "";
-      this->body = "";
-    }
-  }
-
-  // field types and members
-  using _uuid_type =
-    std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other>;
-  _uuid_type uuid;
-  using _data_type =
-    std::vector<uint8_t, typename ContainerAllocator::template rebind<uint8_t>::other>;
-  _data_type data;
-  using _body_type =
-    std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other>;
-  _body_type body;
-
-  // setters for named parameter idiom
-  Type & set__uuid(
-    const std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other> & _arg)
-  {
-    this->uuid = _arg;
-    return *this;
-  }
-  Type & set__data(
-    const std::vector<uint8_t, typename ContainerAllocator::template rebind<uint8_t>::other> & _arg)
-  {
-    this->data = _arg;
-    return *this;
-  }
-  Type & set__body(
-    const std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other> & _arg)
-  {
-    this->body = _arg;
-    return *this;
-  }
-
-  // constant declarations
-
-  // pointer types
-  using RawPtr =
-    unitree_go::msg::Res_<ContainerAllocator> *;
-  using ConstRawPtr =
-    const unitree_go::msg::Res_<ContainerAllocator> *;
-  using SharedPtr =
-    std::shared_ptr<unitree_go::msg::Res_<ContainerAllocator>>;
-  using ConstSharedPtr =
-    std::shared_ptr<unitree_go::msg::Res_<ContainerAllocator> const>;
-
-  template<typename Deleter = std::default_delete<
-      unitree_go::msg::Res_<ContainerAllocator>>>
-  using UniquePtrWithDeleter =
-    std::unique_ptr<unitree_go::msg::Res_<ContainerAllocator>, Deleter>;
-
-  using UniquePtr = UniquePtrWithDeleter<>;
-
-  template<typename Deleter = std::default_delete<
-      unitree_go::msg::Res_<ContainerAllocator>>>
-  using ConstUniquePtrWithDeleter =
-    std::unique_ptr<unitree_go::msg::Res_<ContainerAllocator> const, Deleter>;
-  using ConstUniquePtr = ConstUniquePtrWithDeleter<>;
-
-  using WeakPtr =
-    std::weak_ptr<unitree_go::msg::Res_<ContainerAllocator>>;
-  using ConstWeakPtr =
-    std::weak_ptr<unitree_go::msg::Res_<ContainerAllocator> const>;
-
-  // pointer types similar to ROS 1, use SharedPtr / ConstSharedPtr instead
-  // NOTE: Can't use 'using' here because GNU C++ can't parse attributes properly
-  typedef DEPRECATED__unitree_go__msg__Res
-    std::shared_ptr<unitree_go::msg::Res_<ContainerAllocator>>
-    Ptr;
-  typedef DEPRECATED__unitree_go__msg__Res
-    std::shared_ptr<unitree_go::msg::Res_<ContainerAllocator> const>
-    ConstPtr;
-
-  // comparison operators
-  bool operator==(const Res_ & other) const
-  {
-    if (this->uuid != other.uuid) {
-      return false;
-    }
-    if (this->data != other.data) {
-      return false;
-    }
-    if (this->body != other.body) {
-      return false;
-    }
-    return true;
-  }
-  bool operator!=(const Res_ & other) const
-  {
-    return !this->operator==(other);
-  }
-};  // struct Res_
-
-// alias to use template instance with default allocator
-using Res =
-  unitree_go::msg::Res_<std::allocator<void>>;
-
-// constant definitions
-
-}  // namespace msg
-
-}  // namespace unitree_go
-
-#endif  // UNITREE_GO__MSG__DETAIL__RES__STRUCT_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/res__traits.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/res__traits.hpp
deleted file mode 100644
index f75a121..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/res__traits.hpp
+++ /dev/null
@@ -1,42 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__traits.hpp.em
-// with input from unitree_go:msg/Res.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__RES__TRAITS_HPP_
-#define UNITREE_GO__MSG__DETAIL__RES__TRAITS_HPP_
-
-#include "unitree_go/msg/detail/res__struct.hpp"
-#include <rosidl_runtime_cpp/traits.hpp>
-#include <stdint.h>
-#include <type_traits>
-
-namespace rosidl_generator_traits
-{
-
-template<>
-inline const char * data_type<unitree_go::msg::Res>()
-{
-  return "unitree_go::msg::Res";
-}
-
-template<>
-inline const char * name<unitree_go::msg::Res>()
-{
-  return "unitree_go/msg/Res";
-}
-
-template<>
-struct has_fixed_size<unitree_go::msg::Res>
-  : std::integral_constant<bool, false> {};
-
-template<>
-struct has_bounded_size<unitree_go::msg::Res>
-  : std::integral_constant<bool, false> {};
-
-template<>
-struct is_message<unitree_go::msg::Res>
-  : std::true_type {};
-
-}  // namespace rosidl_generator_traits
-
-#endif  // UNITREE_GO__MSG__DETAIL__RES__TRAITS_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/res__type_support.c b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/res__type_support.c
deleted file mode 100644
index bec88c1..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/res__type_support.c
+++ /dev/null
@@ -1,118 +0,0 @@
-// generated from rosidl_typesupport_introspection_c/resource/idl__type_support.c.em
-// with input from unitree_go:msg/Res.idl
-// generated code does not contain a copyright notice
-
-#include <stddef.h>
-#include "unitree_go/msg/detail/res__rosidl_typesupport_introspection_c.h"
-#include "unitree_go/msg/rosidl_typesupport_introspection_c__visibility_control.h"
-#include "rosidl_typesupport_introspection_c/field_types.h"
-#include "rosidl_typesupport_introspection_c/identifier.h"
-#include "rosidl_typesupport_introspection_c/message_introspection.h"
-#include "unitree_go/msg/detail/res__functions.h"
-#include "unitree_go/msg/detail/res__struct.h"
-
-
-// Include directives for member types
-// Member `uuid`
-// Member `body`
-#include "rosidl_runtime_c/string_functions.h"
-// Member `data`
-#include "rosidl_runtime_c/primitives_sequence_functions.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-void Res__rosidl_typesupport_introspection_c__Res_init_function(
-  void * message_memory, enum rosidl_runtime_c__message_initialization _init)
-{
-  // TODO(karsten1987): initializers are not yet implemented for typesupport c
-  // see https://github.com/ros2/ros2/issues/397
-  (void) _init;
-  unitree_go__msg__Res__init(message_memory);
-}
-
-void Res__rosidl_typesupport_introspection_c__Res_fini_function(void * message_memory)
-{
-  unitree_go__msg__Res__fini(message_memory);
-}
-
-static rosidl_typesupport_introspection_c__MessageMember Res__rosidl_typesupport_introspection_c__Res_message_member_array[3] = {
-  {
-    "uuid",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_STRING,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__Res, uuid),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "data",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_UINT8,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    true,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__Res, data),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "body",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_STRING,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__Res, body),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  }
-};
-
-static const rosidl_typesupport_introspection_c__MessageMembers Res__rosidl_typesupport_introspection_c__Res_message_members = {
-  "unitree_go__msg",  // message namespace
-  "Res",  // message name
-  3,  // number of fields
-  sizeof(unitree_go__msg__Res),
-  Res__rosidl_typesupport_introspection_c__Res_message_member_array,  // message members
-  Res__rosidl_typesupport_introspection_c__Res_init_function,  // function to initialize message memory (memory has to be allocated)
-  Res__rosidl_typesupport_introspection_c__Res_fini_function  // function to terminate message instance (will not free memory)
-};
-
-// this is not const since it must be initialized on first access
-// since C does not allow non-integral compile-time constants
-static rosidl_message_type_support_t Res__rosidl_typesupport_introspection_c__Res_message_type_support_handle = {
-  0,
-  &Res__rosidl_typesupport_introspection_c__Res_message_members,
-  get_message_typesupport_handle_function,
-};
-
-ROSIDL_TYPESUPPORT_INTROSPECTION_C_EXPORT_unitree_go
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, unitree_go, msg, Res)() {
-  if (!Res__rosidl_typesupport_introspection_c__Res_message_type_support_handle.typesupport_identifier) {
-    Res__rosidl_typesupport_introspection_c__Res_message_type_support_handle.typesupport_identifier =
-      rosidl_typesupport_introspection_c__identifier;
-  }
-  return &Res__rosidl_typesupport_introspection_c__Res_message_type_support_handle;
-}
-#ifdef __cplusplus
-}
-#endif
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/res__type_support.cpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/res__type_support.cpp
deleted file mode 100644
index e489ff8..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/res__type_support.cpp
+++ /dev/null
@@ -1,164 +0,0 @@
-// generated from rosidl_typesupport_introspection_cpp/resource/idl__type_support.cpp.em
-// with input from unitree_go:msg/Res.idl
-// generated code does not contain a copyright notice
-
-#include "array"
-#include "cstddef"
-#include "string"
-#include "vector"
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_cpp/message_type_support.hpp"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_go/msg/detail/res__struct.hpp"
-#include "rosidl_typesupport_introspection_cpp/field_types.hpp"
-#include "rosidl_typesupport_introspection_cpp/identifier.hpp"
-#include "rosidl_typesupport_introspection_cpp/message_introspection.hpp"
-#include "rosidl_typesupport_introspection_cpp/message_type_support_decl.hpp"
-#include "rosidl_typesupport_introspection_cpp/visibility_control.h"
-
-namespace unitree_go
-{
-
-namespace msg
-{
-
-namespace rosidl_typesupport_introspection_cpp
-{
-
-void Res_init_function(
-  void * message_memory, rosidl_runtime_cpp::MessageInitialization _init)
-{
-  new (message_memory) unitree_go::msg::Res(_init);
-}
-
-void Res_fini_function(void * message_memory)
-{
-  auto typed_message = static_cast<unitree_go::msg::Res *>(message_memory);
-  typed_message->~Res();
-}
-
-size_t size_function__Res__data(const void * untyped_member)
-{
-  const auto * member = reinterpret_cast<const std::vector<uint8_t> *>(untyped_member);
-  return member->size();
-}
-
-const void * get_const_function__Res__data(const void * untyped_member, size_t index)
-{
-  const auto & member =
-    *reinterpret_cast<const std::vector<uint8_t> *>(untyped_member);
-  return &member[index];
-}
-
-void * get_function__Res__data(void * untyped_member, size_t index)
-{
-  auto & member =
-    *reinterpret_cast<std::vector<uint8_t> *>(untyped_member);
-  return &member[index];
-}
-
-void resize_function__Res__data(void * untyped_member, size_t size)
-{
-  auto * member =
-    reinterpret_cast<std::vector<uint8_t> *>(untyped_member);
-  member->resize(size);
-}
-
-static const ::rosidl_typesupport_introspection_cpp::MessageMember Res_message_member_array[3] = {
-  {
-    "uuid",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_STRING,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::Res, uuid),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "data",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT8,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    true,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::Res, data),  // bytes offset in struct
-    nullptr,  // default value
-    size_function__Res__data,  // size() function pointer
-    get_const_function__Res__data,  // get_const(index) function pointer
-    get_function__Res__data,  // get(index) function pointer
-    resize_function__Res__data  // resize(index) function pointer
-  },
-  {
-    "body",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_STRING,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::Res, body),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  }
-};
-
-static const ::rosidl_typesupport_introspection_cpp::MessageMembers Res_message_members = {
-  "unitree_go::msg",  // message namespace
-  "Res",  // message name
-  3,  // number of fields
-  sizeof(unitree_go::msg::Res),
-  Res_message_member_array,  // message members
-  Res_init_function,  // function to initialize message memory (memory has to be allocated)
-  Res_fini_function  // function to terminate message instance (will not free memory)
-};
-
-static const rosidl_message_type_support_t Res_message_type_support_handle = {
-  ::rosidl_typesupport_introspection_cpp::typesupport_identifier,
-  &Res_message_members,
-  get_message_typesupport_handle_function,
-};
-
-}  // namespace rosidl_typesupport_introspection_cpp
-
-}  // namespace msg
-
-}  // namespace unitree_go
-
-
-namespace rosidl_typesupport_introspection_cpp
-{
-
-template<>
-ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
-const rosidl_message_type_support_t *
-get_message_type_support_handle<unitree_go::msg::Res>()
-{
-  return &::unitree_go::msg::rosidl_typesupport_introspection_cpp::Res_message_type_support_handle;
-}
-
-}  // namespace rosidl_typesupport_introspection_cpp
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_cpp, unitree_go, msg, Res)() {
-  return &::unitree_go::msg::rosidl_typesupport_introspection_cpp::Res_message_type_support_handle;
-}
-
-#ifdef __cplusplus
-}
-#endif
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/res__type_support.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/res__type_support.h
deleted file mode 100644
index cdc5a32..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/res__type_support.h
+++ /dev/null
@@ -1,33 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__type_support.h.em
-// with input from unitree_go:msg/Res.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__RES__TYPE_SUPPORT_H_
-#define UNITREE_GO__MSG__DETAIL__RES__TYPE_SUPPORT_H_
-
-#include "rosidl_typesupport_interface/macros.h"
-
-#include "unitree_go/msg/rosidl_generator_c__visibility_control.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-
-// Forward declare the get type support functions for this type.
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
-  rosidl_typesupport_c,
-  unitree_go,
-  msg,
-  Res
-)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__RES__TYPE_SUPPORT_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/res__type_support.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/res__type_support.hpp
deleted file mode 100644
index 910817b..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/res__type_support.hpp
+++ /dev/null
@@ -1,31 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__type_support.hpp.em
-// with input from unitree_go:msg/Res.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__RES__TYPE_SUPPORT_HPP_
-#define UNITREE_GO__MSG__DETAIL__RES__TYPE_SUPPORT_HPP_
-
-#include "rosidl_typesupport_interface/macros.h"
-
-#include "unitree_go/msg/rosidl_generator_cpp__visibility_control.hpp"
-
-#include "rosidl_typesupport_cpp/message_type_support.hpp"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-// Forward declare the get type support functions for this type.
-ROSIDL_GENERATOR_CPP_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
-  rosidl_typesupport_cpp,
-  unitree_go,
-  msg,
-  Res
-)();
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__RES__TYPE_SUPPORT_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_cmd__builder.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_cmd__builder.hpp
deleted file mode 100644
index 1763725..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_cmd__builder.hpp
+++ /dev/null
@@ -1,215 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__builder.hpp.em
-// with input from unitree_go:msg/SportModeCmd.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__SPORT_MODE_CMD__BUILDER_HPP_
-#define UNITREE_GO__MSG__DETAIL__SPORT_MODE_CMD__BUILDER_HPP_
-
-#include "unitree_go/msg/detail/sport_mode_cmd__struct.hpp"
-#include <rosidl_runtime_cpp/message_initialization.hpp>
-#include <algorithm>
-#include <utility>
-
-
-namespace unitree_go
-{
-
-namespace msg
-{
-
-namespace builder
-{
-
-class Init_SportModeCmd_path_point
-{
-public:
-  explicit Init_SportModeCmd_path_point(::unitree_go::msg::SportModeCmd & msg)
-  : msg_(msg)
-  {}
-  ::unitree_go::msg::SportModeCmd path_point(::unitree_go::msg::SportModeCmd::_path_point_type arg)
-  {
-    msg_.path_point = std::move(arg);
-    return std::move(msg_);
-  }
-
-private:
-  ::unitree_go::msg::SportModeCmd msg_;
-};
-
-class Init_SportModeCmd_bms_cmd
-{
-public:
-  explicit Init_SportModeCmd_bms_cmd(::unitree_go::msg::SportModeCmd & msg)
-  : msg_(msg)
-  {}
-  Init_SportModeCmd_path_point bms_cmd(::unitree_go::msg::SportModeCmd::_bms_cmd_type arg)
-  {
-    msg_.bms_cmd = std::move(arg);
-    return Init_SportModeCmd_path_point(msg_);
-  }
-
-private:
-  ::unitree_go::msg::SportModeCmd msg_;
-};
-
-class Init_SportModeCmd_yaw_speed
-{
-public:
-  explicit Init_SportModeCmd_yaw_speed(::unitree_go::msg::SportModeCmd & msg)
-  : msg_(msg)
-  {}
-  Init_SportModeCmd_bms_cmd yaw_speed(::unitree_go::msg::SportModeCmd::_yaw_speed_type arg)
-  {
-    msg_.yaw_speed = std::move(arg);
-    return Init_SportModeCmd_bms_cmd(msg_);
-  }
-
-private:
-  ::unitree_go::msg::SportModeCmd msg_;
-};
-
-class Init_SportModeCmd_velocity
-{
-public:
-  explicit Init_SportModeCmd_velocity(::unitree_go::msg::SportModeCmd & msg)
-  : msg_(msg)
-  {}
-  Init_SportModeCmd_yaw_speed velocity(::unitree_go::msg::SportModeCmd::_velocity_type arg)
-  {
-    msg_.velocity = std::move(arg);
-    return Init_SportModeCmd_yaw_speed(msg_);
-  }
-
-private:
-  ::unitree_go::msg::SportModeCmd msg_;
-};
-
-class Init_SportModeCmd_euler
-{
-public:
-  explicit Init_SportModeCmd_euler(::unitree_go::msg::SportModeCmd & msg)
-  : msg_(msg)
-  {}
-  Init_SportModeCmd_velocity euler(::unitree_go::msg::SportModeCmd::_euler_type arg)
-  {
-    msg_.euler = std::move(arg);
-    return Init_SportModeCmd_velocity(msg_);
-  }
-
-private:
-  ::unitree_go::msg::SportModeCmd msg_;
-};
-
-class Init_SportModeCmd_position
-{
-public:
-  explicit Init_SportModeCmd_position(::unitree_go::msg::SportModeCmd & msg)
-  : msg_(msg)
-  {}
-  Init_SportModeCmd_euler position(::unitree_go::msg::SportModeCmd::_position_type arg)
-  {
-    msg_.position = std::move(arg);
-    return Init_SportModeCmd_euler(msg_);
-  }
-
-private:
-  ::unitree_go::msg::SportModeCmd msg_;
-};
-
-class Init_SportModeCmd_body_height
-{
-public:
-  explicit Init_SportModeCmd_body_height(::unitree_go::msg::SportModeCmd & msg)
-  : msg_(msg)
-  {}
-  Init_SportModeCmd_position body_height(::unitree_go::msg::SportModeCmd::_body_height_type arg)
-  {
-    msg_.body_height = std::move(arg);
-    return Init_SportModeCmd_position(msg_);
-  }
-
-private:
-  ::unitree_go::msg::SportModeCmd msg_;
-};
-
-class Init_SportModeCmd_foot_raise_height
-{
-public:
-  explicit Init_SportModeCmd_foot_raise_height(::unitree_go::msg::SportModeCmd & msg)
-  : msg_(msg)
-  {}
-  Init_SportModeCmd_body_height foot_raise_height(::unitree_go::msg::SportModeCmd::_foot_raise_height_type arg)
-  {
-    msg_.foot_raise_height = std::move(arg);
-    return Init_SportModeCmd_body_height(msg_);
-  }
-
-private:
-  ::unitree_go::msg::SportModeCmd msg_;
-};
-
-class Init_SportModeCmd_speed_level
-{
-public:
-  explicit Init_SportModeCmd_speed_level(::unitree_go::msg::SportModeCmd & msg)
-  : msg_(msg)
-  {}
-  Init_SportModeCmd_foot_raise_height speed_level(::unitree_go::msg::SportModeCmd::_speed_level_type arg)
-  {
-    msg_.speed_level = std::move(arg);
-    return Init_SportModeCmd_foot_raise_height(msg_);
-  }
-
-private:
-  ::unitree_go::msg::SportModeCmd msg_;
-};
-
-class Init_SportModeCmd_gait_type
-{
-public:
-  explicit Init_SportModeCmd_gait_type(::unitree_go::msg::SportModeCmd & msg)
-  : msg_(msg)
-  {}
-  Init_SportModeCmd_speed_level gait_type(::unitree_go::msg::SportModeCmd::_gait_type_type arg)
-  {
-    msg_.gait_type = std::move(arg);
-    return Init_SportModeCmd_speed_level(msg_);
-  }
-
-private:
-  ::unitree_go::msg::SportModeCmd msg_;
-};
-
-class Init_SportModeCmd_mode
-{
-public:
-  Init_SportModeCmd_mode()
-  : msg_(::rosidl_runtime_cpp::MessageInitialization::SKIP)
-  {}
-  Init_SportModeCmd_gait_type mode(::unitree_go::msg::SportModeCmd::_mode_type arg)
-  {
-    msg_.mode = std::move(arg);
-    return Init_SportModeCmd_gait_type(msg_);
-  }
-
-private:
-  ::unitree_go::msg::SportModeCmd msg_;
-};
-
-}  // namespace builder
-
-}  // namespace msg
-
-template<typename MessageType>
-auto build();
-
-template<>
-inline
-auto build<::unitree_go::msg::SportModeCmd>()
-{
-  return unitree_go::msg::builder::Init_SportModeCmd_mode();
-}
-
-}  // namespace unitree_go
-
-#endif  // UNITREE_GO__MSG__DETAIL__SPORT_MODE_CMD__BUILDER_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_cmd__functions.c b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_cmd__functions.c
deleted file mode 100644
index 9f72fd6..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_cmd__functions.c
+++ /dev/null
@@ -1,359 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__functions.c.em
-// with input from unitree_go:msg/SportModeCmd.idl
-// generated code does not contain a copyright notice
-#include "unitree_go/msg/detail/sport_mode_cmd__functions.h"
-
-#include <assert.h>
-#include <stdbool.h>
-#include <stdlib.h>
-#include <string.h>
-
-#include "rcutils/allocator.h"
-
-
-// Include directives for member types
-// Member `bms_cmd`
-#include "unitree_go/msg/detail/bms_cmd__functions.h"
-// Member `path_point`
-#include "unitree_go/msg/detail/path_point__functions.h"
-
-bool
-unitree_go__msg__SportModeCmd__init(unitree_go__msg__SportModeCmd * msg)
-{
-  if (!msg) {
-    return false;
-  }
-  // mode
-  // gait_type
-  // speed_level
-  // foot_raise_height
-  // body_height
-  // position
-  // euler
-  // velocity
-  // yaw_speed
-  // bms_cmd
-  if (!unitree_go__msg__BmsCmd__init(&msg->bms_cmd)) {
-    unitree_go__msg__SportModeCmd__fini(msg);
-    return false;
-  }
-  // path_point
-  for (size_t i = 0; i < 30; ++i) {
-    if (!unitree_go__msg__PathPoint__init(&msg->path_point[i])) {
-      unitree_go__msg__SportModeCmd__fini(msg);
-      return false;
-    }
-  }
-  return true;
-}
-
-void
-unitree_go__msg__SportModeCmd__fini(unitree_go__msg__SportModeCmd * msg)
-{
-  if (!msg) {
-    return;
-  }
-  // mode
-  // gait_type
-  // speed_level
-  // foot_raise_height
-  // body_height
-  // position
-  // euler
-  // velocity
-  // yaw_speed
-  // bms_cmd
-  unitree_go__msg__BmsCmd__fini(&msg->bms_cmd);
-  // path_point
-  for (size_t i = 0; i < 30; ++i) {
-    unitree_go__msg__PathPoint__fini(&msg->path_point[i]);
-  }
-}
-
-bool
-unitree_go__msg__SportModeCmd__are_equal(const unitree_go__msg__SportModeCmd * lhs, const unitree_go__msg__SportModeCmd * rhs)
-{
-  if (!lhs || !rhs) {
-    return false;
-  }
-  // mode
-  if (lhs->mode != rhs->mode) {
-    return false;
-  }
-  // gait_type
-  if (lhs->gait_type != rhs->gait_type) {
-    return false;
-  }
-  // speed_level
-  if (lhs->speed_level != rhs->speed_level) {
-    return false;
-  }
-  // foot_raise_height
-  if (lhs->foot_raise_height != rhs->foot_raise_height) {
-    return false;
-  }
-  // body_height
-  if (lhs->body_height != rhs->body_height) {
-    return false;
-  }
-  // position
-  for (size_t i = 0; i < 2; ++i) {
-    if (lhs->position[i] != rhs->position[i]) {
-      return false;
-    }
-  }
-  // euler
-  for (size_t i = 0; i < 3; ++i) {
-    if (lhs->euler[i] != rhs->euler[i]) {
-      return false;
-    }
-  }
-  // velocity
-  for (size_t i = 0; i < 2; ++i) {
-    if (lhs->velocity[i] != rhs->velocity[i]) {
-      return false;
-    }
-  }
-  // yaw_speed
-  if (lhs->yaw_speed != rhs->yaw_speed) {
-    return false;
-  }
-  // bms_cmd
-  if (!unitree_go__msg__BmsCmd__are_equal(
-      &(lhs->bms_cmd), &(rhs->bms_cmd)))
-  {
-    return false;
-  }
-  // path_point
-  for (size_t i = 0; i < 30; ++i) {
-    if (!unitree_go__msg__PathPoint__are_equal(
-        &(lhs->path_point[i]), &(rhs->path_point[i])))
-    {
-      return false;
-    }
-  }
-  return true;
-}
-
-bool
-unitree_go__msg__SportModeCmd__copy(
-  const unitree_go__msg__SportModeCmd * input,
-  unitree_go__msg__SportModeCmd * output)
-{
-  if (!input || !output) {
-    return false;
-  }
-  // mode
-  output->mode = input->mode;
-  // gait_type
-  output->gait_type = input->gait_type;
-  // speed_level
-  output->speed_level = input->speed_level;
-  // foot_raise_height
-  output->foot_raise_height = input->foot_raise_height;
-  // body_height
-  output->body_height = input->body_height;
-  // position
-  for (size_t i = 0; i < 2; ++i) {
-    output->position[i] = input->position[i];
-  }
-  // euler
-  for (size_t i = 0; i < 3; ++i) {
-    output->euler[i] = input->euler[i];
-  }
-  // velocity
-  for (size_t i = 0; i < 2; ++i) {
-    output->velocity[i] = input->velocity[i];
-  }
-  // yaw_speed
-  output->yaw_speed = input->yaw_speed;
-  // bms_cmd
-  if (!unitree_go__msg__BmsCmd__copy(
-      &(input->bms_cmd), &(output->bms_cmd)))
-  {
-    return false;
-  }
-  // path_point
-  for (size_t i = 0; i < 30; ++i) {
-    if (!unitree_go__msg__PathPoint__copy(
-        &(input->path_point[i]), &(output->path_point[i])))
-    {
-      return false;
-    }
-  }
-  return true;
-}
-
-unitree_go__msg__SportModeCmd *
-unitree_go__msg__SportModeCmd__create()
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  unitree_go__msg__SportModeCmd * msg = (unitree_go__msg__SportModeCmd *)allocator.allocate(sizeof(unitree_go__msg__SportModeCmd), allocator.state);
-  if (!msg) {
-    return NULL;
-  }
-  memset(msg, 0, sizeof(unitree_go__msg__SportModeCmd));
-  bool success = unitree_go__msg__SportModeCmd__init(msg);
-  if (!success) {
-    allocator.deallocate(msg, allocator.state);
-    return NULL;
-  }
-  return msg;
-}
-
-void
-unitree_go__msg__SportModeCmd__destroy(unitree_go__msg__SportModeCmd * msg)
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  if (msg) {
-    unitree_go__msg__SportModeCmd__fini(msg);
-  }
-  allocator.deallocate(msg, allocator.state);
-}
-
-
-bool
-unitree_go__msg__SportModeCmd__Sequence__init(unitree_go__msg__SportModeCmd__Sequence * array, size_t size)
-{
-  if (!array) {
-    return false;
-  }
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  unitree_go__msg__SportModeCmd * data = NULL;
-
-  if (size) {
-    data = (unitree_go__msg__SportModeCmd *)allocator.zero_allocate(size, sizeof(unitree_go__msg__SportModeCmd), allocator.state);
-    if (!data) {
-      return false;
-    }
-    // initialize all array elements
-    size_t i;
-    for (i = 0; i < size; ++i) {
-      bool success = unitree_go__msg__SportModeCmd__init(&data[i]);
-      if (!success) {
-        break;
-      }
-    }
-    if (i < size) {
-      // if initialization failed finalize the already initialized array elements
-      for (; i > 0; --i) {
-        unitree_go__msg__SportModeCmd__fini(&data[i - 1]);
-      }
-      allocator.deallocate(data, allocator.state);
-      return false;
-    }
-  }
-  array->data = data;
-  array->size = size;
-  array->capacity = size;
-  return true;
-}
-
-void
-unitree_go__msg__SportModeCmd__Sequence__fini(unitree_go__msg__SportModeCmd__Sequence * array)
-{
-  if (!array) {
-    return;
-  }
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-
-  if (array->data) {
-    // ensure that data and capacity values are consistent
-    assert(array->capacity > 0);
-    // finalize all array elements
-    for (size_t i = 0; i < array->capacity; ++i) {
-      unitree_go__msg__SportModeCmd__fini(&array->data[i]);
-    }
-    allocator.deallocate(array->data, allocator.state);
-    array->data = NULL;
-    array->size = 0;
-    array->capacity = 0;
-  } else {
-    // ensure that data, size, and capacity values are consistent
-    assert(0 == array->size);
-    assert(0 == array->capacity);
-  }
-}
-
-unitree_go__msg__SportModeCmd__Sequence *
-unitree_go__msg__SportModeCmd__Sequence__create(size_t size)
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  unitree_go__msg__SportModeCmd__Sequence * array = (unitree_go__msg__SportModeCmd__Sequence *)allocator.allocate(sizeof(unitree_go__msg__SportModeCmd__Sequence), allocator.state);
-  if (!array) {
-    return NULL;
-  }
-  bool success = unitree_go__msg__SportModeCmd__Sequence__init(array, size);
-  if (!success) {
-    allocator.deallocate(array, allocator.state);
-    return NULL;
-  }
-  return array;
-}
-
-void
-unitree_go__msg__SportModeCmd__Sequence__destroy(unitree_go__msg__SportModeCmd__Sequence * array)
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  if (array) {
-    unitree_go__msg__SportModeCmd__Sequence__fini(array);
-  }
-  allocator.deallocate(array, allocator.state);
-}
-
-bool
-unitree_go__msg__SportModeCmd__Sequence__are_equal(const unitree_go__msg__SportModeCmd__Sequence * lhs, const unitree_go__msg__SportModeCmd__Sequence * rhs)
-{
-  if (!lhs || !rhs) {
-    return false;
-  }
-  if (lhs->size != rhs->size) {
-    return false;
-  }
-  for (size_t i = 0; i < lhs->size; ++i) {
-    if (!unitree_go__msg__SportModeCmd__are_equal(&(lhs->data[i]), &(rhs->data[i]))) {
-      return false;
-    }
-  }
-  return true;
-}
-
-bool
-unitree_go__msg__SportModeCmd__Sequence__copy(
-  const unitree_go__msg__SportModeCmd__Sequence * input,
-  unitree_go__msg__SportModeCmd__Sequence * output)
-{
-  if (!input || !output) {
-    return false;
-  }
-  if (output->capacity < input->size) {
-    const size_t allocation_size =
-      input->size * sizeof(unitree_go__msg__SportModeCmd);
-    unitree_go__msg__SportModeCmd * data =
-      (unitree_go__msg__SportModeCmd *)realloc(output->data, allocation_size);
-    if (!data) {
-      return false;
-    }
-    for (size_t i = output->capacity; i < input->size; ++i) {
-      if (!unitree_go__msg__SportModeCmd__init(&data[i])) {
-        /* free currently allocated and return false */
-        for (; i-- > output->capacity; ) {
-          unitree_go__msg__SportModeCmd__fini(&data[i]);
-        }
-        free(data);
-        return false;
-      }
-    }
-    output->data = data;
-    output->capacity = input->size;
-  }
-  output->size = input->size;
-  for (size_t i = 0; i < input->size; ++i) {
-    if (!unitree_go__msg__SportModeCmd__copy(
-        &(input->data[i]), &(output->data[i])))
-    {
-      return false;
-    }
-  }
-  return true;
-}
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_cmd__functions.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_cmd__functions.h
deleted file mode 100644
index d8208f1..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_cmd__functions.h
+++ /dev/null
@@ -1,177 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__functions.h.em
-// with input from unitree_go:msg/SportModeCmd.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__SPORT_MODE_CMD__FUNCTIONS_H_
-#define UNITREE_GO__MSG__DETAIL__SPORT_MODE_CMD__FUNCTIONS_H_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include <stdbool.h>
-#include <stdlib.h>
-
-#include "rosidl_runtime_c/visibility_control.h"
-#include "unitree_go/msg/rosidl_generator_c__visibility_control.h"
-
-#include "unitree_go/msg/detail/sport_mode_cmd__struct.h"
-
-/// Initialize msg/SportModeCmd message.
-/**
- * If the init function is called twice for the same message without
- * calling fini inbetween previously allocated memory will be leaked.
- * \param[in,out] msg The previously allocated message pointer.
- * Fields without a default value will not be initialized by this function.
- * You might want to call memset(msg, 0, sizeof(
- * unitree_go__msg__SportModeCmd
- * )) before or use
- * unitree_go__msg__SportModeCmd__create()
- * to allocate and initialize the message.
- * \return true if initialization was successful, otherwise false
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__SportModeCmd__init(unitree_go__msg__SportModeCmd * msg);
-
-/// Finalize msg/SportModeCmd message.
-/**
- * \param[in,out] msg The allocated message pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-void
-unitree_go__msg__SportModeCmd__fini(unitree_go__msg__SportModeCmd * msg);
-
-/// Create msg/SportModeCmd message.
-/**
- * It allocates the memory for the message, sets the memory to zero, and
- * calls
- * unitree_go__msg__SportModeCmd__init().
- * \return The pointer to the initialized message if successful,
- * otherwise NULL
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-unitree_go__msg__SportModeCmd *
-unitree_go__msg__SportModeCmd__create();
-
-/// Destroy msg/SportModeCmd message.
-/**
- * It calls
- * unitree_go__msg__SportModeCmd__fini()
- * and frees the memory of the message.
- * \param[in,out] msg The allocated message pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-void
-unitree_go__msg__SportModeCmd__destroy(unitree_go__msg__SportModeCmd * msg);
-
-/// Check for msg/SportModeCmd message equality.
-/**
- * \param[in] lhs The message on the left hand size of the equality operator.
- * \param[in] rhs The message on the right hand size of the equality operator.
- * \return true if messages are equal, otherwise false.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__SportModeCmd__are_equal(const unitree_go__msg__SportModeCmd * lhs, const unitree_go__msg__SportModeCmd * rhs);
-
-/// Copy a msg/SportModeCmd message.
-/**
- * This functions performs a deep copy, as opposed to the shallow copy that
- * plain assignment yields.
- *
- * \param[in] input The source message pointer.
- * \param[out] output The target message pointer, which must
- *   have been initialized before calling this function.
- * \return true if successful, or false if either pointer is null
- *   or memory allocation fails.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__SportModeCmd__copy(
-  const unitree_go__msg__SportModeCmd * input,
-  unitree_go__msg__SportModeCmd * output);
-
-/// Initialize array of msg/SportModeCmd messages.
-/**
- * It allocates the memory for the number of elements and calls
- * unitree_go__msg__SportModeCmd__init()
- * for each element of the array.
- * \param[in,out] array The allocated array pointer.
- * \param[in] size The size / capacity of the array.
- * \return true if initialization was successful, otherwise false
- * If the array pointer is valid and the size is zero it is guaranteed
- # to return true.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__SportModeCmd__Sequence__init(unitree_go__msg__SportModeCmd__Sequence * array, size_t size);
-
-/// Finalize array of msg/SportModeCmd messages.
-/**
- * It calls
- * unitree_go__msg__SportModeCmd__fini()
- * for each element of the array and frees the memory for the number of
- * elements.
- * \param[in,out] array The initialized array pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-void
-unitree_go__msg__SportModeCmd__Sequence__fini(unitree_go__msg__SportModeCmd__Sequence * array);
-
-/// Create array of msg/SportModeCmd messages.
-/**
- * It allocates the memory for the array and calls
- * unitree_go__msg__SportModeCmd__Sequence__init().
- * \param[in] size The size / capacity of the array.
- * \return The pointer to the initialized array if successful, otherwise NULL
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-unitree_go__msg__SportModeCmd__Sequence *
-unitree_go__msg__SportModeCmd__Sequence__create(size_t size);
-
-/// Destroy array of msg/SportModeCmd messages.
-/**
- * It calls
- * unitree_go__msg__SportModeCmd__Sequence__fini()
- * on the array,
- * and frees the memory of the array.
- * \param[in,out] array The initialized array pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-void
-unitree_go__msg__SportModeCmd__Sequence__destroy(unitree_go__msg__SportModeCmd__Sequence * array);
-
-/// Check for msg/SportModeCmd message array equality.
-/**
- * \param[in] lhs The message array on the left hand size of the equality operator.
- * \param[in] rhs The message array on the right hand size of the equality operator.
- * \return true if message arrays are equal in size and content, otherwise false.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__SportModeCmd__Sequence__are_equal(const unitree_go__msg__SportModeCmd__Sequence * lhs, const unitree_go__msg__SportModeCmd__Sequence * rhs);
-
-/// Copy an array of msg/SportModeCmd messages.
-/**
- * This functions performs a deep copy, as opposed to the shallow copy that
- * plain assignment yields.
- *
- * \param[in] input The source array pointer.
- * \param[out] output The target array pointer, which must
- *   have been initialized before calling this function.
- * \return true if successful, or false if either pointer
- *   is null or memory allocation fails.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__SportModeCmd__Sequence__copy(
-  const unitree_go__msg__SportModeCmd__Sequence * input,
-  unitree_go__msg__SportModeCmd__Sequence * output);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__SPORT_MODE_CMD__FUNCTIONS_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_cmd__rosidl_typesupport_fastrtps_c.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_cmd__rosidl_typesupport_fastrtps_c.h
deleted file mode 100644
index d0dd1a6..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_cmd__rosidl_typesupport_fastrtps_c.h
+++ /dev/null
@@ -1,36 +0,0 @@
-// generated from rosidl_typesupport_fastrtps_c/resource/idl__rosidl_typesupport_fastrtps_c.h.em
-// with input from unitree_go:msg/SportModeCmd.idl
-// generated code does not contain a copyright notice
-#ifndef UNITREE_GO__MSG__DETAIL__SPORT_MODE_CMD__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_
-#define UNITREE_GO__MSG__DETAIL__SPORT_MODE_CMD__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_
-
-
-#include <stddef.h>
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_go/msg/rosidl_typesupport_fastrtps_c__visibility_control.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_go
-size_t get_serialized_size_unitree_go__msg__SportModeCmd(
-  const void * untyped_ros_message,
-  size_t current_alignment);
-
-ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_go
-size_t max_serialized_size_unitree_go__msg__SportModeCmd(
-  bool & full_bounded,
-  size_t current_alignment);
-
-ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_fastrtps_c, unitree_go, msg, SportModeCmd)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__SPORT_MODE_CMD__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_cmd__rosidl_typesupport_fastrtps_cpp.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_cmd__rosidl_typesupport_fastrtps_cpp.hpp
deleted file mode 100644
index e7ba0cc..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_cmd__rosidl_typesupport_fastrtps_cpp.hpp
+++ /dev/null
@@ -1,79 +0,0 @@
-// generated from rosidl_typesupport_fastrtps_cpp/resource/idl__rosidl_typesupport_fastrtps_cpp.hpp.em
-// with input from unitree_go:msg/SportModeCmd.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__SPORT_MODE_CMD__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_
-#define UNITREE_GO__MSG__DETAIL__SPORT_MODE_CMD__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_go/msg/rosidl_typesupport_fastrtps_cpp__visibility_control.h"
-#include "unitree_go/msg/detail/sport_mode_cmd__struct.hpp"
-
-#ifndef _WIN32
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wunused-parameter"
-# ifdef __clang__
-#  pragma clang diagnostic ignored "-Wdeprecated-register"
-#  pragma clang diagnostic ignored "-Wreturn-type-c-linkage"
-# endif
-#endif
-#ifndef _WIN32
-# pragma GCC diagnostic pop
-#endif
-
-#include "fastcdr/Cdr.h"
-
-namespace unitree_go
-{
-
-namespace msg
-{
-
-namespace typesupport_fastrtps_cpp
-{
-
-bool
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-cdr_serialize(
-  const unitree_go::msg::SportModeCmd & ros_message,
-  eprosima::fastcdr::Cdr & cdr);
-
-bool
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-cdr_deserialize(
-  eprosima::fastcdr::Cdr & cdr,
-  unitree_go::msg::SportModeCmd & ros_message);
-
-size_t
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-get_serialized_size(
-  const unitree_go::msg::SportModeCmd & ros_message,
-  size_t current_alignment);
-
-size_t
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-max_serialized_size_SportModeCmd(
-  bool & full_bounded,
-  size_t current_alignment);
-
-}  // namespace typesupport_fastrtps_cpp
-
-}  // namespace msg
-
-}  // namespace unitree_go
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_fastrtps_cpp, unitree_go, msg, SportModeCmd)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__SPORT_MODE_CMD__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_cmd__rosidl_typesupport_introspection_c.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_cmd__rosidl_typesupport_introspection_c.h
deleted file mode 100644
index 9a221af..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_cmd__rosidl_typesupport_introspection_c.h
+++ /dev/null
@@ -1,26 +0,0 @@
-// generated from rosidl_typesupport_introspection_c/resource/idl__rosidl_typesupport_introspection_c.h.em
-// with input from unitree_go:msg/SportModeCmd.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__SPORT_MODE_CMD__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
-#define UNITREE_GO__MSG__DETAIL__SPORT_MODE_CMD__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_go/msg/rosidl_typesupport_introspection_c__visibility_control.h"
-
-ROSIDL_TYPESUPPORT_INTROSPECTION_C_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, unitree_go, msg, SportModeCmd)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__SPORT_MODE_CMD__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_cmd__rosidl_typesupport_introspection_cpp.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_cmd__rosidl_typesupport_introspection_cpp.hpp
deleted file mode 100644
index 4c17d5f..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_cmd__rosidl_typesupport_introspection_cpp.hpp
+++ /dev/null
@@ -1,27 +0,0 @@
-// generated from rosidl_typesupport_introspection_cpp/resource/idl__rosidl_typesupport_introspection_cpp.h.em
-// with input from unitree_go:msg/SportModeCmd.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__SPORT_MODE_CMD__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_
-#define UNITREE_GO__MSG__DETAIL__SPORT_MODE_CMD__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_
-
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "rosidl_typesupport_introspection_cpp/visibility_control.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-// TODO(dirk-thomas) these visibility macros should be message package specific
-ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
-const rosidl_message_type_support_t *
-  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_cpp, unitree_go, msg, SportModeCmd)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__SPORT_MODE_CMD__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_cmd__struct.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_cmd__struct.h
deleted file mode 100644
index 94d8bb7..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_cmd__struct.h
+++ /dev/null
@@ -1,56 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__struct.h.em
-// with input from unitree_go:msg/SportModeCmd.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__SPORT_MODE_CMD__STRUCT_H_
-#define UNITREE_GO__MSG__DETAIL__SPORT_MODE_CMD__STRUCT_H_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include <stdbool.h>
-#include <stddef.h>
-#include <stdint.h>
-
-
-// Constants defined in the message
-
-// Include directives for member types
-// Member 'bms_cmd'
-#include "unitree_go/msg/detail/bms_cmd__struct.h"
-// Member 'path_point'
-#include "unitree_go/msg/detail/path_point__struct.h"
-
-// Struct defined in msg/SportModeCmd in the package unitree_go.
-typedef struct unitree_go__msg__SportModeCmd
-{
-  uint8_t mode;
-  uint8_t gait_type;
-  uint8_t speed_level;
-  float foot_raise_height;
-  float body_height;
-  float position[2];
-  float euler[3];
-  float velocity[2];
-  float yaw_speed;
-  unitree_go__msg__BmsCmd bms_cmd;
-  unitree_go__msg__PathPoint path_point[30];
-} unitree_go__msg__SportModeCmd;
-
-// Struct for a sequence of unitree_go__msg__SportModeCmd.
-typedef struct unitree_go__msg__SportModeCmd__Sequence
-{
-  unitree_go__msg__SportModeCmd * data;
-  /// The number of valid items in data
-  size_t size;
-  /// The number of allocated items in data
-  size_t capacity;
-} unitree_go__msg__SportModeCmd__Sequence;
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__SPORT_MODE_CMD__STRUCT_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_cmd__struct.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_cmd__struct.hpp
deleted file mode 100644
index 7c92570..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_cmd__struct.hpp
+++ /dev/null
@@ -1,279 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__struct.hpp.em
-// with input from unitree_go:msg/SportModeCmd.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__SPORT_MODE_CMD__STRUCT_HPP_
-#define UNITREE_GO__MSG__DETAIL__SPORT_MODE_CMD__STRUCT_HPP_
-
-#include <rosidl_runtime_cpp/bounded_vector.hpp>
-#include <rosidl_runtime_cpp/message_initialization.hpp>
-#include <algorithm>
-#include <array>
-#include <memory>
-#include <string>
-#include <vector>
-
-
-// Include directives for member types
-// Member 'bms_cmd'
-#include "unitree_go/msg/detail/bms_cmd__struct.hpp"
-// Member 'path_point'
-#include "unitree_go/msg/detail/path_point__struct.hpp"
-
-#ifndef _WIN32
-# define DEPRECATED__unitree_go__msg__SportModeCmd __attribute__((deprecated))
-#else
-# define DEPRECATED__unitree_go__msg__SportModeCmd __declspec(deprecated)
-#endif
-
-namespace unitree_go
-{
-
-namespace msg
-{
-
-// message struct
-template<class ContainerAllocator>
-struct SportModeCmd_
-{
-  using Type = SportModeCmd_<ContainerAllocator>;
-
-  explicit SportModeCmd_(rosidl_runtime_cpp::MessageInitialization _init = rosidl_runtime_cpp::MessageInitialization::ALL)
-  : bms_cmd(_init)
-  {
-    if (rosidl_runtime_cpp::MessageInitialization::ALL == _init ||
-      rosidl_runtime_cpp::MessageInitialization::ZERO == _init)
-    {
-      this->mode = 0;
-      this->gait_type = 0;
-      this->speed_level = 0;
-      this->foot_raise_height = 0.0f;
-      this->body_height = 0.0f;
-      std::fill<typename std::array<float, 2>::iterator, float>(this->position.begin(), this->position.end(), 0.0f);
-      std::fill<typename std::array<float, 3>::iterator, float>(this->euler.begin(), this->euler.end(), 0.0f);
-      std::fill<typename std::array<float, 2>::iterator, float>(this->velocity.begin(), this->velocity.end(), 0.0f);
-      this->yaw_speed = 0.0f;
-      this->path_point.fill(unitree_go::msg::PathPoint_<ContainerAllocator>{_init});
-    }
-  }
-
-  explicit SportModeCmd_(const ContainerAllocator & _alloc, rosidl_runtime_cpp::MessageInitialization _init = rosidl_runtime_cpp::MessageInitialization::ALL)
-  : position(_alloc),
-    euler(_alloc),
-    velocity(_alloc),
-    bms_cmd(_alloc, _init),
-    path_point(_alloc)
-  {
-    if (rosidl_runtime_cpp::MessageInitialization::ALL == _init ||
-      rosidl_runtime_cpp::MessageInitialization::ZERO == _init)
-    {
-      this->mode = 0;
-      this->gait_type = 0;
-      this->speed_level = 0;
-      this->foot_raise_height = 0.0f;
-      this->body_height = 0.0f;
-      std::fill<typename std::array<float, 2>::iterator, float>(this->position.begin(), this->position.end(), 0.0f);
-      std::fill<typename std::array<float, 3>::iterator, float>(this->euler.begin(), this->euler.end(), 0.0f);
-      std::fill<typename std::array<float, 2>::iterator, float>(this->velocity.begin(), this->velocity.end(), 0.0f);
-      this->yaw_speed = 0.0f;
-      this->path_point.fill(unitree_go::msg::PathPoint_<ContainerAllocator>{_alloc, _init});
-    }
-  }
-
-  // field types and members
-  using _mode_type =
-    uint8_t;
-  _mode_type mode;
-  using _gait_type_type =
-    uint8_t;
-  _gait_type_type gait_type;
-  using _speed_level_type =
-    uint8_t;
-  _speed_level_type speed_level;
-  using _foot_raise_height_type =
-    float;
-  _foot_raise_height_type foot_raise_height;
-  using _body_height_type =
-    float;
-  _body_height_type body_height;
-  using _position_type =
-    std::array<float, 2>;
-  _position_type position;
-  using _euler_type =
-    std::array<float, 3>;
-  _euler_type euler;
-  using _velocity_type =
-    std::array<float, 2>;
-  _velocity_type velocity;
-  using _yaw_speed_type =
-    float;
-  _yaw_speed_type yaw_speed;
-  using _bms_cmd_type =
-    unitree_go::msg::BmsCmd_<ContainerAllocator>;
-  _bms_cmd_type bms_cmd;
-  using _path_point_type =
-    std::array<unitree_go::msg::PathPoint_<ContainerAllocator>, 30>;
-  _path_point_type path_point;
-
-  // setters for named parameter idiom
-  Type & set__mode(
-    const uint8_t & _arg)
-  {
-    this->mode = _arg;
-    return *this;
-  }
-  Type & set__gait_type(
-    const uint8_t & _arg)
-  {
-    this->gait_type = _arg;
-    return *this;
-  }
-  Type & set__speed_level(
-    const uint8_t & _arg)
-  {
-    this->speed_level = _arg;
-    return *this;
-  }
-  Type & set__foot_raise_height(
-    const float & _arg)
-  {
-    this->foot_raise_height = _arg;
-    return *this;
-  }
-  Type & set__body_height(
-    const float & _arg)
-  {
-    this->body_height = _arg;
-    return *this;
-  }
-  Type & set__position(
-    const std::array<float, 2> & _arg)
-  {
-    this->position = _arg;
-    return *this;
-  }
-  Type & set__euler(
-    const std::array<float, 3> & _arg)
-  {
-    this->euler = _arg;
-    return *this;
-  }
-  Type & set__velocity(
-    const std::array<float, 2> & _arg)
-  {
-    this->velocity = _arg;
-    return *this;
-  }
-  Type & set__yaw_speed(
-    const float & _arg)
-  {
-    this->yaw_speed = _arg;
-    return *this;
-  }
-  Type & set__bms_cmd(
-    const unitree_go::msg::BmsCmd_<ContainerAllocator> & _arg)
-  {
-    this->bms_cmd = _arg;
-    return *this;
-  }
-  Type & set__path_point(
-    const std::array<unitree_go::msg::PathPoint_<ContainerAllocator>, 30> & _arg)
-  {
-    this->path_point = _arg;
-    return *this;
-  }
-
-  // constant declarations
-
-  // pointer types
-  using RawPtr =
-    unitree_go::msg::SportModeCmd_<ContainerAllocator> *;
-  using ConstRawPtr =
-    const unitree_go::msg::SportModeCmd_<ContainerAllocator> *;
-  using SharedPtr =
-    std::shared_ptr<unitree_go::msg::SportModeCmd_<ContainerAllocator>>;
-  using ConstSharedPtr =
-    std::shared_ptr<unitree_go::msg::SportModeCmd_<ContainerAllocator> const>;
-
-  template<typename Deleter = std::default_delete<
-      unitree_go::msg::SportModeCmd_<ContainerAllocator>>>
-  using UniquePtrWithDeleter =
-    std::unique_ptr<unitree_go::msg::SportModeCmd_<ContainerAllocator>, Deleter>;
-
-  using UniquePtr = UniquePtrWithDeleter<>;
-
-  template<typename Deleter = std::default_delete<
-      unitree_go::msg::SportModeCmd_<ContainerAllocator>>>
-  using ConstUniquePtrWithDeleter =
-    std::unique_ptr<unitree_go::msg::SportModeCmd_<ContainerAllocator> const, Deleter>;
-  using ConstUniquePtr = ConstUniquePtrWithDeleter<>;
-
-  using WeakPtr =
-    std::weak_ptr<unitree_go::msg::SportModeCmd_<ContainerAllocator>>;
-  using ConstWeakPtr =
-    std::weak_ptr<unitree_go::msg::SportModeCmd_<ContainerAllocator> const>;
-
-  // pointer types similar to ROS 1, use SharedPtr / ConstSharedPtr instead
-  // NOTE: Can't use 'using' here because GNU C++ can't parse attributes properly
-  typedef DEPRECATED__unitree_go__msg__SportModeCmd
-    std::shared_ptr<unitree_go::msg::SportModeCmd_<ContainerAllocator>>
-    Ptr;
-  typedef DEPRECATED__unitree_go__msg__SportModeCmd
-    std::shared_ptr<unitree_go::msg::SportModeCmd_<ContainerAllocator> const>
-    ConstPtr;
-
-  // comparison operators
-  bool operator==(const SportModeCmd_ & other) const
-  {
-    if (this->mode != other.mode) {
-      return false;
-    }
-    if (this->gait_type != other.gait_type) {
-      return false;
-    }
-    if (this->speed_level != other.speed_level) {
-      return false;
-    }
-    if (this->foot_raise_height != other.foot_raise_height) {
-      return false;
-    }
-    if (this->body_height != other.body_height) {
-      return false;
-    }
-    if (this->position != other.position) {
-      return false;
-    }
-    if (this->euler != other.euler) {
-      return false;
-    }
-    if (this->velocity != other.velocity) {
-      return false;
-    }
-    if (this->yaw_speed != other.yaw_speed) {
-      return false;
-    }
-    if (this->bms_cmd != other.bms_cmd) {
-      return false;
-    }
-    if (this->path_point != other.path_point) {
-      return false;
-    }
-    return true;
-  }
-  bool operator!=(const SportModeCmd_ & other) const
-  {
-    return !this->operator==(other);
-  }
-};  // struct SportModeCmd_
-
-// alias to use template instance with default allocator
-using SportModeCmd =
-  unitree_go::msg::SportModeCmd_<std::allocator<void>>;
-
-// constant definitions
-
-}  // namespace msg
-
-}  // namespace unitree_go
-
-#endif  // UNITREE_GO__MSG__DETAIL__SPORT_MODE_CMD__STRUCT_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_cmd__traits.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_cmd__traits.hpp
deleted file mode 100644
index 90843ed..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_cmd__traits.hpp
+++ /dev/null
@@ -1,48 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__traits.hpp.em
-// with input from unitree_go:msg/SportModeCmd.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__SPORT_MODE_CMD__TRAITS_HPP_
-#define UNITREE_GO__MSG__DETAIL__SPORT_MODE_CMD__TRAITS_HPP_
-
-#include "unitree_go/msg/detail/sport_mode_cmd__struct.hpp"
-#include <rosidl_runtime_cpp/traits.hpp>
-#include <stdint.h>
-#include <type_traits>
-
-// Include directives for member types
-// Member 'bms_cmd'
-#include "unitree_go/msg/detail/bms_cmd__traits.hpp"
-// Member 'path_point'
-#include "unitree_go/msg/detail/path_point__traits.hpp"
-
-namespace rosidl_generator_traits
-{
-
-template<>
-inline const char * data_type<unitree_go::msg::SportModeCmd>()
-{
-  return "unitree_go::msg::SportModeCmd";
-}
-
-template<>
-inline const char * name<unitree_go::msg::SportModeCmd>()
-{
-  return "unitree_go/msg/SportModeCmd";
-}
-
-template<>
-struct has_fixed_size<unitree_go::msg::SportModeCmd>
-  : std::integral_constant<bool, has_fixed_size<unitree_go::msg::BmsCmd>::value && has_fixed_size<unitree_go::msg::PathPoint>::value> {};
-
-template<>
-struct has_bounded_size<unitree_go::msg::SportModeCmd>
-  : std::integral_constant<bool, has_bounded_size<unitree_go::msg::BmsCmd>::value && has_bounded_size<unitree_go::msg::PathPoint>::value> {};
-
-template<>
-struct is_message<unitree_go::msg::SportModeCmd>
-  : std::true_type {};
-
-}  // namespace rosidl_generator_traits
-
-#endif  // UNITREE_GO__MSG__DETAIL__SPORT_MODE_CMD__TRAITS_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_cmd__type_support.c b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_cmd__type_support.c
deleted file mode 100644
index 722d826..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_cmd__type_support.c
+++ /dev/null
@@ -1,268 +0,0 @@
-// generated from rosidl_typesupport_introspection_c/resource/idl__type_support.c.em
-// with input from unitree_go:msg/SportModeCmd.idl
-// generated code does not contain a copyright notice
-
-#include <stddef.h>
-#include "unitree_go/msg/detail/sport_mode_cmd__rosidl_typesupport_introspection_c.h"
-#include "unitree_go/msg/rosidl_typesupport_introspection_c__visibility_control.h"
-#include "rosidl_typesupport_introspection_c/field_types.h"
-#include "rosidl_typesupport_introspection_c/identifier.h"
-#include "rosidl_typesupport_introspection_c/message_introspection.h"
-#include "unitree_go/msg/detail/sport_mode_cmd__functions.h"
-#include "unitree_go/msg/detail/sport_mode_cmd__struct.h"
-
-
-// Include directives for member types
-// Member `bms_cmd`
-#include "unitree_go/msg/bms_cmd.h"
-// Member `bms_cmd`
-#include "unitree_go/msg/detail/bms_cmd__rosidl_typesupport_introspection_c.h"
-// Member `path_point`
-#include "unitree_go/msg/path_point.h"
-// Member `path_point`
-#include "unitree_go/msg/detail/path_point__rosidl_typesupport_introspection_c.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-void SportModeCmd__rosidl_typesupport_introspection_c__SportModeCmd_init_function(
-  void * message_memory, enum rosidl_runtime_c__message_initialization _init)
-{
-  // TODO(karsten1987): initializers are not yet implemented for typesupport c
-  // see https://github.com/ros2/ros2/issues/397
-  (void) _init;
-  unitree_go__msg__SportModeCmd__init(message_memory);
-}
-
-void SportModeCmd__rosidl_typesupport_introspection_c__SportModeCmd_fini_function(void * message_memory)
-{
-  unitree_go__msg__SportModeCmd__fini(message_memory);
-}
-
-size_t SportModeCmd__rosidl_typesupport_introspection_c__size_function__PathPoint__path_point(
-  const void * untyped_member)
-{
-  (void)untyped_member;
-  return 30;
-}
-
-const void * SportModeCmd__rosidl_typesupport_introspection_c__get_const_function__PathPoint__path_point(
-  const void * untyped_member, size_t index)
-{
-  const unitree_go__msg__PathPoint ** member =
-    (const unitree_go__msg__PathPoint **)(untyped_member);
-  return &(*member)[index];
-}
-
-void * SportModeCmd__rosidl_typesupport_introspection_c__get_function__PathPoint__path_point(
-  void * untyped_member, size_t index)
-{
-  unitree_go__msg__PathPoint ** member =
-    (unitree_go__msg__PathPoint **)(untyped_member);
-  return &(*member)[index];
-}
-
-static rosidl_typesupport_introspection_c__MessageMember SportModeCmd__rosidl_typesupport_introspection_c__SportModeCmd_message_member_array[11] = {
-  {
-    "mode",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_UINT8,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__SportModeCmd, mode),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "gait_type",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_UINT8,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__SportModeCmd, gait_type),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "speed_level",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_UINT8,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__SportModeCmd, speed_level),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "foot_raise_height",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__SportModeCmd, foot_raise_height),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "body_height",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__SportModeCmd, body_height),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "position",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    true,  // is array
-    2,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__SportModeCmd, position),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "euler",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    true,  // is array
-    3,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__SportModeCmd, euler),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "velocity",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    true,  // is array
-    2,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__SportModeCmd, velocity),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "yaw_speed",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__SportModeCmd, yaw_speed),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "bms_cmd",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_MESSAGE,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message (initialized later)
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__SportModeCmd, bms_cmd),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "path_point",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_MESSAGE,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message (initialized later)
-    true,  // is array
-    30,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__SportModeCmd, path_point),  // bytes offset in struct
-    NULL,  // default value
-    SportModeCmd__rosidl_typesupport_introspection_c__size_function__PathPoint__path_point,  // size() function pointer
-    SportModeCmd__rosidl_typesupport_introspection_c__get_const_function__PathPoint__path_point,  // get_const(index) function pointer
-    SportModeCmd__rosidl_typesupport_introspection_c__get_function__PathPoint__path_point,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  }
-};
-
-static const rosidl_typesupport_introspection_c__MessageMembers SportModeCmd__rosidl_typesupport_introspection_c__SportModeCmd_message_members = {
-  "unitree_go__msg",  // message namespace
-  "SportModeCmd",  // message name
-  11,  // number of fields
-  sizeof(unitree_go__msg__SportModeCmd),
-  SportModeCmd__rosidl_typesupport_introspection_c__SportModeCmd_message_member_array,  // message members
-  SportModeCmd__rosidl_typesupport_introspection_c__SportModeCmd_init_function,  // function to initialize message memory (memory has to be allocated)
-  SportModeCmd__rosidl_typesupport_introspection_c__SportModeCmd_fini_function  // function to terminate message instance (will not free memory)
-};
-
-// this is not const since it must be initialized on first access
-// since C does not allow non-integral compile-time constants
-static rosidl_message_type_support_t SportModeCmd__rosidl_typesupport_introspection_c__SportModeCmd_message_type_support_handle = {
-  0,
-  &SportModeCmd__rosidl_typesupport_introspection_c__SportModeCmd_message_members,
-  get_message_typesupport_handle_function,
-};
-
-ROSIDL_TYPESUPPORT_INTROSPECTION_C_EXPORT_unitree_go
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, unitree_go, msg, SportModeCmd)() {
-  SportModeCmd__rosidl_typesupport_introspection_c__SportModeCmd_message_member_array[9].members_ =
-    ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, unitree_go, msg, BmsCmd)();
-  SportModeCmd__rosidl_typesupport_introspection_c__SportModeCmd_message_member_array[10].members_ =
-    ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, unitree_go, msg, PathPoint)();
-  if (!SportModeCmd__rosidl_typesupport_introspection_c__SportModeCmd_message_type_support_handle.typesupport_identifier) {
-    SportModeCmd__rosidl_typesupport_introspection_c__SportModeCmd_message_type_support_handle.typesupport_identifier =
-      rosidl_typesupport_introspection_c__identifier;
-  }
-  return &SportModeCmd__rosidl_typesupport_introspection_c__SportModeCmd_message_type_support_handle;
-}
-#ifdef __cplusplus
-}
-#endif
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_cmd__type_support.cpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_cmd__type_support.cpp
deleted file mode 100644
index 6dbc31b..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_cmd__type_support.cpp
+++ /dev/null
@@ -1,337 +0,0 @@
-// generated from rosidl_typesupport_introspection_cpp/resource/idl__type_support.cpp.em
-// with input from unitree_go:msg/SportModeCmd.idl
-// generated code does not contain a copyright notice
-
-#include "array"
-#include "cstddef"
-#include "string"
-#include "vector"
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_cpp/message_type_support.hpp"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_go/msg/detail/sport_mode_cmd__struct.hpp"
-#include "rosidl_typesupport_introspection_cpp/field_types.hpp"
-#include "rosidl_typesupport_introspection_cpp/identifier.hpp"
-#include "rosidl_typesupport_introspection_cpp/message_introspection.hpp"
-#include "rosidl_typesupport_introspection_cpp/message_type_support_decl.hpp"
-#include "rosidl_typesupport_introspection_cpp/visibility_control.h"
-
-namespace unitree_go
-{
-
-namespace msg
-{
-
-namespace rosidl_typesupport_introspection_cpp
-{
-
-void SportModeCmd_init_function(
-  void * message_memory, rosidl_runtime_cpp::MessageInitialization _init)
-{
-  new (message_memory) unitree_go::msg::SportModeCmd(_init);
-}
-
-void SportModeCmd_fini_function(void * message_memory)
-{
-  auto typed_message = static_cast<unitree_go::msg::SportModeCmd *>(message_memory);
-  typed_message->~SportModeCmd();
-}
-
-size_t size_function__SportModeCmd__position(const void * untyped_member)
-{
-  (void)untyped_member;
-  return 2;
-}
-
-const void * get_const_function__SportModeCmd__position(const void * untyped_member, size_t index)
-{
-  const auto & member =
-    *reinterpret_cast<const std::array<float, 2> *>(untyped_member);
-  return &member[index];
-}
-
-void * get_function__SportModeCmd__position(void * untyped_member, size_t index)
-{
-  auto & member =
-    *reinterpret_cast<std::array<float, 2> *>(untyped_member);
-  return &member[index];
-}
-
-size_t size_function__SportModeCmd__euler(const void * untyped_member)
-{
-  (void)untyped_member;
-  return 3;
-}
-
-const void * get_const_function__SportModeCmd__euler(const void * untyped_member, size_t index)
-{
-  const auto & member =
-    *reinterpret_cast<const std::array<float, 3> *>(untyped_member);
-  return &member[index];
-}
-
-void * get_function__SportModeCmd__euler(void * untyped_member, size_t index)
-{
-  auto & member =
-    *reinterpret_cast<std::array<float, 3> *>(untyped_member);
-  return &member[index];
-}
-
-size_t size_function__SportModeCmd__velocity(const void * untyped_member)
-{
-  (void)untyped_member;
-  return 2;
-}
-
-const void * get_const_function__SportModeCmd__velocity(const void * untyped_member, size_t index)
-{
-  const auto & member =
-    *reinterpret_cast<const std::array<float, 2> *>(untyped_member);
-  return &member[index];
-}
-
-void * get_function__SportModeCmd__velocity(void * untyped_member, size_t index)
-{
-  auto & member =
-    *reinterpret_cast<std::array<float, 2> *>(untyped_member);
-  return &member[index];
-}
-
-size_t size_function__SportModeCmd__path_point(const void * untyped_member)
-{
-  (void)untyped_member;
-  return 30;
-}
-
-const void * get_const_function__SportModeCmd__path_point(const void * untyped_member, size_t index)
-{
-  const auto & member =
-    *reinterpret_cast<const std::array<unitree_go::msg::PathPoint, 30> *>(untyped_member);
-  return &member[index];
-}
-
-void * get_function__SportModeCmd__path_point(void * untyped_member, size_t index)
-{
-  auto & member =
-    *reinterpret_cast<std::array<unitree_go::msg::PathPoint, 30> *>(untyped_member);
-  return &member[index];
-}
-
-static const ::rosidl_typesupport_introspection_cpp::MessageMember SportModeCmd_message_member_array[11] = {
-  {
-    "mode",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT8,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::SportModeCmd, mode),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "gait_type",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT8,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::SportModeCmd, gait_type),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "speed_level",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT8,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::SportModeCmd, speed_level),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "foot_raise_height",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::SportModeCmd, foot_raise_height),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "body_height",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::SportModeCmd, body_height),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "position",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    true,  // is array
-    2,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::SportModeCmd, position),  // bytes offset in struct
-    nullptr,  // default value
-    size_function__SportModeCmd__position,  // size() function pointer
-    get_const_function__SportModeCmd__position,  // get_const(index) function pointer
-    get_function__SportModeCmd__position,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "euler",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    true,  // is array
-    3,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::SportModeCmd, euler),  // bytes offset in struct
-    nullptr,  // default value
-    size_function__SportModeCmd__euler,  // size() function pointer
-    get_const_function__SportModeCmd__euler,  // get_const(index) function pointer
-    get_function__SportModeCmd__euler,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "velocity",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    true,  // is array
-    2,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::SportModeCmd, velocity),  // bytes offset in struct
-    nullptr,  // default value
-    size_function__SportModeCmd__velocity,  // size() function pointer
-    get_const_function__SportModeCmd__velocity,  // get_const(index) function pointer
-    get_function__SportModeCmd__velocity,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "yaw_speed",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::SportModeCmd, yaw_speed),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "bms_cmd",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_MESSAGE,  // type
-    0,  // upper bound of string
-    ::rosidl_typesupport_introspection_cpp::get_message_type_support_handle<unitree_go::msg::BmsCmd>(),  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::SportModeCmd, bms_cmd),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "path_point",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_MESSAGE,  // type
-    0,  // upper bound of string
-    ::rosidl_typesupport_introspection_cpp::get_message_type_support_handle<unitree_go::msg::PathPoint>(),  // members of sub message
-    true,  // is array
-    30,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::SportModeCmd, path_point),  // bytes offset in struct
-    nullptr,  // default value
-    size_function__SportModeCmd__path_point,  // size() function pointer
-    get_const_function__SportModeCmd__path_point,  // get_const(index) function pointer
-    get_function__SportModeCmd__path_point,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  }
-};
-
-static const ::rosidl_typesupport_introspection_cpp::MessageMembers SportModeCmd_message_members = {
-  "unitree_go::msg",  // message namespace
-  "SportModeCmd",  // message name
-  11,  // number of fields
-  sizeof(unitree_go::msg::SportModeCmd),
-  SportModeCmd_message_member_array,  // message members
-  SportModeCmd_init_function,  // function to initialize message memory (memory has to be allocated)
-  SportModeCmd_fini_function  // function to terminate message instance (will not free memory)
-};
-
-static const rosidl_message_type_support_t SportModeCmd_message_type_support_handle = {
-  ::rosidl_typesupport_introspection_cpp::typesupport_identifier,
-  &SportModeCmd_message_members,
-  get_message_typesupport_handle_function,
-};
-
-}  // namespace rosidl_typesupport_introspection_cpp
-
-}  // namespace msg
-
-}  // namespace unitree_go
-
-
-namespace rosidl_typesupport_introspection_cpp
-{
-
-template<>
-ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
-const rosidl_message_type_support_t *
-get_message_type_support_handle<unitree_go::msg::SportModeCmd>()
-{
-  return &::unitree_go::msg::rosidl_typesupport_introspection_cpp::SportModeCmd_message_type_support_handle;
-}
-
-}  // namespace rosidl_typesupport_introspection_cpp
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_cpp, unitree_go, msg, SportModeCmd)() {
-  return &::unitree_go::msg::rosidl_typesupport_introspection_cpp::SportModeCmd_message_type_support_handle;
-}
-
-#ifdef __cplusplus
-}
-#endif
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_cmd__type_support.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_cmd__type_support.h
deleted file mode 100644
index 4d9c4cb..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_cmd__type_support.h
+++ /dev/null
@@ -1,33 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__type_support.h.em
-// with input from unitree_go:msg/SportModeCmd.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__SPORT_MODE_CMD__TYPE_SUPPORT_H_
-#define UNITREE_GO__MSG__DETAIL__SPORT_MODE_CMD__TYPE_SUPPORT_H_
-
-#include "rosidl_typesupport_interface/macros.h"
-
-#include "unitree_go/msg/rosidl_generator_c__visibility_control.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-
-// Forward declare the get type support functions for this type.
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
-  rosidl_typesupport_c,
-  unitree_go,
-  msg,
-  SportModeCmd
-)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__SPORT_MODE_CMD__TYPE_SUPPORT_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_cmd__type_support.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_cmd__type_support.hpp
deleted file mode 100644
index 70d77da..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_cmd__type_support.hpp
+++ /dev/null
@@ -1,31 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__type_support.hpp.em
-// with input from unitree_go:msg/SportModeCmd.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__SPORT_MODE_CMD__TYPE_SUPPORT_HPP_
-#define UNITREE_GO__MSG__DETAIL__SPORT_MODE_CMD__TYPE_SUPPORT_HPP_
-
-#include "rosidl_typesupport_interface/macros.h"
-
-#include "unitree_go/msg/rosidl_generator_cpp__visibility_control.hpp"
-
-#include "rosidl_typesupport_cpp/message_type_support.hpp"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-// Forward declare the get type support functions for this type.
-ROSIDL_GENERATOR_CPP_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
-  rosidl_typesupport_cpp,
-  unitree_go,
-  msg,
-  SportModeCmd
-)();
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__SPORT_MODE_CMD__TYPE_SUPPORT_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_state__builder.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_state__builder.hpp
deleted file mode 100644
index d4a8fe8..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_state__builder.hpp
+++ /dev/null
@@ -1,279 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__builder.hpp.em
-// with input from unitree_go:msg/SportModeState.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__SPORT_MODE_STATE__BUILDER_HPP_
-#define UNITREE_GO__MSG__DETAIL__SPORT_MODE_STATE__BUILDER_HPP_
-
-#include "unitree_go/msg/detail/sport_mode_state__struct.hpp"
-#include <rosidl_runtime_cpp/message_initialization.hpp>
-#include <algorithm>
-#include <utility>
-
-
-namespace unitree_go
-{
-
-namespace msg
-{
-
-namespace builder
-{
-
-class Init_SportModeState_foot_speed_body
-{
-public:
-  explicit Init_SportModeState_foot_speed_body(::unitree_go::msg::SportModeState & msg)
-  : msg_(msg)
-  {}
-  ::unitree_go::msg::SportModeState foot_speed_body(::unitree_go::msg::SportModeState::_foot_speed_body_type arg)
-  {
-    msg_.foot_speed_body = std::move(arg);
-    return std::move(msg_);
-  }
-
-private:
-  ::unitree_go::msg::SportModeState msg_;
-};
-
-class Init_SportModeState_foot_position_body
-{
-public:
-  explicit Init_SportModeState_foot_position_body(::unitree_go::msg::SportModeState & msg)
-  : msg_(msg)
-  {}
-  Init_SportModeState_foot_speed_body foot_position_body(::unitree_go::msg::SportModeState::_foot_position_body_type arg)
-  {
-    msg_.foot_position_body = std::move(arg);
-    return Init_SportModeState_foot_speed_body(msg_);
-  }
-
-private:
-  ::unitree_go::msg::SportModeState msg_;
-};
-
-class Init_SportModeState_foot_force
-{
-public:
-  explicit Init_SportModeState_foot_force(::unitree_go::msg::SportModeState & msg)
-  : msg_(msg)
-  {}
-  Init_SportModeState_foot_position_body foot_force(::unitree_go::msg::SportModeState::_foot_force_type arg)
-  {
-    msg_.foot_force = std::move(arg);
-    return Init_SportModeState_foot_position_body(msg_);
-  }
-
-private:
-  ::unitree_go::msg::SportModeState msg_;
-};
-
-class Init_SportModeState_range_obstacle
-{
-public:
-  explicit Init_SportModeState_range_obstacle(::unitree_go::msg::SportModeState & msg)
-  : msg_(msg)
-  {}
-  Init_SportModeState_foot_force range_obstacle(::unitree_go::msg::SportModeState::_range_obstacle_type arg)
-  {
-    msg_.range_obstacle = std::move(arg);
-    return Init_SportModeState_foot_force(msg_);
-  }
-
-private:
-  ::unitree_go::msg::SportModeState msg_;
-};
-
-class Init_SportModeState_yaw_speed
-{
-public:
-  explicit Init_SportModeState_yaw_speed(::unitree_go::msg::SportModeState & msg)
-  : msg_(msg)
-  {}
-  Init_SportModeState_range_obstacle yaw_speed(::unitree_go::msg::SportModeState::_yaw_speed_type arg)
-  {
-    msg_.yaw_speed = std::move(arg);
-    return Init_SportModeState_range_obstacle(msg_);
-  }
-
-private:
-  ::unitree_go::msg::SportModeState msg_;
-};
-
-class Init_SportModeState_velocity
-{
-public:
-  explicit Init_SportModeState_velocity(::unitree_go::msg::SportModeState & msg)
-  : msg_(msg)
-  {}
-  Init_SportModeState_yaw_speed velocity(::unitree_go::msg::SportModeState::_velocity_type arg)
-  {
-    msg_.velocity = std::move(arg);
-    return Init_SportModeState_yaw_speed(msg_);
-  }
-
-private:
-  ::unitree_go::msg::SportModeState msg_;
-};
-
-class Init_SportModeState_body_height
-{
-public:
-  explicit Init_SportModeState_body_height(::unitree_go::msg::SportModeState & msg)
-  : msg_(msg)
-  {}
-  Init_SportModeState_velocity body_height(::unitree_go::msg::SportModeState::_body_height_type arg)
-  {
-    msg_.body_height = std::move(arg);
-    return Init_SportModeState_velocity(msg_);
-  }
-
-private:
-  ::unitree_go::msg::SportModeState msg_;
-};
-
-class Init_SportModeState_position
-{
-public:
-  explicit Init_SportModeState_position(::unitree_go::msg::SportModeState & msg)
-  : msg_(msg)
-  {}
-  Init_SportModeState_body_height position(::unitree_go::msg::SportModeState::_position_type arg)
-  {
-    msg_.position = std::move(arg);
-    return Init_SportModeState_body_height(msg_);
-  }
-
-private:
-  ::unitree_go::msg::SportModeState msg_;
-};
-
-class Init_SportModeState_foot_raise_height
-{
-public:
-  explicit Init_SportModeState_foot_raise_height(::unitree_go::msg::SportModeState & msg)
-  : msg_(msg)
-  {}
-  Init_SportModeState_position foot_raise_height(::unitree_go::msg::SportModeState::_foot_raise_height_type arg)
-  {
-    msg_.foot_raise_height = std::move(arg);
-    return Init_SportModeState_position(msg_);
-  }
-
-private:
-  ::unitree_go::msg::SportModeState msg_;
-};
-
-class Init_SportModeState_gait_type
-{
-public:
-  explicit Init_SportModeState_gait_type(::unitree_go::msg::SportModeState & msg)
-  : msg_(msg)
-  {}
-  Init_SportModeState_foot_raise_height gait_type(::unitree_go::msg::SportModeState::_gait_type_type arg)
-  {
-    msg_.gait_type = std::move(arg);
-    return Init_SportModeState_foot_raise_height(msg_);
-  }
-
-private:
-  ::unitree_go::msg::SportModeState msg_;
-};
-
-class Init_SportModeState_progress
-{
-public:
-  explicit Init_SportModeState_progress(::unitree_go::msg::SportModeState & msg)
-  : msg_(msg)
-  {}
-  Init_SportModeState_gait_type progress(::unitree_go::msg::SportModeState::_progress_type arg)
-  {
-    msg_.progress = std::move(arg);
-    return Init_SportModeState_gait_type(msg_);
-  }
-
-private:
-  ::unitree_go::msg::SportModeState msg_;
-};
-
-class Init_SportModeState_mode
-{
-public:
-  explicit Init_SportModeState_mode(::unitree_go::msg::SportModeState & msg)
-  : msg_(msg)
-  {}
-  Init_SportModeState_progress mode(::unitree_go::msg::SportModeState::_mode_type arg)
-  {
-    msg_.mode = std::move(arg);
-    return Init_SportModeState_progress(msg_);
-  }
-
-private:
-  ::unitree_go::msg::SportModeState msg_;
-};
-
-class Init_SportModeState_imu_state
-{
-public:
-  explicit Init_SportModeState_imu_state(::unitree_go::msg::SportModeState & msg)
-  : msg_(msg)
-  {}
-  Init_SportModeState_mode imu_state(::unitree_go::msg::SportModeState::_imu_state_type arg)
-  {
-    msg_.imu_state = std::move(arg);
-    return Init_SportModeState_mode(msg_);
-  }
-
-private:
-  ::unitree_go::msg::SportModeState msg_;
-};
-
-class Init_SportModeState_error_code
-{
-public:
-  explicit Init_SportModeState_error_code(::unitree_go::msg::SportModeState & msg)
-  : msg_(msg)
-  {}
-  Init_SportModeState_imu_state error_code(::unitree_go::msg::SportModeState::_error_code_type arg)
-  {
-    msg_.error_code = std::move(arg);
-    return Init_SportModeState_imu_state(msg_);
-  }
-
-private:
-  ::unitree_go::msg::SportModeState msg_;
-};
-
-class Init_SportModeState_stamp
-{
-public:
-  Init_SportModeState_stamp()
-  : msg_(::rosidl_runtime_cpp::MessageInitialization::SKIP)
-  {}
-  Init_SportModeState_error_code stamp(::unitree_go::msg::SportModeState::_stamp_type arg)
-  {
-    msg_.stamp = std::move(arg);
-    return Init_SportModeState_error_code(msg_);
-  }
-
-private:
-  ::unitree_go::msg::SportModeState msg_;
-};
-
-}  // namespace builder
-
-}  // namespace msg
-
-template<typename MessageType>
-auto build();
-
-template<>
-inline
-auto build<::unitree_go::msg::SportModeState>()
-{
-  return unitree_go::msg::builder::Init_SportModeState_stamp();
-}
-
-}  // namespace unitree_go
-
-#endif  // UNITREE_GO__MSG__DETAIL__SPORT_MODE_STATE__BUILDER_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_state__functions.c b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_state__functions.c
deleted file mode 100644
index 4b9bfd1..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_state__functions.c
+++ /dev/null
@@ -1,395 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__functions.c.em
-// with input from unitree_go:msg/SportModeState.idl
-// generated code does not contain a copyright notice
-#include "unitree_go/msg/detail/sport_mode_state__functions.h"
-
-#include <assert.h>
-#include <stdbool.h>
-#include <stdlib.h>
-#include <string.h>
-
-#include "rcutils/allocator.h"
-
-
-// Include directives for member types
-// Member `stamp`
-#include "unitree_go/msg/detail/time_spec__functions.h"
-// Member `imu_state`
-#include "unitree_go/msg/detail/imu_state__functions.h"
-
-bool
-unitree_go__msg__SportModeState__init(unitree_go__msg__SportModeState * msg)
-{
-  if (!msg) {
-    return false;
-  }
-  // stamp
-  if (!unitree_go__msg__TimeSpec__init(&msg->stamp)) {
-    unitree_go__msg__SportModeState__fini(msg);
-    return false;
-  }
-  // error_code
-  // imu_state
-  if (!unitree_go__msg__IMUState__init(&msg->imu_state)) {
-    unitree_go__msg__SportModeState__fini(msg);
-    return false;
-  }
-  // mode
-  // progress
-  // gait_type
-  // foot_raise_height
-  // position
-  // body_height
-  // velocity
-  // yaw_speed
-  // range_obstacle
-  // foot_force
-  // foot_position_body
-  // foot_speed_body
-  return true;
-}
-
-void
-unitree_go__msg__SportModeState__fini(unitree_go__msg__SportModeState * msg)
-{
-  if (!msg) {
-    return;
-  }
-  // stamp
-  unitree_go__msg__TimeSpec__fini(&msg->stamp);
-  // error_code
-  // imu_state
-  unitree_go__msg__IMUState__fini(&msg->imu_state);
-  // mode
-  // progress
-  // gait_type
-  // foot_raise_height
-  // position
-  // body_height
-  // velocity
-  // yaw_speed
-  // range_obstacle
-  // foot_force
-  // foot_position_body
-  // foot_speed_body
-}
-
-bool
-unitree_go__msg__SportModeState__are_equal(const unitree_go__msg__SportModeState * lhs, const unitree_go__msg__SportModeState * rhs)
-{
-  if (!lhs || !rhs) {
-    return false;
-  }
-  // stamp
-  if (!unitree_go__msg__TimeSpec__are_equal(
-      &(lhs->stamp), &(rhs->stamp)))
-  {
-    return false;
-  }
-  // error_code
-  if (lhs->error_code != rhs->error_code) {
-    return false;
-  }
-  // imu_state
-  if (!unitree_go__msg__IMUState__are_equal(
-      &(lhs->imu_state), &(rhs->imu_state)))
-  {
-    return false;
-  }
-  // mode
-  if (lhs->mode != rhs->mode) {
-    return false;
-  }
-  // progress
-  if (lhs->progress != rhs->progress) {
-    return false;
-  }
-  // gait_type
-  if (lhs->gait_type != rhs->gait_type) {
-    return false;
-  }
-  // foot_raise_height
-  if (lhs->foot_raise_height != rhs->foot_raise_height) {
-    return false;
-  }
-  // position
-  for (size_t i = 0; i < 3; ++i) {
-    if (lhs->position[i] != rhs->position[i]) {
-      return false;
-    }
-  }
-  // body_height
-  if (lhs->body_height != rhs->body_height) {
-    return false;
-  }
-  // velocity
-  for (size_t i = 0; i < 3; ++i) {
-    if (lhs->velocity[i] != rhs->velocity[i]) {
-      return false;
-    }
-  }
-  // yaw_speed
-  if (lhs->yaw_speed != rhs->yaw_speed) {
-    return false;
-  }
-  // range_obstacle
-  for (size_t i = 0; i < 4; ++i) {
-    if (lhs->range_obstacle[i] != rhs->range_obstacle[i]) {
-      return false;
-    }
-  }
-  // foot_force
-  for (size_t i = 0; i < 4; ++i) {
-    if (lhs->foot_force[i] != rhs->foot_force[i]) {
-      return false;
-    }
-  }
-  // foot_position_body
-  for (size_t i = 0; i < 12; ++i) {
-    if (lhs->foot_position_body[i] != rhs->foot_position_body[i]) {
-      return false;
-    }
-  }
-  // foot_speed_body
-  for (size_t i = 0; i < 12; ++i) {
-    if (lhs->foot_speed_body[i] != rhs->foot_speed_body[i]) {
-      return false;
-    }
-  }
-  return true;
-}
-
-bool
-unitree_go__msg__SportModeState__copy(
-  const unitree_go__msg__SportModeState * input,
-  unitree_go__msg__SportModeState * output)
-{
-  if (!input || !output) {
-    return false;
-  }
-  // stamp
-  if (!unitree_go__msg__TimeSpec__copy(
-      &(input->stamp), &(output->stamp)))
-  {
-    return false;
-  }
-  // error_code
-  output->error_code = input->error_code;
-  // imu_state
-  if (!unitree_go__msg__IMUState__copy(
-      &(input->imu_state), &(output->imu_state)))
-  {
-    return false;
-  }
-  // mode
-  output->mode = input->mode;
-  // progress
-  output->progress = input->progress;
-  // gait_type
-  output->gait_type = input->gait_type;
-  // foot_raise_height
-  output->foot_raise_height = input->foot_raise_height;
-  // position
-  for (size_t i = 0; i < 3; ++i) {
-    output->position[i] = input->position[i];
-  }
-  // body_height
-  output->body_height = input->body_height;
-  // velocity
-  for (size_t i = 0; i < 3; ++i) {
-    output->velocity[i] = input->velocity[i];
-  }
-  // yaw_speed
-  output->yaw_speed = input->yaw_speed;
-  // range_obstacle
-  for (size_t i = 0; i < 4; ++i) {
-    output->range_obstacle[i] = input->range_obstacle[i];
-  }
-  // foot_force
-  for (size_t i = 0; i < 4; ++i) {
-    output->foot_force[i] = input->foot_force[i];
-  }
-  // foot_position_body
-  for (size_t i = 0; i < 12; ++i) {
-    output->foot_position_body[i] = input->foot_position_body[i];
-  }
-  // foot_speed_body
-  for (size_t i = 0; i < 12; ++i) {
-    output->foot_speed_body[i] = input->foot_speed_body[i];
-  }
-  return true;
-}
-
-unitree_go__msg__SportModeState *
-unitree_go__msg__SportModeState__create()
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  unitree_go__msg__SportModeState * msg = (unitree_go__msg__SportModeState *)allocator.allocate(sizeof(unitree_go__msg__SportModeState), allocator.state);
-  if (!msg) {
-    return NULL;
-  }
-  memset(msg, 0, sizeof(unitree_go__msg__SportModeState));
-  bool success = unitree_go__msg__SportModeState__init(msg);
-  if (!success) {
-    allocator.deallocate(msg, allocator.state);
-    return NULL;
-  }
-  return msg;
-}
-
-void
-unitree_go__msg__SportModeState__destroy(unitree_go__msg__SportModeState * msg)
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  if (msg) {
-    unitree_go__msg__SportModeState__fini(msg);
-  }
-  allocator.deallocate(msg, allocator.state);
-}
-
-
-bool
-unitree_go__msg__SportModeState__Sequence__init(unitree_go__msg__SportModeState__Sequence * array, size_t size)
-{
-  if (!array) {
-    return false;
-  }
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  unitree_go__msg__SportModeState * data = NULL;
-
-  if (size) {
-    data = (unitree_go__msg__SportModeState *)allocator.zero_allocate(size, sizeof(unitree_go__msg__SportModeState), allocator.state);
-    if (!data) {
-      return false;
-    }
-    // initialize all array elements
-    size_t i;
-    for (i = 0; i < size; ++i) {
-      bool success = unitree_go__msg__SportModeState__init(&data[i]);
-      if (!success) {
-        break;
-      }
-    }
-    if (i < size) {
-      // if initialization failed finalize the already initialized array elements
-      for (; i > 0; --i) {
-        unitree_go__msg__SportModeState__fini(&data[i - 1]);
-      }
-      allocator.deallocate(data, allocator.state);
-      return false;
-    }
-  }
-  array->data = data;
-  array->size = size;
-  array->capacity = size;
-  return true;
-}
-
-void
-unitree_go__msg__SportModeState__Sequence__fini(unitree_go__msg__SportModeState__Sequence * array)
-{
-  if (!array) {
-    return;
-  }
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-
-  if (array->data) {
-    // ensure that data and capacity values are consistent
-    assert(array->capacity > 0);
-    // finalize all array elements
-    for (size_t i = 0; i < array->capacity; ++i) {
-      unitree_go__msg__SportModeState__fini(&array->data[i]);
-    }
-    allocator.deallocate(array->data, allocator.state);
-    array->data = NULL;
-    array->size = 0;
-    array->capacity = 0;
-  } else {
-    // ensure that data, size, and capacity values are consistent
-    assert(0 == array->size);
-    assert(0 == array->capacity);
-  }
-}
-
-unitree_go__msg__SportModeState__Sequence *
-unitree_go__msg__SportModeState__Sequence__create(size_t size)
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  unitree_go__msg__SportModeState__Sequence * array = (unitree_go__msg__SportModeState__Sequence *)allocator.allocate(sizeof(unitree_go__msg__SportModeState__Sequence), allocator.state);
-  if (!array) {
-    return NULL;
-  }
-  bool success = unitree_go__msg__SportModeState__Sequence__init(array, size);
-  if (!success) {
-    allocator.deallocate(array, allocator.state);
-    return NULL;
-  }
-  return array;
-}
-
-void
-unitree_go__msg__SportModeState__Sequence__destroy(unitree_go__msg__SportModeState__Sequence * array)
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  if (array) {
-    unitree_go__msg__SportModeState__Sequence__fini(array);
-  }
-  allocator.deallocate(array, allocator.state);
-}
-
-bool
-unitree_go__msg__SportModeState__Sequence__are_equal(const unitree_go__msg__SportModeState__Sequence * lhs, const unitree_go__msg__SportModeState__Sequence * rhs)
-{
-  if (!lhs || !rhs) {
-    return false;
-  }
-  if (lhs->size != rhs->size) {
-    return false;
-  }
-  for (size_t i = 0; i < lhs->size; ++i) {
-    if (!unitree_go__msg__SportModeState__are_equal(&(lhs->data[i]), &(rhs->data[i]))) {
-      return false;
-    }
-  }
-  return true;
-}
-
-bool
-unitree_go__msg__SportModeState__Sequence__copy(
-  const unitree_go__msg__SportModeState__Sequence * input,
-  unitree_go__msg__SportModeState__Sequence * output)
-{
-  if (!input || !output) {
-    return false;
-  }
-  if (output->capacity < input->size) {
-    const size_t allocation_size =
-      input->size * sizeof(unitree_go__msg__SportModeState);
-    unitree_go__msg__SportModeState * data =
-      (unitree_go__msg__SportModeState *)realloc(output->data, allocation_size);
-    if (!data) {
-      return false;
-    }
-    for (size_t i = output->capacity; i < input->size; ++i) {
-      if (!unitree_go__msg__SportModeState__init(&data[i])) {
-        /* free currently allocated and return false */
-        for (; i-- > output->capacity; ) {
-          unitree_go__msg__SportModeState__fini(&data[i]);
-        }
-        free(data);
-        return false;
-      }
-    }
-    output->data = data;
-    output->capacity = input->size;
-  }
-  output->size = input->size;
-  for (size_t i = 0; i < input->size; ++i) {
-    if (!unitree_go__msg__SportModeState__copy(
-        &(input->data[i]), &(output->data[i])))
-    {
-      return false;
-    }
-  }
-  return true;
-}
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_state__functions.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_state__functions.h
deleted file mode 100644
index 5943f7e..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_state__functions.h
+++ /dev/null
@@ -1,177 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__functions.h.em
-// with input from unitree_go:msg/SportModeState.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__SPORT_MODE_STATE__FUNCTIONS_H_
-#define UNITREE_GO__MSG__DETAIL__SPORT_MODE_STATE__FUNCTIONS_H_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include <stdbool.h>
-#include <stdlib.h>
-
-#include "rosidl_runtime_c/visibility_control.h"
-#include "unitree_go/msg/rosidl_generator_c__visibility_control.h"
-
-#include "unitree_go/msg/detail/sport_mode_state__struct.h"
-
-/// Initialize msg/SportModeState message.
-/**
- * If the init function is called twice for the same message without
- * calling fini inbetween previously allocated memory will be leaked.
- * \param[in,out] msg The previously allocated message pointer.
- * Fields without a default value will not be initialized by this function.
- * You might want to call memset(msg, 0, sizeof(
- * unitree_go__msg__SportModeState
- * )) before or use
- * unitree_go__msg__SportModeState__create()
- * to allocate and initialize the message.
- * \return true if initialization was successful, otherwise false
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__SportModeState__init(unitree_go__msg__SportModeState * msg);
-
-/// Finalize msg/SportModeState message.
-/**
- * \param[in,out] msg The allocated message pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-void
-unitree_go__msg__SportModeState__fini(unitree_go__msg__SportModeState * msg);
-
-/// Create msg/SportModeState message.
-/**
- * It allocates the memory for the message, sets the memory to zero, and
- * calls
- * unitree_go__msg__SportModeState__init().
- * \return The pointer to the initialized message if successful,
- * otherwise NULL
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-unitree_go__msg__SportModeState *
-unitree_go__msg__SportModeState__create();
-
-/// Destroy msg/SportModeState message.
-/**
- * It calls
- * unitree_go__msg__SportModeState__fini()
- * and frees the memory of the message.
- * \param[in,out] msg The allocated message pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-void
-unitree_go__msg__SportModeState__destroy(unitree_go__msg__SportModeState * msg);
-
-/// Check for msg/SportModeState message equality.
-/**
- * \param[in] lhs The message on the left hand size of the equality operator.
- * \param[in] rhs The message on the right hand size of the equality operator.
- * \return true if messages are equal, otherwise false.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__SportModeState__are_equal(const unitree_go__msg__SportModeState * lhs, const unitree_go__msg__SportModeState * rhs);
-
-/// Copy a msg/SportModeState message.
-/**
- * This functions performs a deep copy, as opposed to the shallow copy that
- * plain assignment yields.
- *
- * \param[in] input The source message pointer.
- * \param[out] output The target message pointer, which must
- *   have been initialized before calling this function.
- * \return true if successful, or false if either pointer is null
- *   or memory allocation fails.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__SportModeState__copy(
-  const unitree_go__msg__SportModeState * input,
-  unitree_go__msg__SportModeState * output);
-
-/// Initialize array of msg/SportModeState messages.
-/**
- * It allocates the memory for the number of elements and calls
- * unitree_go__msg__SportModeState__init()
- * for each element of the array.
- * \param[in,out] array The allocated array pointer.
- * \param[in] size The size / capacity of the array.
- * \return true if initialization was successful, otherwise false
- * If the array pointer is valid and the size is zero it is guaranteed
- # to return true.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__SportModeState__Sequence__init(unitree_go__msg__SportModeState__Sequence * array, size_t size);
-
-/// Finalize array of msg/SportModeState messages.
-/**
- * It calls
- * unitree_go__msg__SportModeState__fini()
- * for each element of the array and frees the memory for the number of
- * elements.
- * \param[in,out] array The initialized array pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-void
-unitree_go__msg__SportModeState__Sequence__fini(unitree_go__msg__SportModeState__Sequence * array);
-
-/// Create array of msg/SportModeState messages.
-/**
- * It allocates the memory for the array and calls
- * unitree_go__msg__SportModeState__Sequence__init().
- * \param[in] size The size / capacity of the array.
- * \return The pointer to the initialized array if successful, otherwise NULL
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-unitree_go__msg__SportModeState__Sequence *
-unitree_go__msg__SportModeState__Sequence__create(size_t size);
-
-/// Destroy array of msg/SportModeState messages.
-/**
- * It calls
- * unitree_go__msg__SportModeState__Sequence__fini()
- * on the array,
- * and frees the memory of the array.
- * \param[in,out] array The initialized array pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-void
-unitree_go__msg__SportModeState__Sequence__destroy(unitree_go__msg__SportModeState__Sequence * array);
-
-/// Check for msg/SportModeState message array equality.
-/**
- * \param[in] lhs The message array on the left hand size of the equality operator.
- * \param[in] rhs The message array on the right hand size of the equality operator.
- * \return true if message arrays are equal in size and content, otherwise false.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__SportModeState__Sequence__are_equal(const unitree_go__msg__SportModeState__Sequence * lhs, const unitree_go__msg__SportModeState__Sequence * rhs);
-
-/// Copy an array of msg/SportModeState messages.
-/**
- * This functions performs a deep copy, as opposed to the shallow copy that
- * plain assignment yields.
- *
- * \param[in] input The source array pointer.
- * \param[out] output The target array pointer, which must
- *   have been initialized before calling this function.
- * \return true if successful, or false if either pointer
- *   is null or memory allocation fails.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__SportModeState__Sequence__copy(
-  const unitree_go__msg__SportModeState__Sequence * input,
-  unitree_go__msg__SportModeState__Sequence * output);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__SPORT_MODE_STATE__FUNCTIONS_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_state__rosidl_typesupport_fastrtps_c.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_state__rosidl_typesupport_fastrtps_c.h
deleted file mode 100644
index 6ea7d97..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_state__rosidl_typesupport_fastrtps_c.h
+++ /dev/null
@@ -1,36 +0,0 @@
-// generated from rosidl_typesupport_fastrtps_c/resource/idl__rosidl_typesupport_fastrtps_c.h.em
-// with input from unitree_go:msg/SportModeState.idl
-// generated code does not contain a copyright notice
-#ifndef UNITREE_GO__MSG__DETAIL__SPORT_MODE_STATE__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_
-#define UNITREE_GO__MSG__DETAIL__SPORT_MODE_STATE__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_
-
-
-#include <stddef.h>
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_go/msg/rosidl_typesupport_fastrtps_c__visibility_control.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_go
-size_t get_serialized_size_unitree_go__msg__SportModeState(
-  const void * untyped_ros_message,
-  size_t current_alignment);
-
-ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_go
-size_t max_serialized_size_unitree_go__msg__SportModeState(
-  bool & full_bounded,
-  size_t current_alignment);
-
-ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_fastrtps_c, unitree_go, msg, SportModeState)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__SPORT_MODE_STATE__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_state__rosidl_typesupport_fastrtps_cpp.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_state__rosidl_typesupport_fastrtps_cpp.hpp
deleted file mode 100644
index a254bc2..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_state__rosidl_typesupport_fastrtps_cpp.hpp
+++ /dev/null
@@ -1,79 +0,0 @@
-// generated from rosidl_typesupport_fastrtps_cpp/resource/idl__rosidl_typesupport_fastrtps_cpp.hpp.em
-// with input from unitree_go:msg/SportModeState.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__SPORT_MODE_STATE__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_
-#define UNITREE_GO__MSG__DETAIL__SPORT_MODE_STATE__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_go/msg/rosidl_typesupport_fastrtps_cpp__visibility_control.h"
-#include "unitree_go/msg/detail/sport_mode_state__struct.hpp"
-
-#ifndef _WIN32
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wunused-parameter"
-# ifdef __clang__
-#  pragma clang diagnostic ignored "-Wdeprecated-register"
-#  pragma clang diagnostic ignored "-Wreturn-type-c-linkage"
-# endif
-#endif
-#ifndef _WIN32
-# pragma GCC diagnostic pop
-#endif
-
-#include "fastcdr/Cdr.h"
-
-namespace unitree_go
-{
-
-namespace msg
-{
-
-namespace typesupport_fastrtps_cpp
-{
-
-bool
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-cdr_serialize(
-  const unitree_go::msg::SportModeState & ros_message,
-  eprosima::fastcdr::Cdr & cdr);
-
-bool
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-cdr_deserialize(
-  eprosima::fastcdr::Cdr & cdr,
-  unitree_go::msg::SportModeState & ros_message);
-
-size_t
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-get_serialized_size(
-  const unitree_go::msg::SportModeState & ros_message,
-  size_t current_alignment);
-
-size_t
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-max_serialized_size_SportModeState(
-  bool & full_bounded,
-  size_t current_alignment);
-
-}  // namespace typesupport_fastrtps_cpp
-
-}  // namespace msg
-
-}  // namespace unitree_go
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_fastrtps_cpp, unitree_go, msg, SportModeState)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__SPORT_MODE_STATE__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_state__rosidl_typesupport_introspection_c.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_state__rosidl_typesupport_introspection_c.h
deleted file mode 100644
index a6c7219..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_state__rosidl_typesupport_introspection_c.h
+++ /dev/null
@@ -1,26 +0,0 @@
-// generated from rosidl_typesupport_introspection_c/resource/idl__rosidl_typesupport_introspection_c.h.em
-// with input from unitree_go:msg/SportModeState.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__SPORT_MODE_STATE__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
-#define UNITREE_GO__MSG__DETAIL__SPORT_MODE_STATE__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_go/msg/rosidl_typesupport_introspection_c__visibility_control.h"
-
-ROSIDL_TYPESUPPORT_INTROSPECTION_C_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, unitree_go, msg, SportModeState)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__SPORT_MODE_STATE__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_state__rosidl_typesupport_introspection_cpp.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_state__rosidl_typesupport_introspection_cpp.hpp
deleted file mode 100644
index 44fc169..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_state__rosidl_typesupport_introspection_cpp.hpp
+++ /dev/null
@@ -1,27 +0,0 @@
-// generated from rosidl_typesupport_introspection_cpp/resource/idl__rosidl_typesupport_introspection_cpp.h.em
-// with input from unitree_go:msg/SportModeState.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__SPORT_MODE_STATE__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_
-#define UNITREE_GO__MSG__DETAIL__SPORT_MODE_STATE__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_
-
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "rosidl_typesupport_introspection_cpp/visibility_control.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-// TODO(dirk-thomas) these visibility macros should be message package specific
-ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
-const rosidl_message_type_support_t *
-  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_cpp, unitree_go, msg, SportModeState)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__SPORT_MODE_STATE__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_state__struct.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_state__struct.h
deleted file mode 100644
index fd4313d..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_state__struct.h
+++ /dev/null
@@ -1,60 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__struct.h.em
-// with input from unitree_go:msg/SportModeState.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__SPORT_MODE_STATE__STRUCT_H_
-#define UNITREE_GO__MSG__DETAIL__SPORT_MODE_STATE__STRUCT_H_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include <stdbool.h>
-#include <stddef.h>
-#include <stdint.h>
-
-
-// Constants defined in the message
-
-// Include directives for member types
-// Member 'stamp'
-#include "unitree_go/msg/detail/time_spec__struct.h"
-// Member 'imu_state'
-#include "unitree_go/msg/detail/imu_state__struct.h"
-
-// Struct defined in msg/SportModeState in the package unitree_go.
-typedef struct unitree_go__msg__SportModeState
-{
-  unitree_go__msg__TimeSpec stamp;
-  uint32_t error_code;
-  unitree_go__msg__IMUState imu_state;
-  uint8_t mode;
-  float progress;
-  uint8_t gait_type;
-  float foot_raise_height;
-  float position[3];
-  float body_height;
-  float velocity[3];
-  float yaw_speed;
-  float range_obstacle[4];
-  int16_t foot_force[4];
-  float foot_position_body[12];
-  float foot_speed_body[12];
-} unitree_go__msg__SportModeState;
-
-// Struct for a sequence of unitree_go__msg__SportModeState.
-typedef struct unitree_go__msg__SportModeState__Sequence
-{
-  unitree_go__msg__SportModeState * data;
-  /// The number of valid items in data
-  size_t size;
-  /// The number of allocated items in data
-  size_t capacity;
-} unitree_go__msg__SportModeState__Sequence;
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__SPORT_MODE_STATE__STRUCT_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_state__struct.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_state__struct.hpp
deleted file mode 100644
index 96823eb..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_state__struct.hpp
+++ /dev/null
@@ -1,337 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__struct.hpp.em
-// with input from unitree_go:msg/SportModeState.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__SPORT_MODE_STATE__STRUCT_HPP_
-#define UNITREE_GO__MSG__DETAIL__SPORT_MODE_STATE__STRUCT_HPP_
-
-#include <rosidl_runtime_cpp/bounded_vector.hpp>
-#include <rosidl_runtime_cpp/message_initialization.hpp>
-#include <algorithm>
-#include <array>
-#include <memory>
-#include <string>
-#include <vector>
-
-
-// Include directives for member types
-// Member 'stamp'
-#include "unitree_go/msg/detail/time_spec__struct.hpp"
-// Member 'imu_state'
-#include "unitree_go/msg/detail/imu_state__struct.hpp"
-
-#ifndef _WIN32
-# define DEPRECATED__unitree_go__msg__SportModeState __attribute__((deprecated))
-#else
-# define DEPRECATED__unitree_go__msg__SportModeState __declspec(deprecated)
-#endif
-
-namespace unitree_go
-{
-
-namespace msg
-{
-
-// message struct
-template<class ContainerAllocator>
-struct SportModeState_
-{
-  using Type = SportModeState_<ContainerAllocator>;
-
-  explicit SportModeState_(rosidl_runtime_cpp::MessageInitialization _init = rosidl_runtime_cpp::MessageInitialization::ALL)
-  : stamp(_init),
-    imu_state(_init)
-  {
-    if (rosidl_runtime_cpp::MessageInitialization::ALL == _init ||
-      rosidl_runtime_cpp::MessageInitialization::ZERO == _init)
-    {
-      this->error_code = 0ul;
-      this->mode = 0;
-      this->progress = 0.0f;
-      this->gait_type = 0;
-      this->foot_raise_height = 0.0f;
-      std::fill<typename std::array<float, 3>::iterator, float>(this->position.begin(), this->position.end(), 0.0f);
-      this->body_height = 0.0f;
-      std::fill<typename std::array<float, 3>::iterator, float>(this->velocity.begin(), this->velocity.end(), 0.0f);
-      this->yaw_speed = 0.0f;
-      std::fill<typename std::array<float, 4>::iterator, float>(this->range_obstacle.begin(), this->range_obstacle.end(), 0.0f);
-      std::fill<typename std::array<int16_t, 4>::iterator, int16_t>(this->foot_force.begin(), this->foot_force.end(), 0);
-      std::fill<typename std::array<float, 12>::iterator, float>(this->foot_position_body.begin(), this->foot_position_body.end(), 0.0f);
-      std::fill<typename std::array<float, 12>::iterator, float>(this->foot_speed_body.begin(), this->foot_speed_body.end(), 0.0f);
-    }
-  }
-
-  explicit SportModeState_(const ContainerAllocator & _alloc, rosidl_runtime_cpp::MessageInitialization _init = rosidl_runtime_cpp::MessageInitialization::ALL)
-  : stamp(_alloc, _init),
-    imu_state(_alloc, _init),
-    position(_alloc),
-    velocity(_alloc),
-    range_obstacle(_alloc),
-    foot_force(_alloc),
-    foot_position_body(_alloc),
-    foot_speed_body(_alloc)
-  {
-    if (rosidl_runtime_cpp::MessageInitialization::ALL == _init ||
-      rosidl_runtime_cpp::MessageInitialization::ZERO == _init)
-    {
-      this->error_code = 0ul;
-      this->mode = 0;
-      this->progress = 0.0f;
-      this->gait_type = 0;
-      this->foot_raise_height = 0.0f;
-      std::fill<typename std::array<float, 3>::iterator, float>(this->position.begin(), this->position.end(), 0.0f);
-      this->body_height = 0.0f;
-      std::fill<typename std::array<float, 3>::iterator, float>(this->velocity.begin(), this->velocity.end(), 0.0f);
-      this->yaw_speed = 0.0f;
-      std::fill<typename std::array<float, 4>::iterator, float>(this->range_obstacle.begin(), this->range_obstacle.end(), 0.0f);
-      std::fill<typename std::array<int16_t, 4>::iterator, int16_t>(this->foot_force.begin(), this->foot_force.end(), 0);
-      std::fill<typename std::array<float, 12>::iterator, float>(this->foot_position_body.begin(), this->foot_position_body.end(), 0.0f);
-      std::fill<typename std::array<float, 12>::iterator, float>(this->foot_speed_body.begin(), this->foot_speed_body.end(), 0.0f);
-    }
-  }
-
-  // field types and members
-  using _stamp_type =
-    unitree_go::msg::TimeSpec_<ContainerAllocator>;
-  _stamp_type stamp;
-  using _error_code_type =
-    uint32_t;
-  _error_code_type error_code;
-  using _imu_state_type =
-    unitree_go::msg::IMUState_<ContainerAllocator>;
-  _imu_state_type imu_state;
-  using _mode_type =
-    uint8_t;
-  _mode_type mode;
-  using _progress_type =
-    float;
-  _progress_type progress;
-  using _gait_type_type =
-    uint8_t;
-  _gait_type_type gait_type;
-  using _foot_raise_height_type =
-    float;
-  _foot_raise_height_type foot_raise_height;
-  using _position_type =
-    std::array<float, 3>;
-  _position_type position;
-  using _body_height_type =
-    float;
-  _body_height_type body_height;
-  using _velocity_type =
-    std::array<float, 3>;
-  _velocity_type velocity;
-  using _yaw_speed_type =
-    float;
-  _yaw_speed_type yaw_speed;
-  using _range_obstacle_type =
-    std::array<float, 4>;
-  _range_obstacle_type range_obstacle;
-  using _foot_force_type =
-    std::array<int16_t, 4>;
-  _foot_force_type foot_force;
-  using _foot_position_body_type =
-    std::array<float, 12>;
-  _foot_position_body_type foot_position_body;
-  using _foot_speed_body_type =
-    std::array<float, 12>;
-  _foot_speed_body_type foot_speed_body;
-
-  // setters for named parameter idiom
-  Type & set__stamp(
-    const unitree_go::msg::TimeSpec_<ContainerAllocator> & _arg)
-  {
-    this->stamp = _arg;
-    return *this;
-  }
-  Type & set__error_code(
-    const uint32_t & _arg)
-  {
-    this->error_code = _arg;
-    return *this;
-  }
-  Type & set__imu_state(
-    const unitree_go::msg::IMUState_<ContainerAllocator> & _arg)
-  {
-    this->imu_state = _arg;
-    return *this;
-  }
-  Type & set__mode(
-    const uint8_t & _arg)
-  {
-    this->mode = _arg;
-    return *this;
-  }
-  Type & set__progress(
-    const float & _arg)
-  {
-    this->progress = _arg;
-    return *this;
-  }
-  Type & set__gait_type(
-    const uint8_t & _arg)
-  {
-    this->gait_type = _arg;
-    return *this;
-  }
-  Type & set__foot_raise_height(
-    const float & _arg)
-  {
-    this->foot_raise_height = _arg;
-    return *this;
-  }
-  Type & set__position(
-    const std::array<float, 3> & _arg)
-  {
-    this->position = _arg;
-    return *this;
-  }
-  Type & set__body_height(
-    const float & _arg)
-  {
-    this->body_height = _arg;
-    return *this;
-  }
-  Type & set__velocity(
-    const std::array<float, 3> & _arg)
-  {
-    this->velocity = _arg;
-    return *this;
-  }
-  Type & set__yaw_speed(
-    const float & _arg)
-  {
-    this->yaw_speed = _arg;
-    return *this;
-  }
-  Type & set__range_obstacle(
-    const std::array<float, 4> & _arg)
-  {
-    this->range_obstacle = _arg;
-    return *this;
-  }
-  Type & set__foot_force(
-    const std::array<int16_t, 4> & _arg)
-  {
-    this->foot_force = _arg;
-    return *this;
-  }
-  Type & set__foot_position_body(
-    const std::array<float, 12> & _arg)
-  {
-    this->foot_position_body = _arg;
-    return *this;
-  }
-  Type & set__foot_speed_body(
-    const std::array<float, 12> & _arg)
-  {
-    this->foot_speed_body = _arg;
-    return *this;
-  }
-
-  // constant declarations
-
-  // pointer types
-  using RawPtr =
-    unitree_go::msg::SportModeState_<ContainerAllocator> *;
-  using ConstRawPtr =
-    const unitree_go::msg::SportModeState_<ContainerAllocator> *;
-  using SharedPtr =
-    std::shared_ptr<unitree_go::msg::SportModeState_<ContainerAllocator>>;
-  using ConstSharedPtr =
-    std::shared_ptr<unitree_go::msg::SportModeState_<ContainerAllocator> const>;
-
-  template<typename Deleter = std::default_delete<
-      unitree_go::msg::SportModeState_<ContainerAllocator>>>
-  using UniquePtrWithDeleter =
-    std::unique_ptr<unitree_go::msg::SportModeState_<ContainerAllocator>, Deleter>;
-
-  using UniquePtr = UniquePtrWithDeleter<>;
-
-  template<typename Deleter = std::default_delete<
-      unitree_go::msg::SportModeState_<ContainerAllocator>>>
-  using ConstUniquePtrWithDeleter =
-    std::unique_ptr<unitree_go::msg::SportModeState_<ContainerAllocator> const, Deleter>;
-  using ConstUniquePtr = ConstUniquePtrWithDeleter<>;
-
-  using WeakPtr =
-    std::weak_ptr<unitree_go::msg::SportModeState_<ContainerAllocator>>;
-  using ConstWeakPtr =
-    std::weak_ptr<unitree_go::msg::SportModeState_<ContainerAllocator> const>;
-
-  // pointer types similar to ROS 1, use SharedPtr / ConstSharedPtr instead
-  // NOTE: Can't use 'using' here because GNU C++ can't parse attributes properly
-  typedef DEPRECATED__unitree_go__msg__SportModeState
-    std::shared_ptr<unitree_go::msg::SportModeState_<ContainerAllocator>>
-    Ptr;
-  typedef DEPRECATED__unitree_go__msg__SportModeState
-    std::shared_ptr<unitree_go::msg::SportModeState_<ContainerAllocator> const>
-    ConstPtr;
-
-  // comparison operators
-  bool operator==(const SportModeState_ & other) const
-  {
-    if (this->stamp != other.stamp) {
-      return false;
-    }
-    if (this->error_code != other.error_code) {
-      return false;
-    }
-    if (this->imu_state != other.imu_state) {
-      return false;
-    }
-    if (this->mode != other.mode) {
-      return false;
-    }
-    if (this->progress != other.progress) {
-      return false;
-    }
-    if (this->gait_type != other.gait_type) {
-      return false;
-    }
-    if (this->foot_raise_height != other.foot_raise_height) {
-      return false;
-    }
-    if (this->position != other.position) {
-      return false;
-    }
-    if (this->body_height != other.body_height) {
-      return false;
-    }
-    if (this->velocity != other.velocity) {
-      return false;
-    }
-    if (this->yaw_speed != other.yaw_speed) {
-      return false;
-    }
-    if (this->range_obstacle != other.range_obstacle) {
-      return false;
-    }
-    if (this->foot_force != other.foot_force) {
-      return false;
-    }
-    if (this->foot_position_body != other.foot_position_body) {
-      return false;
-    }
-    if (this->foot_speed_body != other.foot_speed_body) {
-      return false;
-    }
-    return true;
-  }
-  bool operator!=(const SportModeState_ & other) const
-  {
-    return !this->operator==(other);
-  }
-};  // struct SportModeState_
-
-// alias to use template instance with default allocator
-using SportModeState =
-  unitree_go::msg::SportModeState_<std::allocator<void>>;
-
-// constant definitions
-
-}  // namespace msg
-
-}  // namespace unitree_go
-
-#endif  // UNITREE_GO__MSG__DETAIL__SPORT_MODE_STATE__STRUCT_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_state__traits.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_state__traits.hpp
deleted file mode 100644
index e71869f..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_state__traits.hpp
+++ /dev/null
@@ -1,48 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__traits.hpp.em
-// with input from unitree_go:msg/SportModeState.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__SPORT_MODE_STATE__TRAITS_HPP_
-#define UNITREE_GO__MSG__DETAIL__SPORT_MODE_STATE__TRAITS_HPP_
-
-#include "unitree_go/msg/detail/sport_mode_state__struct.hpp"
-#include <rosidl_runtime_cpp/traits.hpp>
-#include <stdint.h>
-#include <type_traits>
-
-// Include directives for member types
-// Member 'stamp'
-#include "unitree_go/msg/detail/time_spec__traits.hpp"
-// Member 'imu_state'
-#include "unitree_go/msg/detail/imu_state__traits.hpp"
-
-namespace rosidl_generator_traits
-{
-
-template<>
-inline const char * data_type<unitree_go::msg::SportModeState>()
-{
-  return "unitree_go::msg::SportModeState";
-}
-
-template<>
-inline const char * name<unitree_go::msg::SportModeState>()
-{
-  return "unitree_go/msg/SportModeState";
-}
-
-template<>
-struct has_fixed_size<unitree_go::msg::SportModeState>
-  : std::integral_constant<bool, has_fixed_size<unitree_go::msg::IMUState>::value && has_fixed_size<unitree_go::msg::TimeSpec>::value> {};
-
-template<>
-struct has_bounded_size<unitree_go::msg::SportModeState>
-  : std::integral_constant<bool, has_bounded_size<unitree_go::msg::IMUState>::value && has_bounded_size<unitree_go::msg::TimeSpec>::value> {};
-
-template<>
-struct is_message<unitree_go::msg::SportModeState>
-  : std::true_type {};
-
-}  // namespace rosidl_generator_traits
-
-#endif  // UNITREE_GO__MSG__DETAIL__SPORT_MODE_STATE__TRAITS_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_state__type_support.c b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_state__type_support.c
deleted file mode 100644
index 83ba35b..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_state__type_support.c
+++ /dev/null
@@ -1,305 +0,0 @@
-// generated from rosidl_typesupport_introspection_c/resource/idl__type_support.c.em
-// with input from unitree_go:msg/SportModeState.idl
-// generated code does not contain a copyright notice
-
-#include <stddef.h>
-#include "unitree_go/msg/detail/sport_mode_state__rosidl_typesupport_introspection_c.h"
-#include "unitree_go/msg/rosidl_typesupport_introspection_c__visibility_control.h"
-#include "rosidl_typesupport_introspection_c/field_types.h"
-#include "rosidl_typesupport_introspection_c/identifier.h"
-#include "rosidl_typesupport_introspection_c/message_introspection.h"
-#include "unitree_go/msg/detail/sport_mode_state__functions.h"
-#include "unitree_go/msg/detail/sport_mode_state__struct.h"
-
-
-// Include directives for member types
-// Member `stamp`
-#include "unitree_go/msg/time_spec.h"
-// Member `stamp`
-#include "unitree_go/msg/detail/time_spec__rosidl_typesupport_introspection_c.h"
-// Member `imu_state`
-#include "unitree_go/msg/imu_state.h"
-// Member `imu_state`
-#include "unitree_go/msg/detail/imu_state__rosidl_typesupport_introspection_c.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-void SportModeState__rosidl_typesupport_introspection_c__SportModeState_init_function(
-  void * message_memory, enum rosidl_runtime_c__message_initialization _init)
-{
-  // TODO(karsten1987): initializers are not yet implemented for typesupport c
-  // see https://github.com/ros2/ros2/issues/397
-  (void) _init;
-  unitree_go__msg__SportModeState__init(message_memory);
-}
-
-void SportModeState__rosidl_typesupport_introspection_c__SportModeState_fini_function(void * message_memory)
-{
-  unitree_go__msg__SportModeState__fini(message_memory);
-}
-
-static rosidl_typesupport_introspection_c__MessageMember SportModeState__rosidl_typesupport_introspection_c__SportModeState_message_member_array[15] = {
-  {
-    "stamp",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_MESSAGE,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message (initialized later)
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__SportModeState, stamp),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "error_code",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_UINT32,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__SportModeState, error_code),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "imu_state",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_MESSAGE,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message (initialized later)
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__SportModeState, imu_state),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "mode",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_UINT8,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__SportModeState, mode),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "progress",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__SportModeState, progress),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "gait_type",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_UINT8,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__SportModeState, gait_type),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "foot_raise_height",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__SportModeState, foot_raise_height),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "position",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    true,  // is array
-    3,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__SportModeState, position),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "body_height",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__SportModeState, body_height),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "velocity",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    true,  // is array
-    3,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__SportModeState, velocity),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "yaw_speed",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__SportModeState, yaw_speed),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "range_obstacle",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    true,  // is array
-    4,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__SportModeState, range_obstacle),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "foot_force",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_INT16,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    true,  // is array
-    4,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__SportModeState, foot_force),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "foot_position_body",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    true,  // is array
-    12,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__SportModeState, foot_position_body),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "foot_speed_body",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    true,  // is array
-    12,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__SportModeState, foot_speed_body),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  }
-};
-
-static const rosidl_typesupport_introspection_c__MessageMembers SportModeState__rosidl_typesupport_introspection_c__SportModeState_message_members = {
-  "unitree_go__msg",  // message namespace
-  "SportModeState",  // message name
-  15,  // number of fields
-  sizeof(unitree_go__msg__SportModeState),
-  SportModeState__rosidl_typesupport_introspection_c__SportModeState_message_member_array,  // message members
-  SportModeState__rosidl_typesupport_introspection_c__SportModeState_init_function,  // function to initialize message memory (memory has to be allocated)
-  SportModeState__rosidl_typesupport_introspection_c__SportModeState_fini_function  // function to terminate message instance (will not free memory)
-};
-
-// this is not const since it must be initialized on first access
-// since C does not allow non-integral compile-time constants
-static rosidl_message_type_support_t SportModeState__rosidl_typesupport_introspection_c__SportModeState_message_type_support_handle = {
-  0,
-  &SportModeState__rosidl_typesupport_introspection_c__SportModeState_message_members,
-  get_message_typesupport_handle_function,
-};
-
-ROSIDL_TYPESUPPORT_INTROSPECTION_C_EXPORT_unitree_go
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, unitree_go, msg, SportModeState)() {
-  SportModeState__rosidl_typesupport_introspection_c__SportModeState_message_member_array[0].members_ =
-    ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, unitree_go, msg, TimeSpec)();
-  SportModeState__rosidl_typesupport_introspection_c__SportModeState_message_member_array[2].members_ =
-    ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, unitree_go, msg, IMUState)();
-  if (!SportModeState__rosidl_typesupport_introspection_c__SportModeState_message_type_support_handle.typesupport_identifier) {
-    SportModeState__rosidl_typesupport_introspection_c__SportModeState_message_type_support_handle.typesupport_identifier =
-      rosidl_typesupport_introspection_c__identifier;
-  }
-  return &SportModeState__rosidl_typesupport_introspection_c__SportModeState_message_type_support_handle;
-}
-#ifdef __cplusplus
-}
-#endif
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_state__type_support.cpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_state__type_support.cpp
deleted file mode 100644
index 6386bc1..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_state__type_support.cpp
+++ /dev/null
@@ -1,437 +0,0 @@
-// generated from rosidl_typesupport_introspection_cpp/resource/idl__type_support.cpp.em
-// with input from unitree_go:msg/SportModeState.idl
-// generated code does not contain a copyright notice
-
-#include "array"
-#include "cstddef"
-#include "string"
-#include "vector"
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_cpp/message_type_support.hpp"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_go/msg/detail/sport_mode_state__struct.hpp"
-#include "rosidl_typesupport_introspection_cpp/field_types.hpp"
-#include "rosidl_typesupport_introspection_cpp/identifier.hpp"
-#include "rosidl_typesupport_introspection_cpp/message_introspection.hpp"
-#include "rosidl_typesupport_introspection_cpp/message_type_support_decl.hpp"
-#include "rosidl_typesupport_introspection_cpp/visibility_control.h"
-
-namespace unitree_go
-{
-
-namespace msg
-{
-
-namespace rosidl_typesupport_introspection_cpp
-{
-
-void SportModeState_init_function(
-  void * message_memory, rosidl_runtime_cpp::MessageInitialization _init)
-{
-  new (message_memory) unitree_go::msg::SportModeState(_init);
-}
-
-void SportModeState_fini_function(void * message_memory)
-{
-  auto typed_message = static_cast<unitree_go::msg::SportModeState *>(message_memory);
-  typed_message->~SportModeState();
-}
-
-size_t size_function__SportModeState__position(const void * untyped_member)
-{
-  (void)untyped_member;
-  return 3;
-}
-
-const void * get_const_function__SportModeState__position(const void * untyped_member, size_t index)
-{
-  const auto & member =
-    *reinterpret_cast<const std::array<float, 3> *>(untyped_member);
-  return &member[index];
-}
-
-void * get_function__SportModeState__position(void * untyped_member, size_t index)
-{
-  auto & member =
-    *reinterpret_cast<std::array<float, 3> *>(untyped_member);
-  return &member[index];
-}
-
-size_t size_function__SportModeState__velocity(const void * untyped_member)
-{
-  (void)untyped_member;
-  return 3;
-}
-
-const void * get_const_function__SportModeState__velocity(const void * untyped_member, size_t index)
-{
-  const auto & member =
-    *reinterpret_cast<const std::array<float, 3> *>(untyped_member);
-  return &member[index];
-}
-
-void * get_function__SportModeState__velocity(void * untyped_member, size_t index)
-{
-  auto & member =
-    *reinterpret_cast<std::array<float, 3> *>(untyped_member);
-  return &member[index];
-}
-
-size_t size_function__SportModeState__range_obstacle(const void * untyped_member)
-{
-  (void)untyped_member;
-  return 4;
-}
-
-const void * get_const_function__SportModeState__range_obstacle(const void * untyped_member, size_t index)
-{
-  const auto & member =
-    *reinterpret_cast<const std::array<float, 4> *>(untyped_member);
-  return &member[index];
-}
-
-void * get_function__SportModeState__range_obstacle(void * untyped_member, size_t index)
-{
-  auto & member =
-    *reinterpret_cast<std::array<float, 4> *>(untyped_member);
-  return &member[index];
-}
-
-size_t size_function__SportModeState__foot_force(const void * untyped_member)
-{
-  (void)untyped_member;
-  return 4;
-}
-
-const void * get_const_function__SportModeState__foot_force(const void * untyped_member, size_t index)
-{
-  const auto & member =
-    *reinterpret_cast<const std::array<int16_t, 4> *>(untyped_member);
-  return &member[index];
-}
-
-void * get_function__SportModeState__foot_force(void * untyped_member, size_t index)
-{
-  auto & member =
-    *reinterpret_cast<std::array<int16_t, 4> *>(untyped_member);
-  return &member[index];
-}
-
-size_t size_function__SportModeState__foot_position_body(const void * untyped_member)
-{
-  (void)untyped_member;
-  return 12;
-}
-
-const void * get_const_function__SportModeState__foot_position_body(const void * untyped_member, size_t index)
-{
-  const auto & member =
-    *reinterpret_cast<const std::array<float, 12> *>(untyped_member);
-  return &member[index];
-}
-
-void * get_function__SportModeState__foot_position_body(void * untyped_member, size_t index)
-{
-  auto & member =
-    *reinterpret_cast<std::array<float, 12> *>(untyped_member);
-  return &member[index];
-}
-
-size_t size_function__SportModeState__foot_speed_body(const void * untyped_member)
-{
-  (void)untyped_member;
-  return 12;
-}
-
-const void * get_const_function__SportModeState__foot_speed_body(const void * untyped_member, size_t index)
-{
-  const auto & member =
-    *reinterpret_cast<const std::array<float, 12> *>(untyped_member);
-  return &member[index];
-}
-
-void * get_function__SportModeState__foot_speed_body(void * untyped_member, size_t index)
-{
-  auto & member =
-    *reinterpret_cast<std::array<float, 12> *>(untyped_member);
-  return &member[index];
-}
-
-static const ::rosidl_typesupport_introspection_cpp::MessageMember SportModeState_message_member_array[15] = {
-  {
-    "stamp",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_MESSAGE,  // type
-    0,  // upper bound of string
-    ::rosidl_typesupport_introspection_cpp::get_message_type_support_handle<unitree_go::msg::TimeSpec>(),  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::SportModeState, stamp),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "error_code",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT32,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::SportModeState, error_code),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "imu_state",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_MESSAGE,  // type
-    0,  // upper bound of string
-    ::rosidl_typesupport_introspection_cpp::get_message_type_support_handle<unitree_go::msg::IMUState>(),  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::SportModeState, imu_state),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "mode",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT8,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::SportModeState, mode),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "progress",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::SportModeState, progress),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "gait_type",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT8,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::SportModeState, gait_type),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "foot_raise_height",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::SportModeState, foot_raise_height),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "position",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    true,  // is array
-    3,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::SportModeState, position),  // bytes offset in struct
-    nullptr,  // default value
-    size_function__SportModeState__position,  // size() function pointer
-    get_const_function__SportModeState__position,  // get_const(index) function pointer
-    get_function__SportModeState__position,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "body_height",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::SportModeState, body_height),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "velocity",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    true,  // is array
-    3,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::SportModeState, velocity),  // bytes offset in struct
-    nullptr,  // default value
-    size_function__SportModeState__velocity,  // size() function pointer
-    get_const_function__SportModeState__velocity,  // get_const(index) function pointer
-    get_function__SportModeState__velocity,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "yaw_speed",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::SportModeState, yaw_speed),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "range_obstacle",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    true,  // is array
-    4,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::SportModeState, range_obstacle),  // bytes offset in struct
-    nullptr,  // default value
-    size_function__SportModeState__range_obstacle,  // size() function pointer
-    get_const_function__SportModeState__range_obstacle,  // get_const(index) function pointer
-    get_function__SportModeState__range_obstacle,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "foot_force",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_INT16,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    true,  // is array
-    4,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::SportModeState, foot_force),  // bytes offset in struct
-    nullptr,  // default value
-    size_function__SportModeState__foot_force,  // size() function pointer
-    get_const_function__SportModeState__foot_force,  // get_const(index) function pointer
-    get_function__SportModeState__foot_force,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "foot_position_body",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    true,  // is array
-    12,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::SportModeState, foot_position_body),  // bytes offset in struct
-    nullptr,  // default value
-    size_function__SportModeState__foot_position_body,  // size() function pointer
-    get_const_function__SportModeState__foot_position_body,  // get_const(index) function pointer
-    get_function__SportModeState__foot_position_body,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "foot_speed_body",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    true,  // is array
-    12,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::SportModeState, foot_speed_body),  // bytes offset in struct
-    nullptr,  // default value
-    size_function__SportModeState__foot_speed_body,  // size() function pointer
-    get_const_function__SportModeState__foot_speed_body,  // get_const(index) function pointer
-    get_function__SportModeState__foot_speed_body,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  }
-};
-
-static const ::rosidl_typesupport_introspection_cpp::MessageMembers SportModeState_message_members = {
-  "unitree_go::msg",  // message namespace
-  "SportModeState",  // message name
-  15,  // number of fields
-  sizeof(unitree_go::msg::SportModeState),
-  SportModeState_message_member_array,  // message members
-  SportModeState_init_function,  // function to initialize message memory (memory has to be allocated)
-  SportModeState_fini_function  // function to terminate message instance (will not free memory)
-};
-
-static const rosidl_message_type_support_t SportModeState_message_type_support_handle = {
-  ::rosidl_typesupport_introspection_cpp::typesupport_identifier,
-  &SportModeState_message_members,
-  get_message_typesupport_handle_function,
-};
-
-}  // namespace rosidl_typesupport_introspection_cpp
-
-}  // namespace msg
-
-}  // namespace unitree_go
-
-
-namespace rosidl_typesupport_introspection_cpp
-{
-
-template<>
-ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
-const rosidl_message_type_support_t *
-get_message_type_support_handle<unitree_go::msg::SportModeState>()
-{
-  return &::unitree_go::msg::rosidl_typesupport_introspection_cpp::SportModeState_message_type_support_handle;
-}
-
-}  // namespace rosidl_typesupport_introspection_cpp
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_cpp, unitree_go, msg, SportModeState)() {
-  return &::unitree_go::msg::rosidl_typesupport_introspection_cpp::SportModeState_message_type_support_handle;
-}
-
-#ifdef __cplusplus
-}
-#endif
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_state__type_support.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_state__type_support.h
deleted file mode 100644
index c6e4e33..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_state__type_support.h
+++ /dev/null
@@ -1,33 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__type_support.h.em
-// with input from unitree_go:msg/SportModeState.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__SPORT_MODE_STATE__TYPE_SUPPORT_H_
-#define UNITREE_GO__MSG__DETAIL__SPORT_MODE_STATE__TYPE_SUPPORT_H_
-
-#include "rosidl_typesupport_interface/macros.h"
-
-#include "unitree_go/msg/rosidl_generator_c__visibility_control.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-
-// Forward declare the get type support functions for this type.
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
-  rosidl_typesupport_c,
-  unitree_go,
-  msg,
-  SportModeState
-)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__SPORT_MODE_STATE__TYPE_SUPPORT_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_state__type_support.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_state__type_support.hpp
deleted file mode 100644
index 529a760..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_state__type_support.hpp
+++ /dev/null
@@ -1,31 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__type_support.hpp.em
-// with input from unitree_go:msg/SportModeState.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__SPORT_MODE_STATE__TYPE_SUPPORT_HPP_
-#define UNITREE_GO__MSG__DETAIL__SPORT_MODE_STATE__TYPE_SUPPORT_HPP_
-
-#include "rosidl_typesupport_interface/macros.h"
-
-#include "unitree_go/msg/rosidl_generator_cpp__visibility_control.hpp"
-
-#include "rosidl_typesupport_cpp/message_type_support.hpp"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-// Forward declare the get type support functions for this type.
-ROSIDL_GENERATOR_CPP_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
-  rosidl_typesupport_cpp,
-  unitree_go,
-  msg,
-  SportModeState
-)();
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__SPORT_MODE_STATE__TYPE_SUPPORT_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/time_spec__builder.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/time_spec__builder.hpp
deleted file mode 100644
index ffe947e..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/time_spec__builder.hpp
+++ /dev/null
@@ -1,71 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__builder.hpp.em
-// with input from unitree_go:msg/TimeSpec.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__TIME_SPEC__BUILDER_HPP_
-#define UNITREE_GO__MSG__DETAIL__TIME_SPEC__BUILDER_HPP_
-
-#include "unitree_go/msg/detail/time_spec__struct.hpp"
-#include <rosidl_runtime_cpp/message_initialization.hpp>
-#include <algorithm>
-#include <utility>
-
-
-namespace unitree_go
-{
-
-namespace msg
-{
-
-namespace builder
-{
-
-class Init_TimeSpec_nanosec
-{
-public:
-  explicit Init_TimeSpec_nanosec(::unitree_go::msg::TimeSpec & msg)
-  : msg_(msg)
-  {}
-  ::unitree_go::msg::TimeSpec nanosec(::unitree_go::msg::TimeSpec::_nanosec_type arg)
-  {
-    msg_.nanosec = std::move(arg);
-    return std::move(msg_);
-  }
-
-private:
-  ::unitree_go::msg::TimeSpec msg_;
-};
-
-class Init_TimeSpec_sec
-{
-public:
-  Init_TimeSpec_sec()
-  : msg_(::rosidl_runtime_cpp::MessageInitialization::SKIP)
-  {}
-  Init_TimeSpec_nanosec sec(::unitree_go::msg::TimeSpec::_sec_type arg)
-  {
-    msg_.sec = std::move(arg);
-    return Init_TimeSpec_nanosec(msg_);
-  }
-
-private:
-  ::unitree_go::msg::TimeSpec msg_;
-};
-
-}  // namespace builder
-
-}  // namespace msg
-
-template<typename MessageType>
-auto build();
-
-template<>
-inline
-auto build<::unitree_go::msg::TimeSpec>()
-{
-  return unitree_go::msg::builder::Init_TimeSpec_sec();
-}
-
-}  // namespace unitree_go
-
-#endif  // UNITREE_GO__MSG__DETAIL__TIME_SPEC__BUILDER_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/time_spec__functions.c b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/time_spec__functions.c
deleted file mode 100644
index 4f84c74..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/time_spec__functions.c
+++ /dev/null
@@ -1,239 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__functions.c.em
-// with input from unitree_go:msg/TimeSpec.idl
-// generated code does not contain a copyright notice
-#include "unitree_go/msg/detail/time_spec__functions.h"
-
-#include <assert.h>
-#include <stdbool.h>
-#include <stdlib.h>
-#include <string.h>
-
-#include "rcutils/allocator.h"
-
-
-bool
-unitree_go__msg__TimeSpec__init(unitree_go__msg__TimeSpec * msg)
-{
-  if (!msg) {
-    return false;
-  }
-  // sec
-  // nanosec
-  return true;
-}
-
-void
-unitree_go__msg__TimeSpec__fini(unitree_go__msg__TimeSpec * msg)
-{
-  if (!msg) {
-    return;
-  }
-  // sec
-  // nanosec
-}
-
-bool
-unitree_go__msg__TimeSpec__are_equal(const unitree_go__msg__TimeSpec * lhs, const unitree_go__msg__TimeSpec * rhs)
-{
-  if (!lhs || !rhs) {
-    return false;
-  }
-  // sec
-  if (lhs->sec != rhs->sec) {
-    return false;
-  }
-  // nanosec
-  if (lhs->nanosec != rhs->nanosec) {
-    return false;
-  }
-  return true;
-}
-
-bool
-unitree_go__msg__TimeSpec__copy(
-  const unitree_go__msg__TimeSpec * input,
-  unitree_go__msg__TimeSpec * output)
-{
-  if (!input || !output) {
-    return false;
-  }
-  // sec
-  output->sec = input->sec;
-  // nanosec
-  output->nanosec = input->nanosec;
-  return true;
-}
-
-unitree_go__msg__TimeSpec *
-unitree_go__msg__TimeSpec__create()
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  unitree_go__msg__TimeSpec * msg = (unitree_go__msg__TimeSpec *)allocator.allocate(sizeof(unitree_go__msg__TimeSpec), allocator.state);
-  if (!msg) {
-    return NULL;
-  }
-  memset(msg, 0, sizeof(unitree_go__msg__TimeSpec));
-  bool success = unitree_go__msg__TimeSpec__init(msg);
-  if (!success) {
-    allocator.deallocate(msg, allocator.state);
-    return NULL;
-  }
-  return msg;
-}
-
-void
-unitree_go__msg__TimeSpec__destroy(unitree_go__msg__TimeSpec * msg)
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  if (msg) {
-    unitree_go__msg__TimeSpec__fini(msg);
-  }
-  allocator.deallocate(msg, allocator.state);
-}
-
-
-bool
-unitree_go__msg__TimeSpec__Sequence__init(unitree_go__msg__TimeSpec__Sequence * array, size_t size)
-{
-  if (!array) {
-    return false;
-  }
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  unitree_go__msg__TimeSpec * data = NULL;
-
-  if (size) {
-    data = (unitree_go__msg__TimeSpec *)allocator.zero_allocate(size, sizeof(unitree_go__msg__TimeSpec), allocator.state);
-    if (!data) {
-      return false;
-    }
-    // initialize all array elements
-    size_t i;
-    for (i = 0; i < size; ++i) {
-      bool success = unitree_go__msg__TimeSpec__init(&data[i]);
-      if (!success) {
-        break;
-      }
-    }
-    if (i < size) {
-      // if initialization failed finalize the already initialized array elements
-      for (; i > 0; --i) {
-        unitree_go__msg__TimeSpec__fini(&data[i - 1]);
-      }
-      allocator.deallocate(data, allocator.state);
-      return false;
-    }
-  }
-  array->data = data;
-  array->size = size;
-  array->capacity = size;
-  return true;
-}
-
-void
-unitree_go__msg__TimeSpec__Sequence__fini(unitree_go__msg__TimeSpec__Sequence * array)
-{
-  if (!array) {
-    return;
-  }
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-
-  if (array->data) {
-    // ensure that data and capacity values are consistent
-    assert(array->capacity > 0);
-    // finalize all array elements
-    for (size_t i = 0; i < array->capacity; ++i) {
-      unitree_go__msg__TimeSpec__fini(&array->data[i]);
-    }
-    allocator.deallocate(array->data, allocator.state);
-    array->data = NULL;
-    array->size = 0;
-    array->capacity = 0;
-  } else {
-    // ensure that data, size, and capacity values are consistent
-    assert(0 == array->size);
-    assert(0 == array->capacity);
-  }
-}
-
-unitree_go__msg__TimeSpec__Sequence *
-unitree_go__msg__TimeSpec__Sequence__create(size_t size)
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  unitree_go__msg__TimeSpec__Sequence * array = (unitree_go__msg__TimeSpec__Sequence *)allocator.allocate(sizeof(unitree_go__msg__TimeSpec__Sequence), allocator.state);
-  if (!array) {
-    return NULL;
-  }
-  bool success = unitree_go__msg__TimeSpec__Sequence__init(array, size);
-  if (!success) {
-    allocator.deallocate(array, allocator.state);
-    return NULL;
-  }
-  return array;
-}
-
-void
-unitree_go__msg__TimeSpec__Sequence__destroy(unitree_go__msg__TimeSpec__Sequence * array)
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  if (array) {
-    unitree_go__msg__TimeSpec__Sequence__fini(array);
-  }
-  allocator.deallocate(array, allocator.state);
-}
-
-bool
-unitree_go__msg__TimeSpec__Sequence__are_equal(const unitree_go__msg__TimeSpec__Sequence * lhs, const unitree_go__msg__TimeSpec__Sequence * rhs)
-{
-  if (!lhs || !rhs) {
-    return false;
-  }
-  if (lhs->size != rhs->size) {
-    return false;
-  }
-  for (size_t i = 0; i < lhs->size; ++i) {
-    if (!unitree_go__msg__TimeSpec__are_equal(&(lhs->data[i]), &(rhs->data[i]))) {
-      return false;
-    }
-  }
-  return true;
-}
-
-bool
-unitree_go__msg__TimeSpec__Sequence__copy(
-  const unitree_go__msg__TimeSpec__Sequence * input,
-  unitree_go__msg__TimeSpec__Sequence * output)
-{
-  if (!input || !output) {
-    return false;
-  }
-  if (output->capacity < input->size) {
-    const size_t allocation_size =
-      input->size * sizeof(unitree_go__msg__TimeSpec);
-    unitree_go__msg__TimeSpec * data =
-      (unitree_go__msg__TimeSpec *)realloc(output->data, allocation_size);
-    if (!data) {
-      return false;
-    }
-    for (size_t i = output->capacity; i < input->size; ++i) {
-      if (!unitree_go__msg__TimeSpec__init(&data[i])) {
-        /* free currently allocated and return false */
-        for (; i-- > output->capacity; ) {
-          unitree_go__msg__TimeSpec__fini(&data[i]);
-        }
-        free(data);
-        return false;
-      }
-    }
-    output->data = data;
-    output->capacity = input->size;
-  }
-  output->size = input->size;
-  for (size_t i = 0; i < input->size; ++i) {
-    if (!unitree_go__msg__TimeSpec__copy(
-        &(input->data[i]), &(output->data[i])))
-    {
-      return false;
-    }
-  }
-  return true;
-}
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/time_spec__functions.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/time_spec__functions.h
deleted file mode 100644
index b563a81..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/time_spec__functions.h
+++ /dev/null
@@ -1,177 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__functions.h.em
-// with input from unitree_go:msg/TimeSpec.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__TIME_SPEC__FUNCTIONS_H_
-#define UNITREE_GO__MSG__DETAIL__TIME_SPEC__FUNCTIONS_H_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include <stdbool.h>
-#include <stdlib.h>
-
-#include "rosidl_runtime_c/visibility_control.h"
-#include "unitree_go/msg/rosidl_generator_c__visibility_control.h"
-
-#include "unitree_go/msg/detail/time_spec__struct.h"
-
-/// Initialize msg/TimeSpec message.
-/**
- * If the init function is called twice for the same message without
- * calling fini inbetween previously allocated memory will be leaked.
- * \param[in,out] msg The previously allocated message pointer.
- * Fields without a default value will not be initialized by this function.
- * You might want to call memset(msg, 0, sizeof(
- * unitree_go__msg__TimeSpec
- * )) before or use
- * unitree_go__msg__TimeSpec__create()
- * to allocate and initialize the message.
- * \return true if initialization was successful, otherwise false
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__TimeSpec__init(unitree_go__msg__TimeSpec * msg);
-
-/// Finalize msg/TimeSpec message.
-/**
- * \param[in,out] msg The allocated message pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-void
-unitree_go__msg__TimeSpec__fini(unitree_go__msg__TimeSpec * msg);
-
-/// Create msg/TimeSpec message.
-/**
- * It allocates the memory for the message, sets the memory to zero, and
- * calls
- * unitree_go__msg__TimeSpec__init().
- * \return The pointer to the initialized message if successful,
- * otherwise NULL
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-unitree_go__msg__TimeSpec *
-unitree_go__msg__TimeSpec__create();
-
-/// Destroy msg/TimeSpec message.
-/**
- * It calls
- * unitree_go__msg__TimeSpec__fini()
- * and frees the memory of the message.
- * \param[in,out] msg The allocated message pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-void
-unitree_go__msg__TimeSpec__destroy(unitree_go__msg__TimeSpec * msg);
-
-/// Check for msg/TimeSpec message equality.
-/**
- * \param[in] lhs The message on the left hand size of the equality operator.
- * \param[in] rhs The message on the right hand size of the equality operator.
- * \return true if messages are equal, otherwise false.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__TimeSpec__are_equal(const unitree_go__msg__TimeSpec * lhs, const unitree_go__msg__TimeSpec * rhs);
-
-/// Copy a msg/TimeSpec message.
-/**
- * This functions performs a deep copy, as opposed to the shallow copy that
- * plain assignment yields.
- *
- * \param[in] input The source message pointer.
- * \param[out] output The target message pointer, which must
- *   have been initialized before calling this function.
- * \return true if successful, or false if either pointer is null
- *   or memory allocation fails.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__TimeSpec__copy(
-  const unitree_go__msg__TimeSpec * input,
-  unitree_go__msg__TimeSpec * output);
-
-/// Initialize array of msg/TimeSpec messages.
-/**
- * It allocates the memory for the number of elements and calls
- * unitree_go__msg__TimeSpec__init()
- * for each element of the array.
- * \param[in,out] array The allocated array pointer.
- * \param[in] size The size / capacity of the array.
- * \return true if initialization was successful, otherwise false
- * If the array pointer is valid and the size is zero it is guaranteed
- # to return true.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__TimeSpec__Sequence__init(unitree_go__msg__TimeSpec__Sequence * array, size_t size);
-
-/// Finalize array of msg/TimeSpec messages.
-/**
- * It calls
- * unitree_go__msg__TimeSpec__fini()
- * for each element of the array and frees the memory for the number of
- * elements.
- * \param[in,out] array The initialized array pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-void
-unitree_go__msg__TimeSpec__Sequence__fini(unitree_go__msg__TimeSpec__Sequence * array);
-
-/// Create array of msg/TimeSpec messages.
-/**
- * It allocates the memory for the array and calls
- * unitree_go__msg__TimeSpec__Sequence__init().
- * \param[in] size The size / capacity of the array.
- * \return The pointer to the initialized array if successful, otherwise NULL
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-unitree_go__msg__TimeSpec__Sequence *
-unitree_go__msg__TimeSpec__Sequence__create(size_t size);
-
-/// Destroy array of msg/TimeSpec messages.
-/**
- * It calls
- * unitree_go__msg__TimeSpec__Sequence__fini()
- * on the array,
- * and frees the memory of the array.
- * \param[in,out] array The initialized array pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-void
-unitree_go__msg__TimeSpec__Sequence__destroy(unitree_go__msg__TimeSpec__Sequence * array);
-
-/// Check for msg/TimeSpec message array equality.
-/**
- * \param[in] lhs The message array on the left hand size of the equality operator.
- * \param[in] rhs The message array on the right hand size of the equality operator.
- * \return true if message arrays are equal in size and content, otherwise false.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__TimeSpec__Sequence__are_equal(const unitree_go__msg__TimeSpec__Sequence * lhs, const unitree_go__msg__TimeSpec__Sequence * rhs);
-
-/// Copy an array of msg/TimeSpec messages.
-/**
- * This functions performs a deep copy, as opposed to the shallow copy that
- * plain assignment yields.
- *
- * \param[in] input The source array pointer.
- * \param[out] output The target array pointer, which must
- *   have been initialized before calling this function.
- * \return true if successful, or false if either pointer
- *   is null or memory allocation fails.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__TimeSpec__Sequence__copy(
-  const unitree_go__msg__TimeSpec__Sequence * input,
-  unitree_go__msg__TimeSpec__Sequence * output);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__TIME_SPEC__FUNCTIONS_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/time_spec__rosidl_typesupport_fastrtps_c.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/time_spec__rosidl_typesupport_fastrtps_c.h
deleted file mode 100644
index 3196f3c..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/time_spec__rosidl_typesupport_fastrtps_c.h
+++ /dev/null
@@ -1,36 +0,0 @@
-// generated from rosidl_typesupport_fastrtps_c/resource/idl__rosidl_typesupport_fastrtps_c.h.em
-// with input from unitree_go:msg/TimeSpec.idl
-// generated code does not contain a copyright notice
-#ifndef UNITREE_GO__MSG__DETAIL__TIME_SPEC__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_
-#define UNITREE_GO__MSG__DETAIL__TIME_SPEC__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_
-
-
-#include <stddef.h>
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_go/msg/rosidl_typesupport_fastrtps_c__visibility_control.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_go
-size_t get_serialized_size_unitree_go__msg__TimeSpec(
-  const void * untyped_ros_message,
-  size_t current_alignment);
-
-ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_go
-size_t max_serialized_size_unitree_go__msg__TimeSpec(
-  bool & full_bounded,
-  size_t current_alignment);
-
-ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_fastrtps_c, unitree_go, msg, TimeSpec)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__TIME_SPEC__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/time_spec__rosidl_typesupport_fastrtps_cpp.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/time_spec__rosidl_typesupport_fastrtps_cpp.hpp
deleted file mode 100644
index b4988b4..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/time_spec__rosidl_typesupport_fastrtps_cpp.hpp
+++ /dev/null
@@ -1,79 +0,0 @@
-// generated from rosidl_typesupport_fastrtps_cpp/resource/idl__rosidl_typesupport_fastrtps_cpp.hpp.em
-// with input from unitree_go:msg/TimeSpec.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__TIME_SPEC__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_
-#define UNITREE_GO__MSG__DETAIL__TIME_SPEC__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_go/msg/rosidl_typesupport_fastrtps_cpp__visibility_control.h"
-#include "unitree_go/msg/detail/time_spec__struct.hpp"
-
-#ifndef _WIN32
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wunused-parameter"
-# ifdef __clang__
-#  pragma clang diagnostic ignored "-Wdeprecated-register"
-#  pragma clang diagnostic ignored "-Wreturn-type-c-linkage"
-# endif
-#endif
-#ifndef _WIN32
-# pragma GCC diagnostic pop
-#endif
-
-#include "fastcdr/Cdr.h"
-
-namespace unitree_go
-{
-
-namespace msg
-{
-
-namespace typesupport_fastrtps_cpp
-{
-
-bool
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-cdr_serialize(
-  const unitree_go::msg::TimeSpec & ros_message,
-  eprosima::fastcdr::Cdr & cdr);
-
-bool
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-cdr_deserialize(
-  eprosima::fastcdr::Cdr & cdr,
-  unitree_go::msg::TimeSpec & ros_message);
-
-size_t
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-get_serialized_size(
-  const unitree_go::msg::TimeSpec & ros_message,
-  size_t current_alignment);
-
-size_t
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-max_serialized_size_TimeSpec(
-  bool & full_bounded,
-  size_t current_alignment);
-
-}  // namespace typesupport_fastrtps_cpp
-
-}  // namespace msg
-
-}  // namespace unitree_go
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_fastrtps_cpp, unitree_go, msg, TimeSpec)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__TIME_SPEC__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/time_spec__rosidl_typesupport_introspection_c.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/time_spec__rosidl_typesupport_introspection_c.h
deleted file mode 100644
index a30a269..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/time_spec__rosidl_typesupport_introspection_c.h
+++ /dev/null
@@ -1,26 +0,0 @@
-// generated from rosidl_typesupport_introspection_c/resource/idl__rosidl_typesupport_introspection_c.h.em
-// with input from unitree_go:msg/TimeSpec.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__TIME_SPEC__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
-#define UNITREE_GO__MSG__DETAIL__TIME_SPEC__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_go/msg/rosidl_typesupport_introspection_c__visibility_control.h"
-
-ROSIDL_TYPESUPPORT_INTROSPECTION_C_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, unitree_go, msg, TimeSpec)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__TIME_SPEC__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/time_spec__rosidl_typesupport_introspection_cpp.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/time_spec__rosidl_typesupport_introspection_cpp.hpp
deleted file mode 100644
index 7289a13..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/time_spec__rosidl_typesupport_introspection_cpp.hpp
+++ /dev/null
@@ -1,27 +0,0 @@
-// generated from rosidl_typesupport_introspection_cpp/resource/idl__rosidl_typesupport_introspection_cpp.h.em
-// with input from unitree_go:msg/TimeSpec.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__TIME_SPEC__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_
-#define UNITREE_GO__MSG__DETAIL__TIME_SPEC__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_
-
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "rosidl_typesupport_introspection_cpp/visibility_control.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-// TODO(dirk-thomas) these visibility macros should be message package specific
-ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
-const rosidl_message_type_support_t *
-  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_cpp, unitree_go, msg, TimeSpec)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__TIME_SPEC__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/time_spec__struct.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/time_spec__struct.h
deleted file mode 100644
index b45f61e..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/time_spec__struct.h
+++ /dev/null
@@ -1,41 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__struct.h.em
-// with input from unitree_go:msg/TimeSpec.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__TIME_SPEC__STRUCT_H_
-#define UNITREE_GO__MSG__DETAIL__TIME_SPEC__STRUCT_H_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include <stdbool.h>
-#include <stddef.h>
-#include <stdint.h>
-
-
-// Constants defined in the message
-
-// Struct defined in msg/TimeSpec in the package unitree_go.
-typedef struct unitree_go__msg__TimeSpec
-{
-  int32_t sec;
-  uint32_t nanosec;
-} unitree_go__msg__TimeSpec;
-
-// Struct for a sequence of unitree_go__msg__TimeSpec.
-typedef struct unitree_go__msg__TimeSpec__Sequence
-{
-  unitree_go__msg__TimeSpec * data;
-  /// The number of valid items in data
-  size_t size;
-  /// The number of allocated items in data
-  size_t capacity;
-} unitree_go__msg__TimeSpec__Sequence;
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__TIME_SPEC__STRUCT_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/time_spec__struct.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/time_spec__struct.hpp
deleted file mode 100644
index cb9f15b..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/time_spec__struct.hpp
+++ /dev/null
@@ -1,144 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__struct.hpp.em
-// with input from unitree_go:msg/TimeSpec.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__TIME_SPEC__STRUCT_HPP_
-#define UNITREE_GO__MSG__DETAIL__TIME_SPEC__STRUCT_HPP_
-
-#include <rosidl_runtime_cpp/bounded_vector.hpp>
-#include <rosidl_runtime_cpp/message_initialization.hpp>
-#include <algorithm>
-#include <array>
-#include <memory>
-#include <string>
-#include <vector>
-
-
-#ifndef _WIN32
-# define DEPRECATED__unitree_go__msg__TimeSpec __attribute__((deprecated))
-#else
-# define DEPRECATED__unitree_go__msg__TimeSpec __declspec(deprecated)
-#endif
-
-namespace unitree_go
-{
-
-namespace msg
-{
-
-// message struct
-template<class ContainerAllocator>
-struct TimeSpec_
-{
-  using Type = TimeSpec_<ContainerAllocator>;
-
-  explicit TimeSpec_(rosidl_runtime_cpp::MessageInitialization _init = rosidl_runtime_cpp::MessageInitialization::ALL)
-  {
-    if (rosidl_runtime_cpp::MessageInitialization::ALL == _init ||
-      rosidl_runtime_cpp::MessageInitialization::ZERO == _init)
-    {
-      this->sec = 0l;
-      this->nanosec = 0ul;
-    }
-  }
-
-  explicit TimeSpec_(const ContainerAllocator & _alloc, rosidl_runtime_cpp::MessageInitialization _init = rosidl_runtime_cpp::MessageInitialization::ALL)
-  {
-    (void)_alloc;
-    if (rosidl_runtime_cpp::MessageInitialization::ALL == _init ||
-      rosidl_runtime_cpp::MessageInitialization::ZERO == _init)
-    {
-      this->sec = 0l;
-      this->nanosec = 0ul;
-    }
-  }
-
-  // field types and members
-  using _sec_type =
-    int32_t;
-  _sec_type sec;
-  using _nanosec_type =
-    uint32_t;
-  _nanosec_type nanosec;
-
-  // setters for named parameter idiom
-  Type & set__sec(
-    const int32_t & _arg)
-  {
-    this->sec = _arg;
-    return *this;
-  }
-  Type & set__nanosec(
-    const uint32_t & _arg)
-  {
-    this->nanosec = _arg;
-    return *this;
-  }
-
-  // constant declarations
-
-  // pointer types
-  using RawPtr =
-    unitree_go::msg::TimeSpec_<ContainerAllocator> *;
-  using ConstRawPtr =
-    const unitree_go::msg::TimeSpec_<ContainerAllocator> *;
-  using SharedPtr =
-    std::shared_ptr<unitree_go::msg::TimeSpec_<ContainerAllocator>>;
-  using ConstSharedPtr =
-    std::shared_ptr<unitree_go::msg::TimeSpec_<ContainerAllocator> const>;
-
-  template<typename Deleter = std::default_delete<
-      unitree_go::msg::TimeSpec_<ContainerAllocator>>>
-  using UniquePtrWithDeleter =
-    std::unique_ptr<unitree_go::msg::TimeSpec_<ContainerAllocator>, Deleter>;
-
-  using UniquePtr = UniquePtrWithDeleter<>;
-
-  template<typename Deleter = std::default_delete<
-      unitree_go::msg::TimeSpec_<ContainerAllocator>>>
-  using ConstUniquePtrWithDeleter =
-    std::unique_ptr<unitree_go::msg::TimeSpec_<ContainerAllocator> const, Deleter>;
-  using ConstUniquePtr = ConstUniquePtrWithDeleter<>;
-
-  using WeakPtr =
-    std::weak_ptr<unitree_go::msg::TimeSpec_<ContainerAllocator>>;
-  using ConstWeakPtr =
-    std::weak_ptr<unitree_go::msg::TimeSpec_<ContainerAllocator> const>;
-
-  // pointer types similar to ROS 1, use SharedPtr / ConstSharedPtr instead
-  // NOTE: Can't use 'using' here because GNU C++ can't parse attributes properly
-  typedef DEPRECATED__unitree_go__msg__TimeSpec
-    std::shared_ptr<unitree_go::msg::TimeSpec_<ContainerAllocator>>
-    Ptr;
-  typedef DEPRECATED__unitree_go__msg__TimeSpec
-    std::shared_ptr<unitree_go::msg::TimeSpec_<ContainerAllocator> const>
-    ConstPtr;
-
-  // comparison operators
-  bool operator==(const TimeSpec_ & other) const
-  {
-    if (this->sec != other.sec) {
-      return false;
-    }
-    if (this->nanosec != other.nanosec) {
-      return false;
-    }
-    return true;
-  }
-  bool operator!=(const TimeSpec_ & other) const
-  {
-    return !this->operator==(other);
-  }
-};  // struct TimeSpec_
-
-// alias to use template instance with default allocator
-using TimeSpec =
-  unitree_go::msg::TimeSpec_<std::allocator<void>>;
-
-// constant definitions
-
-}  // namespace msg
-
-}  // namespace unitree_go
-
-#endif  // UNITREE_GO__MSG__DETAIL__TIME_SPEC__STRUCT_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/time_spec__traits.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/time_spec__traits.hpp
deleted file mode 100644
index 80eb861..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/time_spec__traits.hpp
+++ /dev/null
@@ -1,42 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__traits.hpp.em
-// with input from unitree_go:msg/TimeSpec.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__TIME_SPEC__TRAITS_HPP_
-#define UNITREE_GO__MSG__DETAIL__TIME_SPEC__TRAITS_HPP_
-
-#include "unitree_go/msg/detail/time_spec__struct.hpp"
-#include <rosidl_runtime_cpp/traits.hpp>
-#include <stdint.h>
-#include <type_traits>
-
-namespace rosidl_generator_traits
-{
-
-template<>
-inline const char * data_type<unitree_go::msg::TimeSpec>()
-{
-  return "unitree_go::msg::TimeSpec";
-}
-
-template<>
-inline const char * name<unitree_go::msg::TimeSpec>()
-{
-  return "unitree_go/msg/TimeSpec";
-}
-
-template<>
-struct has_fixed_size<unitree_go::msg::TimeSpec>
-  : std::integral_constant<bool, true> {};
-
-template<>
-struct has_bounded_size<unitree_go::msg::TimeSpec>
-  : std::integral_constant<bool, true> {};
-
-template<>
-struct is_message<unitree_go::msg::TimeSpec>
-  : std::true_type {};
-
-}  // namespace rosidl_generator_traits
-
-#endif  // UNITREE_GO__MSG__DETAIL__TIME_SPEC__TRAITS_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/time_spec__type_support.c b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/time_spec__type_support.c
deleted file mode 100644
index d4b9497..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/time_spec__type_support.c
+++ /dev/null
@@ -1,96 +0,0 @@
-// generated from rosidl_typesupport_introspection_c/resource/idl__type_support.c.em
-// with input from unitree_go:msg/TimeSpec.idl
-// generated code does not contain a copyright notice
-
-#include <stddef.h>
-#include "unitree_go/msg/detail/time_spec__rosidl_typesupport_introspection_c.h"
-#include "unitree_go/msg/rosidl_typesupport_introspection_c__visibility_control.h"
-#include "rosidl_typesupport_introspection_c/field_types.h"
-#include "rosidl_typesupport_introspection_c/identifier.h"
-#include "rosidl_typesupport_introspection_c/message_introspection.h"
-#include "unitree_go/msg/detail/time_spec__functions.h"
-#include "unitree_go/msg/detail/time_spec__struct.h"
-
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-void TimeSpec__rosidl_typesupport_introspection_c__TimeSpec_init_function(
-  void * message_memory, enum rosidl_runtime_c__message_initialization _init)
-{
-  // TODO(karsten1987): initializers are not yet implemented for typesupport c
-  // see https://github.com/ros2/ros2/issues/397
-  (void) _init;
-  unitree_go__msg__TimeSpec__init(message_memory);
-}
-
-void TimeSpec__rosidl_typesupport_introspection_c__TimeSpec_fini_function(void * message_memory)
-{
-  unitree_go__msg__TimeSpec__fini(message_memory);
-}
-
-static rosidl_typesupport_introspection_c__MessageMember TimeSpec__rosidl_typesupport_introspection_c__TimeSpec_message_member_array[2] = {
-  {
-    "sec",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_INT32,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__TimeSpec, sec),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "nanosec",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_UINT32,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__TimeSpec, nanosec),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  }
-};
-
-static const rosidl_typesupport_introspection_c__MessageMembers TimeSpec__rosidl_typesupport_introspection_c__TimeSpec_message_members = {
-  "unitree_go__msg",  // message namespace
-  "TimeSpec",  // message name
-  2,  // number of fields
-  sizeof(unitree_go__msg__TimeSpec),
-  TimeSpec__rosidl_typesupport_introspection_c__TimeSpec_message_member_array,  // message members
-  TimeSpec__rosidl_typesupport_introspection_c__TimeSpec_init_function,  // function to initialize message memory (memory has to be allocated)
-  TimeSpec__rosidl_typesupport_introspection_c__TimeSpec_fini_function  // function to terminate message instance (will not free memory)
-};
-
-// this is not const since it must be initialized on first access
-// since C does not allow non-integral compile-time constants
-static rosidl_message_type_support_t TimeSpec__rosidl_typesupport_introspection_c__TimeSpec_message_type_support_handle = {
-  0,
-  &TimeSpec__rosidl_typesupport_introspection_c__TimeSpec_message_members,
-  get_message_typesupport_handle_function,
-};
-
-ROSIDL_TYPESUPPORT_INTROSPECTION_C_EXPORT_unitree_go
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, unitree_go, msg, TimeSpec)() {
-  if (!TimeSpec__rosidl_typesupport_introspection_c__TimeSpec_message_type_support_handle.typesupport_identifier) {
-    TimeSpec__rosidl_typesupport_introspection_c__TimeSpec_message_type_support_handle.typesupport_identifier =
-      rosidl_typesupport_introspection_c__identifier;
-  }
-  return &TimeSpec__rosidl_typesupport_introspection_c__TimeSpec_message_type_support_handle;
-}
-#ifdef __cplusplus
-}
-#endif
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/time_spec__type_support.cpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/time_spec__type_support.cpp
deleted file mode 100644
index 9babcb7..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/time_spec__type_support.cpp
+++ /dev/null
@@ -1,122 +0,0 @@
-// generated from rosidl_typesupport_introspection_cpp/resource/idl__type_support.cpp.em
-// with input from unitree_go:msg/TimeSpec.idl
-// generated code does not contain a copyright notice
-
-#include "array"
-#include "cstddef"
-#include "string"
-#include "vector"
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_cpp/message_type_support.hpp"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_go/msg/detail/time_spec__struct.hpp"
-#include "rosidl_typesupport_introspection_cpp/field_types.hpp"
-#include "rosidl_typesupport_introspection_cpp/identifier.hpp"
-#include "rosidl_typesupport_introspection_cpp/message_introspection.hpp"
-#include "rosidl_typesupport_introspection_cpp/message_type_support_decl.hpp"
-#include "rosidl_typesupport_introspection_cpp/visibility_control.h"
-
-namespace unitree_go
-{
-
-namespace msg
-{
-
-namespace rosidl_typesupport_introspection_cpp
-{
-
-void TimeSpec_init_function(
-  void * message_memory, rosidl_runtime_cpp::MessageInitialization _init)
-{
-  new (message_memory) unitree_go::msg::TimeSpec(_init);
-}
-
-void TimeSpec_fini_function(void * message_memory)
-{
-  auto typed_message = static_cast<unitree_go::msg::TimeSpec *>(message_memory);
-  typed_message->~TimeSpec();
-}
-
-static const ::rosidl_typesupport_introspection_cpp::MessageMember TimeSpec_message_member_array[2] = {
-  {
-    "sec",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_INT32,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::TimeSpec, sec),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "nanosec",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT32,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::TimeSpec, nanosec),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  }
-};
-
-static const ::rosidl_typesupport_introspection_cpp::MessageMembers TimeSpec_message_members = {
-  "unitree_go::msg",  // message namespace
-  "TimeSpec",  // message name
-  2,  // number of fields
-  sizeof(unitree_go::msg::TimeSpec),
-  TimeSpec_message_member_array,  // message members
-  TimeSpec_init_function,  // function to initialize message memory (memory has to be allocated)
-  TimeSpec_fini_function  // function to terminate message instance (will not free memory)
-};
-
-static const rosidl_message_type_support_t TimeSpec_message_type_support_handle = {
-  ::rosidl_typesupport_introspection_cpp::typesupport_identifier,
-  &TimeSpec_message_members,
-  get_message_typesupport_handle_function,
-};
-
-}  // namespace rosidl_typesupport_introspection_cpp
-
-}  // namespace msg
-
-}  // namespace unitree_go
-
-
-namespace rosidl_typesupport_introspection_cpp
-{
-
-template<>
-ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
-const rosidl_message_type_support_t *
-get_message_type_support_handle<unitree_go::msg::TimeSpec>()
-{
-  return &::unitree_go::msg::rosidl_typesupport_introspection_cpp::TimeSpec_message_type_support_handle;
-}
-
-}  // namespace rosidl_typesupport_introspection_cpp
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_cpp, unitree_go, msg, TimeSpec)() {
-  return &::unitree_go::msg::rosidl_typesupport_introspection_cpp::TimeSpec_message_type_support_handle;
-}
-
-#ifdef __cplusplus
-}
-#endif
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/time_spec__type_support.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/time_spec__type_support.h
deleted file mode 100644
index 50d475d..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/time_spec__type_support.h
+++ /dev/null
@@ -1,33 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__type_support.h.em
-// with input from unitree_go:msg/TimeSpec.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__TIME_SPEC__TYPE_SUPPORT_H_
-#define UNITREE_GO__MSG__DETAIL__TIME_SPEC__TYPE_SUPPORT_H_
-
-#include "rosidl_typesupport_interface/macros.h"
-
-#include "unitree_go/msg/rosidl_generator_c__visibility_control.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-
-// Forward declare the get type support functions for this type.
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
-  rosidl_typesupport_c,
-  unitree_go,
-  msg,
-  TimeSpec
-)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__TIME_SPEC__TYPE_SUPPORT_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/time_spec__type_support.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/time_spec__type_support.hpp
deleted file mode 100644
index dbe73c7..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/time_spec__type_support.hpp
+++ /dev/null
@@ -1,31 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__type_support.hpp.em
-// with input from unitree_go:msg/TimeSpec.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__TIME_SPEC__TYPE_SUPPORT_HPP_
-#define UNITREE_GO__MSG__DETAIL__TIME_SPEC__TYPE_SUPPORT_HPP_
-
-#include "rosidl_typesupport_interface/macros.h"
-
-#include "unitree_go/msg/rosidl_generator_cpp__visibility_control.hpp"
-
-#include "rosidl_typesupport_cpp/message_type_support.hpp"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-// Forward declare the get type support functions for this type.
-ROSIDL_GENERATOR_CPP_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
-  rosidl_typesupport_cpp,
-  unitree_go,
-  msg,
-  TimeSpec
-)();
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__TIME_SPEC__TYPE_SUPPORT_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_state__builder.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_state__builder.hpp
deleted file mode 100644
index 267c72e..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_state__builder.hpp
+++ /dev/null
@@ -1,311 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__builder.hpp.em
-// with input from unitree_go:msg/UwbState.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__UWB_STATE__BUILDER_HPP_
-#define UNITREE_GO__MSG__DETAIL__UWB_STATE__BUILDER_HPP_
-
-#include "unitree_go/msg/detail/uwb_state__struct.hpp"
-#include <rosidl_runtime_cpp/message_initialization.hpp>
-#include <algorithm>
-#include <utility>
-
-
-namespace unitree_go
-{
-
-namespace msg
-{
-
-namespace builder
-{
-
-class Init_UwbState_enabled_from_app
-{
-public:
-  explicit Init_UwbState_enabled_from_app(::unitree_go::msg::UwbState & msg)
-  : msg_(msg)
-  {}
-  ::unitree_go::msg::UwbState enabled_from_app(::unitree_go::msg::UwbState::_enabled_from_app_type arg)
-  {
-    msg_.enabled_from_app = std::move(arg);
-    return std::move(msg_);
-  }
-
-private:
-  ::unitree_go::msg::UwbState msg_;
-};
-
-class Init_UwbState_buttons
-{
-public:
-  explicit Init_UwbState_buttons(::unitree_go::msg::UwbState & msg)
-  : msg_(msg)
-  {}
-  Init_UwbState_enabled_from_app buttons(::unitree_go::msg::UwbState::_buttons_type arg)
-  {
-    msg_.buttons = std::move(arg);
-    return Init_UwbState_enabled_from_app(msg_);
-  }
-
-private:
-  ::unitree_go::msg::UwbState msg_;
-};
-
-class Init_UwbState_error_state
-{
-public:
-  explicit Init_UwbState_error_state(::unitree_go::msg::UwbState & msg)
-  : msg_(msg)
-  {}
-  Init_UwbState_buttons error_state(::unitree_go::msg::UwbState::_error_state_type arg)
-  {
-    msg_.error_state = std::move(arg);
-    return Init_UwbState_buttons(msg_);
-  }
-
-private:
-  ::unitree_go::msg::UwbState msg_;
-};
-
-class Init_UwbState_joystick
-{
-public:
-  explicit Init_UwbState_joystick(::unitree_go::msg::UwbState & msg)
-  : msg_(msg)
-  {}
-  Init_UwbState_error_state joystick(::unitree_go::msg::UwbState::_joystick_type arg)
-  {
-    msg_.joystick = std::move(arg);
-    return Init_UwbState_error_state(msg_);
-  }
-
-private:
-  ::unitree_go::msg::UwbState msg_;
-};
-
-class Init_UwbState_base_yaw
-{
-public:
-  explicit Init_UwbState_base_yaw(::unitree_go::msg::UwbState & msg)
-  : msg_(msg)
-  {}
-  Init_UwbState_joystick base_yaw(::unitree_go::msg::UwbState::_base_yaw_type arg)
-  {
-    msg_.base_yaw = std::move(arg);
-    return Init_UwbState_joystick(msg_);
-  }
-
-private:
-  ::unitree_go::msg::UwbState msg_;
-};
-
-class Init_UwbState_base_pitch
-{
-public:
-  explicit Init_UwbState_base_pitch(::unitree_go::msg::UwbState & msg)
-  : msg_(msg)
-  {}
-  Init_UwbState_base_yaw base_pitch(::unitree_go::msg::UwbState::_base_pitch_type arg)
-  {
-    msg_.base_pitch = std::move(arg);
-    return Init_UwbState_base_yaw(msg_);
-  }
-
-private:
-  ::unitree_go::msg::UwbState msg_;
-};
-
-class Init_UwbState_base_roll
-{
-public:
-  explicit Init_UwbState_base_roll(::unitree_go::msg::UwbState & msg)
-  : msg_(msg)
-  {}
-  Init_UwbState_base_pitch base_roll(::unitree_go::msg::UwbState::_base_roll_type arg)
-  {
-    msg_.base_roll = std::move(arg);
-    return Init_UwbState_base_pitch(msg_);
-  }
-
-private:
-  ::unitree_go::msg::UwbState msg_;
-};
-
-class Init_UwbState_tag_yaw
-{
-public:
-  explicit Init_UwbState_tag_yaw(::unitree_go::msg::UwbState & msg)
-  : msg_(msg)
-  {}
-  Init_UwbState_base_roll tag_yaw(::unitree_go::msg::UwbState::_tag_yaw_type arg)
-  {
-    msg_.tag_yaw = std::move(arg);
-    return Init_UwbState_base_roll(msg_);
-  }
-
-private:
-  ::unitree_go::msg::UwbState msg_;
-};
-
-class Init_UwbState_tag_pitch
-{
-public:
-  explicit Init_UwbState_tag_pitch(::unitree_go::msg::UwbState & msg)
-  : msg_(msg)
-  {}
-  Init_UwbState_tag_yaw tag_pitch(::unitree_go::msg::UwbState::_tag_pitch_type arg)
-  {
-    msg_.tag_pitch = std::move(arg);
-    return Init_UwbState_tag_yaw(msg_);
-  }
-
-private:
-  ::unitree_go::msg::UwbState msg_;
-};
-
-class Init_UwbState_tag_roll
-{
-public:
-  explicit Init_UwbState_tag_roll(::unitree_go::msg::UwbState & msg)
-  : msg_(msg)
-  {}
-  Init_UwbState_tag_pitch tag_roll(::unitree_go::msg::UwbState::_tag_roll_type arg)
-  {
-    msg_.tag_roll = std::move(arg);
-    return Init_UwbState_tag_pitch(msg_);
-  }
-
-private:
-  ::unitree_go::msg::UwbState msg_;
-};
-
-class Init_UwbState_yaw_est
-{
-public:
-  explicit Init_UwbState_yaw_est(::unitree_go::msg::UwbState & msg)
-  : msg_(msg)
-  {}
-  Init_UwbState_tag_roll yaw_est(::unitree_go::msg::UwbState::_yaw_est_type arg)
-  {
-    msg_.yaw_est = std::move(arg);
-    return Init_UwbState_tag_roll(msg_);
-  }
-
-private:
-  ::unitree_go::msg::UwbState msg_;
-};
-
-class Init_UwbState_distance_est
-{
-public:
-  explicit Init_UwbState_distance_est(::unitree_go::msg::UwbState & msg)
-  : msg_(msg)
-  {}
-  Init_UwbState_yaw_est distance_est(::unitree_go::msg::UwbState::_distance_est_type arg)
-  {
-    msg_.distance_est = std::move(arg);
-    return Init_UwbState_yaw_est(msg_);
-  }
-
-private:
-  ::unitree_go::msg::UwbState msg_;
-};
-
-class Init_UwbState_pitch_est
-{
-public:
-  explicit Init_UwbState_pitch_est(::unitree_go::msg::UwbState & msg)
-  : msg_(msg)
-  {}
-  Init_UwbState_distance_est pitch_est(::unitree_go::msg::UwbState::_pitch_est_type arg)
-  {
-    msg_.pitch_est = std::move(arg);
-    return Init_UwbState_distance_est(msg_);
-  }
-
-private:
-  ::unitree_go::msg::UwbState msg_;
-};
-
-class Init_UwbState_orientation_est
-{
-public:
-  explicit Init_UwbState_orientation_est(::unitree_go::msg::UwbState & msg)
-  : msg_(msg)
-  {}
-  Init_UwbState_pitch_est orientation_est(::unitree_go::msg::UwbState::_orientation_est_type arg)
-  {
-    msg_.orientation_est = std::move(arg);
-    return Init_UwbState_pitch_est(msg_);
-  }
-
-private:
-  ::unitree_go::msg::UwbState msg_;
-};
-
-class Init_UwbState_joy_mode
-{
-public:
-  explicit Init_UwbState_joy_mode(::unitree_go::msg::UwbState & msg)
-  : msg_(msg)
-  {}
-  Init_UwbState_orientation_est joy_mode(::unitree_go::msg::UwbState::_joy_mode_type arg)
-  {
-    msg_.joy_mode = std::move(arg);
-    return Init_UwbState_orientation_est(msg_);
-  }
-
-private:
-  ::unitree_go::msg::UwbState msg_;
-};
-
-class Init_UwbState_channel
-{
-public:
-  explicit Init_UwbState_channel(::unitree_go::msg::UwbState & msg)
-  : msg_(msg)
-  {}
-  Init_UwbState_joy_mode channel(::unitree_go::msg::UwbState::_channel_type arg)
-  {
-    msg_.channel = std::move(arg);
-    return Init_UwbState_joy_mode(msg_);
-  }
-
-private:
-  ::unitree_go::msg::UwbState msg_;
-};
-
-class Init_UwbState_version
-{
-public:
-  Init_UwbState_version()
-  : msg_(::rosidl_runtime_cpp::MessageInitialization::SKIP)
-  {}
-  Init_UwbState_channel version(::unitree_go::msg::UwbState::_version_type arg)
-  {
-    msg_.version = std::move(arg);
-    return Init_UwbState_channel(msg_);
-  }
-
-private:
-  ::unitree_go::msg::UwbState msg_;
-};
-
-}  // namespace builder
-
-}  // namespace msg
-
-template<typename MessageType>
-auto build();
-
-template<>
-inline
-auto build<::unitree_go::msg::UwbState>()
-{
-  return unitree_go::msg::builder::Init_UwbState_version();
-}
-
-}  // namespace unitree_go
-
-#endif  // UNITREE_GO__MSG__DETAIL__UWB_STATE__BUILDER_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_state__functions.c b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_state__functions.c
deleted file mode 100644
index 5479884..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_state__functions.c
+++ /dev/null
@@ -1,367 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__functions.c.em
-// with input from unitree_go:msg/UwbState.idl
-// generated code does not contain a copyright notice
-#include "unitree_go/msg/detail/uwb_state__functions.h"
-
-#include <assert.h>
-#include <stdbool.h>
-#include <stdlib.h>
-#include <string.h>
-
-#include "rcutils/allocator.h"
-
-
-bool
-unitree_go__msg__UwbState__init(unitree_go__msg__UwbState * msg)
-{
-  if (!msg) {
-    return false;
-  }
-  // version
-  // channel
-  // joy_mode
-  // orientation_est
-  // pitch_est
-  // distance_est
-  // yaw_est
-  // tag_roll
-  // tag_pitch
-  // tag_yaw
-  // base_roll
-  // base_pitch
-  // base_yaw
-  // joystick
-  // error_state
-  // buttons
-  // enabled_from_app
-  return true;
-}
-
-void
-unitree_go__msg__UwbState__fini(unitree_go__msg__UwbState * msg)
-{
-  if (!msg) {
-    return;
-  }
-  // version
-  // channel
-  // joy_mode
-  // orientation_est
-  // pitch_est
-  // distance_est
-  // yaw_est
-  // tag_roll
-  // tag_pitch
-  // tag_yaw
-  // base_roll
-  // base_pitch
-  // base_yaw
-  // joystick
-  // error_state
-  // buttons
-  // enabled_from_app
-}
-
-bool
-unitree_go__msg__UwbState__are_equal(const unitree_go__msg__UwbState * lhs, const unitree_go__msg__UwbState * rhs)
-{
-  if (!lhs || !rhs) {
-    return false;
-  }
-  // version
-  for (size_t i = 0; i < 2; ++i) {
-    if (lhs->version[i] != rhs->version[i]) {
-      return false;
-    }
-  }
-  // channel
-  if (lhs->channel != rhs->channel) {
-    return false;
-  }
-  // joy_mode
-  if (lhs->joy_mode != rhs->joy_mode) {
-    return false;
-  }
-  // orientation_est
-  if (lhs->orientation_est != rhs->orientation_est) {
-    return false;
-  }
-  // pitch_est
-  if (lhs->pitch_est != rhs->pitch_est) {
-    return false;
-  }
-  // distance_est
-  if (lhs->distance_est != rhs->distance_est) {
-    return false;
-  }
-  // yaw_est
-  if (lhs->yaw_est != rhs->yaw_est) {
-    return false;
-  }
-  // tag_roll
-  if (lhs->tag_roll != rhs->tag_roll) {
-    return false;
-  }
-  // tag_pitch
-  if (lhs->tag_pitch != rhs->tag_pitch) {
-    return false;
-  }
-  // tag_yaw
-  if (lhs->tag_yaw != rhs->tag_yaw) {
-    return false;
-  }
-  // base_roll
-  if (lhs->base_roll != rhs->base_roll) {
-    return false;
-  }
-  // base_pitch
-  if (lhs->base_pitch != rhs->base_pitch) {
-    return false;
-  }
-  // base_yaw
-  if (lhs->base_yaw != rhs->base_yaw) {
-    return false;
-  }
-  // joystick
-  for (size_t i = 0; i < 2; ++i) {
-    if (lhs->joystick[i] != rhs->joystick[i]) {
-      return false;
-    }
-  }
-  // error_state
-  if (lhs->error_state != rhs->error_state) {
-    return false;
-  }
-  // buttons
-  if (lhs->buttons != rhs->buttons) {
-    return false;
-  }
-  // enabled_from_app
-  if (lhs->enabled_from_app != rhs->enabled_from_app) {
-    return false;
-  }
-  return true;
-}
-
-bool
-unitree_go__msg__UwbState__copy(
-  const unitree_go__msg__UwbState * input,
-  unitree_go__msg__UwbState * output)
-{
-  if (!input || !output) {
-    return false;
-  }
-  // version
-  for (size_t i = 0; i < 2; ++i) {
-    output->version[i] = input->version[i];
-  }
-  // channel
-  output->channel = input->channel;
-  // joy_mode
-  output->joy_mode = input->joy_mode;
-  // orientation_est
-  output->orientation_est = input->orientation_est;
-  // pitch_est
-  output->pitch_est = input->pitch_est;
-  // distance_est
-  output->distance_est = input->distance_est;
-  // yaw_est
-  output->yaw_est = input->yaw_est;
-  // tag_roll
-  output->tag_roll = input->tag_roll;
-  // tag_pitch
-  output->tag_pitch = input->tag_pitch;
-  // tag_yaw
-  output->tag_yaw = input->tag_yaw;
-  // base_roll
-  output->base_roll = input->base_roll;
-  // base_pitch
-  output->base_pitch = input->base_pitch;
-  // base_yaw
-  output->base_yaw = input->base_yaw;
-  // joystick
-  for (size_t i = 0; i < 2; ++i) {
-    output->joystick[i] = input->joystick[i];
-  }
-  // error_state
-  output->error_state = input->error_state;
-  // buttons
-  output->buttons = input->buttons;
-  // enabled_from_app
-  output->enabled_from_app = input->enabled_from_app;
-  return true;
-}
-
-unitree_go__msg__UwbState *
-unitree_go__msg__UwbState__create()
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  unitree_go__msg__UwbState * msg = (unitree_go__msg__UwbState *)allocator.allocate(sizeof(unitree_go__msg__UwbState), allocator.state);
-  if (!msg) {
-    return NULL;
-  }
-  memset(msg, 0, sizeof(unitree_go__msg__UwbState));
-  bool success = unitree_go__msg__UwbState__init(msg);
-  if (!success) {
-    allocator.deallocate(msg, allocator.state);
-    return NULL;
-  }
-  return msg;
-}
-
-void
-unitree_go__msg__UwbState__destroy(unitree_go__msg__UwbState * msg)
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  if (msg) {
-    unitree_go__msg__UwbState__fini(msg);
-  }
-  allocator.deallocate(msg, allocator.state);
-}
-
-
-bool
-unitree_go__msg__UwbState__Sequence__init(unitree_go__msg__UwbState__Sequence * array, size_t size)
-{
-  if (!array) {
-    return false;
-  }
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  unitree_go__msg__UwbState * data = NULL;
-
-  if (size) {
-    data = (unitree_go__msg__UwbState *)allocator.zero_allocate(size, sizeof(unitree_go__msg__UwbState), allocator.state);
-    if (!data) {
-      return false;
-    }
-    // initialize all array elements
-    size_t i;
-    for (i = 0; i < size; ++i) {
-      bool success = unitree_go__msg__UwbState__init(&data[i]);
-      if (!success) {
-        break;
-      }
-    }
-    if (i < size) {
-      // if initialization failed finalize the already initialized array elements
-      for (; i > 0; --i) {
-        unitree_go__msg__UwbState__fini(&data[i - 1]);
-      }
-      allocator.deallocate(data, allocator.state);
-      return false;
-    }
-  }
-  array->data = data;
-  array->size = size;
-  array->capacity = size;
-  return true;
-}
-
-void
-unitree_go__msg__UwbState__Sequence__fini(unitree_go__msg__UwbState__Sequence * array)
-{
-  if (!array) {
-    return;
-  }
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-
-  if (array->data) {
-    // ensure that data and capacity values are consistent
-    assert(array->capacity > 0);
-    // finalize all array elements
-    for (size_t i = 0; i < array->capacity; ++i) {
-      unitree_go__msg__UwbState__fini(&array->data[i]);
-    }
-    allocator.deallocate(array->data, allocator.state);
-    array->data = NULL;
-    array->size = 0;
-    array->capacity = 0;
-  } else {
-    // ensure that data, size, and capacity values are consistent
-    assert(0 == array->size);
-    assert(0 == array->capacity);
-  }
-}
-
-unitree_go__msg__UwbState__Sequence *
-unitree_go__msg__UwbState__Sequence__create(size_t size)
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  unitree_go__msg__UwbState__Sequence * array = (unitree_go__msg__UwbState__Sequence *)allocator.allocate(sizeof(unitree_go__msg__UwbState__Sequence), allocator.state);
-  if (!array) {
-    return NULL;
-  }
-  bool success = unitree_go__msg__UwbState__Sequence__init(array, size);
-  if (!success) {
-    allocator.deallocate(array, allocator.state);
-    return NULL;
-  }
-  return array;
-}
-
-void
-unitree_go__msg__UwbState__Sequence__destroy(unitree_go__msg__UwbState__Sequence * array)
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  if (array) {
-    unitree_go__msg__UwbState__Sequence__fini(array);
-  }
-  allocator.deallocate(array, allocator.state);
-}
-
-bool
-unitree_go__msg__UwbState__Sequence__are_equal(const unitree_go__msg__UwbState__Sequence * lhs, const unitree_go__msg__UwbState__Sequence * rhs)
-{
-  if (!lhs || !rhs) {
-    return false;
-  }
-  if (lhs->size != rhs->size) {
-    return false;
-  }
-  for (size_t i = 0; i < lhs->size; ++i) {
-    if (!unitree_go__msg__UwbState__are_equal(&(lhs->data[i]), &(rhs->data[i]))) {
-      return false;
-    }
-  }
-  return true;
-}
-
-bool
-unitree_go__msg__UwbState__Sequence__copy(
-  const unitree_go__msg__UwbState__Sequence * input,
-  unitree_go__msg__UwbState__Sequence * output)
-{
-  if (!input || !output) {
-    return false;
-  }
-  if (output->capacity < input->size) {
-    const size_t allocation_size =
-      input->size * sizeof(unitree_go__msg__UwbState);
-    unitree_go__msg__UwbState * data =
-      (unitree_go__msg__UwbState *)realloc(output->data, allocation_size);
-    if (!data) {
-      return false;
-    }
-    for (size_t i = output->capacity; i < input->size; ++i) {
-      if (!unitree_go__msg__UwbState__init(&data[i])) {
-        /* free currently allocated and return false */
-        for (; i-- > output->capacity; ) {
-          unitree_go__msg__UwbState__fini(&data[i]);
-        }
-        free(data);
-        return false;
-      }
-    }
-    output->data = data;
-    output->capacity = input->size;
-  }
-  output->size = input->size;
-  for (size_t i = 0; i < input->size; ++i) {
-    if (!unitree_go__msg__UwbState__copy(
-        &(input->data[i]), &(output->data[i])))
-    {
-      return false;
-    }
-  }
-  return true;
-}
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_state__functions.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_state__functions.h
deleted file mode 100644
index 5e5eeed..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_state__functions.h
+++ /dev/null
@@ -1,177 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__functions.h.em
-// with input from unitree_go:msg/UwbState.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__UWB_STATE__FUNCTIONS_H_
-#define UNITREE_GO__MSG__DETAIL__UWB_STATE__FUNCTIONS_H_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include <stdbool.h>
-#include <stdlib.h>
-
-#include "rosidl_runtime_c/visibility_control.h"
-#include "unitree_go/msg/rosidl_generator_c__visibility_control.h"
-
-#include "unitree_go/msg/detail/uwb_state__struct.h"
-
-/// Initialize msg/UwbState message.
-/**
- * If the init function is called twice for the same message without
- * calling fini inbetween previously allocated memory will be leaked.
- * \param[in,out] msg The previously allocated message pointer.
- * Fields without a default value will not be initialized by this function.
- * You might want to call memset(msg, 0, sizeof(
- * unitree_go__msg__UwbState
- * )) before or use
- * unitree_go__msg__UwbState__create()
- * to allocate and initialize the message.
- * \return true if initialization was successful, otherwise false
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__UwbState__init(unitree_go__msg__UwbState * msg);
-
-/// Finalize msg/UwbState message.
-/**
- * \param[in,out] msg The allocated message pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-void
-unitree_go__msg__UwbState__fini(unitree_go__msg__UwbState * msg);
-
-/// Create msg/UwbState message.
-/**
- * It allocates the memory for the message, sets the memory to zero, and
- * calls
- * unitree_go__msg__UwbState__init().
- * \return The pointer to the initialized message if successful,
- * otherwise NULL
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-unitree_go__msg__UwbState *
-unitree_go__msg__UwbState__create();
-
-/// Destroy msg/UwbState message.
-/**
- * It calls
- * unitree_go__msg__UwbState__fini()
- * and frees the memory of the message.
- * \param[in,out] msg The allocated message pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-void
-unitree_go__msg__UwbState__destroy(unitree_go__msg__UwbState * msg);
-
-/// Check for msg/UwbState message equality.
-/**
- * \param[in] lhs The message on the left hand size of the equality operator.
- * \param[in] rhs The message on the right hand size of the equality operator.
- * \return true if messages are equal, otherwise false.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__UwbState__are_equal(const unitree_go__msg__UwbState * lhs, const unitree_go__msg__UwbState * rhs);
-
-/// Copy a msg/UwbState message.
-/**
- * This functions performs a deep copy, as opposed to the shallow copy that
- * plain assignment yields.
- *
- * \param[in] input The source message pointer.
- * \param[out] output The target message pointer, which must
- *   have been initialized before calling this function.
- * \return true if successful, or false if either pointer is null
- *   or memory allocation fails.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__UwbState__copy(
-  const unitree_go__msg__UwbState * input,
-  unitree_go__msg__UwbState * output);
-
-/// Initialize array of msg/UwbState messages.
-/**
- * It allocates the memory for the number of elements and calls
- * unitree_go__msg__UwbState__init()
- * for each element of the array.
- * \param[in,out] array The allocated array pointer.
- * \param[in] size The size / capacity of the array.
- * \return true if initialization was successful, otherwise false
- * If the array pointer is valid and the size is zero it is guaranteed
- # to return true.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__UwbState__Sequence__init(unitree_go__msg__UwbState__Sequence * array, size_t size);
-
-/// Finalize array of msg/UwbState messages.
-/**
- * It calls
- * unitree_go__msg__UwbState__fini()
- * for each element of the array and frees the memory for the number of
- * elements.
- * \param[in,out] array The initialized array pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-void
-unitree_go__msg__UwbState__Sequence__fini(unitree_go__msg__UwbState__Sequence * array);
-
-/// Create array of msg/UwbState messages.
-/**
- * It allocates the memory for the array and calls
- * unitree_go__msg__UwbState__Sequence__init().
- * \param[in] size The size / capacity of the array.
- * \return The pointer to the initialized array if successful, otherwise NULL
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-unitree_go__msg__UwbState__Sequence *
-unitree_go__msg__UwbState__Sequence__create(size_t size);
-
-/// Destroy array of msg/UwbState messages.
-/**
- * It calls
- * unitree_go__msg__UwbState__Sequence__fini()
- * on the array,
- * and frees the memory of the array.
- * \param[in,out] array The initialized array pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-void
-unitree_go__msg__UwbState__Sequence__destroy(unitree_go__msg__UwbState__Sequence * array);
-
-/// Check for msg/UwbState message array equality.
-/**
- * \param[in] lhs The message array on the left hand size of the equality operator.
- * \param[in] rhs The message array on the right hand size of the equality operator.
- * \return true if message arrays are equal in size and content, otherwise false.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__UwbState__Sequence__are_equal(const unitree_go__msg__UwbState__Sequence * lhs, const unitree_go__msg__UwbState__Sequence * rhs);
-
-/// Copy an array of msg/UwbState messages.
-/**
- * This functions performs a deep copy, as opposed to the shallow copy that
- * plain assignment yields.
- *
- * \param[in] input The source array pointer.
- * \param[out] output The target array pointer, which must
- *   have been initialized before calling this function.
- * \return true if successful, or false if either pointer
- *   is null or memory allocation fails.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__UwbState__Sequence__copy(
-  const unitree_go__msg__UwbState__Sequence * input,
-  unitree_go__msg__UwbState__Sequence * output);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__UWB_STATE__FUNCTIONS_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_state__rosidl_typesupport_fastrtps_c.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_state__rosidl_typesupport_fastrtps_c.h
deleted file mode 100644
index b17eaef..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_state__rosidl_typesupport_fastrtps_c.h
+++ /dev/null
@@ -1,36 +0,0 @@
-// generated from rosidl_typesupport_fastrtps_c/resource/idl__rosidl_typesupport_fastrtps_c.h.em
-// with input from unitree_go:msg/UwbState.idl
-// generated code does not contain a copyright notice
-#ifndef UNITREE_GO__MSG__DETAIL__UWB_STATE__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_
-#define UNITREE_GO__MSG__DETAIL__UWB_STATE__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_
-
-
-#include <stddef.h>
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_go/msg/rosidl_typesupport_fastrtps_c__visibility_control.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_go
-size_t get_serialized_size_unitree_go__msg__UwbState(
-  const void * untyped_ros_message,
-  size_t current_alignment);
-
-ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_go
-size_t max_serialized_size_unitree_go__msg__UwbState(
-  bool & full_bounded,
-  size_t current_alignment);
-
-ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_fastrtps_c, unitree_go, msg, UwbState)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__UWB_STATE__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_state__rosidl_typesupport_fastrtps_cpp.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_state__rosidl_typesupport_fastrtps_cpp.hpp
deleted file mode 100644
index 710fd84..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_state__rosidl_typesupport_fastrtps_cpp.hpp
+++ /dev/null
@@ -1,79 +0,0 @@
-// generated from rosidl_typesupport_fastrtps_cpp/resource/idl__rosidl_typesupport_fastrtps_cpp.hpp.em
-// with input from unitree_go:msg/UwbState.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__UWB_STATE__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_
-#define UNITREE_GO__MSG__DETAIL__UWB_STATE__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_go/msg/rosidl_typesupport_fastrtps_cpp__visibility_control.h"
-#include "unitree_go/msg/detail/uwb_state__struct.hpp"
-
-#ifndef _WIN32
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wunused-parameter"
-# ifdef __clang__
-#  pragma clang diagnostic ignored "-Wdeprecated-register"
-#  pragma clang diagnostic ignored "-Wreturn-type-c-linkage"
-# endif
-#endif
-#ifndef _WIN32
-# pragma GCC diagnostic pop
-#endif
-
-#include "fastcdr/Cdr.h"
-
-namespace unitree_go
-{
-
-namespace msg
-{
-
-namespace typesupport_fastrtps_cpp
-{
-
-bool
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-cdr_serialize(
-  const unitree_go::msg::UwbState & ros_message,
-  eprosima::fastcdr::Cdr & cdr);
-
-bool
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-cdr_deserialize(
-  eprosima::fastcdr::Cdr & cdr,
-  unitree_go::msg::UwbState & ros_message);
-
-size_t
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-get_serialized_size(
-  const unitree_go::msg::UwbState & ros_message,
-  size_t current_alignment);
-
-size_t
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-max_serialized_size_UwbState(
-  bool & full_bounded,
-  size_t current_alignment);
-
-}  // namespace typesupport_fastrtps_cpp
-
-}  // namespace msg
-
-}  // namespace unitree_go
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_fastrtps_cpp, unitree_go, msg, UwbState)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__UWB_STATE__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_state__rosidl_typesupport_introspection_c.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_state__rosidl_typesupport_introspection_c.h
deleted file mode 100644
index efe19ed..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_state__rosidl_typesupport_introspection_c.h
+++ /dev/null
@@ -1,26 +0,0 @@
-// generated from rosidl_typesupport_introspection_c/resource/idl__rosidl_typesupport_introspection_c.h.em
-// with input from unitree_go:msg/UwbState.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__UWB_STATE__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
-#define UNITREE_GO__MSG__DETAIL__UWB_STATE__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_go/msg/rosidl_typesupport_introspection_c__visibility_control.h"
-
-ROSIDL_TYPESUPPORT_INTROSPECTION_C_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, unitree_go, msg, UwbState)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__UWB_STATE__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_state__rosidl_typesupport_introspection_cpp.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_state__rosidl_typesupport_introspection_cpp.hpp
deleted file mode 100644
index bfd599d..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_state__rosidl_typesupport_introspection_cpp.hpp
+++ /dev/null
@@ -1,27 +0,0 @@
-// generated from rosidl_typesupport_introspection_cpp/resource/idl__rosidl_typesupport_introspection_cpp.h.em
-// with input from unitree_go:msg/UwbState.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__UWB_STATE__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_
-#define UNITREE_GO__MSG__DETAIL__UWB_STATE__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_
-
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "rosidl_typesupport_introspection_cpp/visibility_control.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-// TODO(dirk-thomas) these visibility macros should be message package specific
-ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
-const rosidl_message_type_support_t *
-  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_cpp, unitree_go, msg, UwbState)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__UWB_STATE__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_state__struct.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_state__struct.h
deleted file mode 100644
index 406e537..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_state__struct.h
+++ /dev/null
@@ -1,56 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__struct.h.em
-// with input from unitree_go:msg/UwbState.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__UWB_STATE__STRUCT_H_
-#define UNITREE_GO__MSG__DETAIL__UWB_STATE__STRUCT_H_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include <stdbool.h>
-#include <stddef.h>
-#include <stdint.h>
-
-
-// Constants defined in the message
-
-// Struct defined in msg/UwbState in the package unitree_go.
-typedef struct unitree_go__msg__UwbState
-{
-  uint8_t version[2];
-  uint8_t channel;
-  uint8_t joy_mode;
-  float orientation_est;
-  float pitch_est;
-  float distance_est;
-  float yaw_est;
-  float tag_roll;
-  float tag_pitch;
-  float tag_yaw;
-  float base_roll;
-  float base_pitch;
-  float base_yaw;
-  float joystick[2];
-  uint8_t error_state;
-  uint8_t buttons;
-  uint8_t enabled_from_app;
-} unitree_go__msg__UwbState;
-
-// Struct for a sequence of unitree_go__msg__UwbState.
-typedef struct unitree_go__msg__UwbState__Sequence
-{
-  unitree_go__msg__UwbState * data;
-  /// The number of valid items in data
-  size_t size;
-  /// The number of allocated items in data
-  size_t capacity;
-} unitree_go__msg__UwbState__Sequence;
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__UWB_STATE__STRUCT_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_state__struct.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_state__struct.hpp
deleted file mode 100644
index 0d63dc7..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_state__struct.hpp
+++ /dev/null
@@ -1,355 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__struct.hpp.em
-// with input from unitree_go:msg/UwbState.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__UWB_STATE__STRUCT_HPP_
-#define UNITREE_GO__MSG__DETAIL__UWB_STATE__STRUCT_HPP_
-
-#include <rosidl_runtime_cpp/bounded_vector.hpp>
-#include <rosidl_runtime_cpp/message_initialization.hpp>
-#include <algorithm>
-#include <array>
-#include <memory>
-#include <string>
-#include <vector>
-
-
-#ifndef _WIN32
-# define DEPRECATED__unitree_go__msg__UwbState __attribute__((deprecated))
-#else
-# define DEPRECATED__unitree_go__msg__UwbState __declspec(deprecated)
-#endif
-
-namespace unitree_go
-{
-
-namespace msg
-{
-
-// message struct
-template<class ContainerAllocator>
-struct UwbState_
-{
-  using Type = UwbState_<ContainerAllocator>;
-
-  explicit UwbState_(rosidl_runtime_cpp::MessageInitialization _init = rosidl_runtime_cpp::MessageInitialization::ALL)
-  {
-    if (rosidl_runtime_cpp::MessageInitialization::ALL == _init ||
-      rosidl_runtime_cpp::MessageInitialization::ZERO == _init)
-    {
-      std::fill<typename std::array<uint8_t, 2>::iterator, uint8_t>(this->version.begin(), this->version.end(), 0);
-      this->channel = 0;
-      this->joy_mode = 0;
-      this->orientation_est = 0.0f;
-      this->pitch_est = 0.0f;
-      this->distance_est = 0.0f;
-      this->yaw_est = 0.0f;
-      this->tag_roll = 0.0f;
-      this->tag_pitch = 0.0f;
-      this->tag_yaw = 0.0f;
-      this->base_roll = 0.0f;
-      this->base_pitch = 0.0f;
-      this->base_yaw = 0.0f;
-      std::fill<typename std::array<float, 2>::iterator, float>(this->joystick.begin(), this->joystick.end(), 0.0f);
-      this->error_state = 0;
-      this->buttons = 0;
-      this->enabled_from_app = 0;
-    }
-  }
-
-  explicit UwbState_(const ContainerAllocator & _alloc, rosidl_runtime_cpp::MessageInitialization _init = rosidl_runtime_cpp::MessageInitialization::ALL)
-  : version(_alloc),
-    joystick(_alloc)
-  {
-    if (rosidl_runtime_cpp::MessageInitialization::ALL == _init ||
-      rosidl_runtime_cpp::MessageInitialization::ZERO == _init)
-    {
-      std::fill<typename std::array<uint8_t, 2>::iterator, uint8_t>(this->version.begin(), this->version.end(), 0);
-      this->channel = 0;
-      this->joy_mode = 0;
-      this->orientation_est = 0.0f;
-      this->pitch_est = 0.0f;
-      this->distance_est = 0.0f;
-      this->yaw_est = 0.0f;
-      this->tag_roll = 0.0f;
-      this->tag_pitch = 0.0f;
-      this->tag_yaw = 0.0f;
-      this->base_roll = 0.0f;
-      this->base_pitch = 0.0f;
-      this->base_yaw = 0.0f;
-      std::fill<typename std::array<float, 2>::iterator, float>(this->joystick.begin(), this->joystick.end(), 0.0f);
-      this->error_state = 0;
-      this->buttons = 0;
-      this->enabled_from_app = 0;
-    }
-  }
-
-  // field types and members
-  using _version_type =
-    std::array<uint8_t, 2>;
-  _version_type version;
-  using _channel_type =
-    uint8_t;
-  _channel_type channel;
-  using _joy_mode_type =
-    uint8_t;
-  _joy_mode_type joy_mode;
-  using _orientation_est_type =
-    float;
-  _orientation_est_type orientation_est;
-  using _pitch_est_type =
-    float;
-  _pitch_est_type pitch_est;
-  using _distance_est_type =
-    float;
-  _distance_est_type distance_est;
-  using _yaw_est_type =
-    float;
-  _yaw_est_type yaw_est;
-  using _tag_roll_type =
-    float;
-  _tag_roll_type tag_roll;
-  using _tag_pitch_type =
-    float;
-  _tag_pitch_type tag_pitch;
-  using _tag_yaw_type =
-    float;
-  _tag_yaw_type tag_yaw;
-  using _base_roll_type =
-    float;
-  _base_roll_type base_roll;
-  using _base_pitch_type =
-    float;
-  _base_pitch_type base_pitch;
-  using _base_yaw_type =
-    float;
-  _base_yaw_type base_yaw;
-  using _joystick_type =
-    std::array<float, 2>;
-  _joystick_type joystick;
-  using _error_state_type =
-    uint8_t;
-  _error_state_type error_state;
-  using _buttons_type =
-    uint8_t;
-  _buttons_type buttons;
-  using _enabled_from_app_type =
-    uint8_t;
-  _enabled_from_app_type enabled_from_app;
-
-  // setters for named parameter idiom
-  Type & set__version(
-    const std::array<uint8_t, 2> & _arg)
-  {
-    this->version = _arg;
-    return *this;
-  }
-  Type & set__channel(
-    const uint8_t & _arg)
-  {
-    this->channel = _arg;
-    return *this;
-  }
-  Type & set__joy_mode(
-    const uint8_t & _arg)
-  {
-    this->joy_mode = _arg;
-    return *this;
-  }
-  Type & set__orientation_est(
-    const float & _arg)
-  {
-    this->orientation_est = _arg;
-    return *this;
-  }
-  Type & set__pitch_est(
-    const float & _arg)
-  {
-    this->pitch_est = _arg;
-    return *this;
-  }
-  Type & set__distance_est(
-    const float & _arg)
-  {
-    this->distance_est = _arg;
-    return *this;
-  }
-  Type & set__yaw_est(
-    const float & _arg)
-  {
-    this->yaw_est = _arg;
-    return *this;
-  }
-  Type & set__tag_roll(
-    const float & _arg)
-  {
-    this->tag_roll = _arg;
-    return *this;
-  }
-  Type & set__tag_pitch(
-    const float & _arg)
-  {
-    this->tag_pitch = _arg;
-    return *this;
-  }
-  Type & set__tag_yaw(
-    const float & _arg)
-  {
-    this->tag_yaw = _arg;
-    return *this;
-  }
-  Type & set__base_roll(
-    const float & _arg)
-  {
-    this->base_roll = _arg;
-    return *this;
-  }
-  Type & set__base_pitch(
-    const float & _arg)
-  {
-    this->base_pitch = _arg;
-    return *this;
-  }
-  Type & set__base_yaw(
-    const float & _arg)
-  {
-    this->base_yaw = _arg;
-    return *this;
-  }
-  Type & set__joystick(
-    const std::array<float, 2> & _arg)
-  {
-    this->joystick = _arg;
-    return *this;
-  }
-  Type & set__error_state(
-    const uint8_t & _arg)
-  {
-    this->error_state = _arg;
-    return *this;
-  }
-  Type & set__buttons(
-    const uint8_t & _arg)
-  {
-    this->buttons = _arg;
-    return *this;
-  }
-  Type & set__enabled_from_app(
-    const uint8_t & _arg)
-  {
-    this->enabled_from_app = _arg;
-    return *this;
-  }
-
-  // constant declarations
-
-  // pointer types
-  using RawPtr =
-    unitree_go::msg::UwbState_<ContainerAllocator> *;
-  using ConstRawPtr =
-    const unitree_go::msg::UwbState_<ContainerAllocator> *;
-  using SharedPtr =
-    std::shared_ptr<unitree_go::msg::UwbState_<ContainerAllocator>>;
-  using ConstSharedPtr =
-    std::shared_ptr<unitree_go::msg::UwbState_<ContainerAllocator> const>;
-
-  template<typename Deleter = std::default_delete<
-      unitree_go::msg::UwbState_<ContainerAllocator>>>
-  using UniquePtrWithDeleter =
-    std::unique_ptr<unitree_go::msg::UwbState_<ContainerAllocator>, Deleter>;
-
-  using UniquePtr = UniquePtrWithDeleter<>;
-
-  template<typename Deleter = std::default_delete<
-      unitree_go::msg::UwbState_<ContainerAllocator>>>
-  using ConstUniquePtrWithDeleter =
-    std::unique_ptr<unitree_go::msg::UwbState_<ContainerAllocator> const, Deleter>;
-  using ConstUniquePtr = ConstUniquePtrWithDeleter<>;
-
-  using WeakPtr =
-    std::weak_ptr<unitree_go::msg::UwbState_<ContainerAllocator>>;
-  using ConstWeakPtr =
-    std::weak_ptr<unitree_go::msg::UwbState_<ContainerAllocator> const>;
-
-  // pointer types similar to ROS 1, use SharedPtr / ConstSharedPtr instead
-  // NOTE: Can't use 'using' here because GNU C++ can't parse attributes properly
-  typedef DEPRECATED__unitree_go__msg__UwbState
-    std::shared_ptr<unitree_go::msg::UwbState_<ContainerAllocator>>
-    Ptr;
-  typedef DEPRECATED__unitree_go__msg__UwbState
-    std::shared_ptr<unitree_go::msg::UwbState_<ContainerAllocator> const>
-    ConstPtr;
-
-  // comparison operators
-  bool operator==(const UwbState_ & other) const
-  {
-    if (this->version != other.version) {
-      return false;
-    }
-    if (this->channel != other.channel) {
-      return false;
-    }
-    if (this->joy_mode != other.joy_mode) {
-      return false;
-    }
-    if (this->orientation_est != other.orientation_est) {
-      return false;
-    }
-    if (this->pitch_est != other.pitch_est) {
-      return false;
-    }
-    if (this->distance_est != other.distance_est) {
-      return false;
-    }
-    if (this->yaw_est != other.yaw_est) {
-      return false;
-    }
-    if (this->tag_roll != other.tag_roll) {
-      return false;
-    }
-    if (this->tag_pitch != other.tag_pitch) {
-      return false;
-    }
-    if (this->tag_yaw != other.tag_yaw) {
-      return false;
-    }
-    if (this->base_roll != other.base_roll) {
-      return false;
-    }
-    if (this->base_pitch != other.base_pitch) {
-      return false;
-    }
-    if (this->base_yaw != other.base_yaw) {
-      return false;
-    }
-    if (this->joystick != other.joystick) {
-      return false;
-    }
-    if (this->error_state != other.error_state) {
-      return false;
-    }
-    if (this->buttons != other.buttons) {
-      return false;
-    }
-    if (this->enabled_from_app != other.enabled_from_app) {
-      return false;
-    }
-    return true;
-  }
-  bool operator!=(const UwbState_ & other) const
-  {
-    return !this->operator==(other);
-  }
-};  // struct UwbState_
-
-// alias to use template instance with default allocator
-using UwbState =
-  unitree_go::msg::UwbState_<std::allocator<void>>;
-
-// constant definitions
-
-}  // namespace msg
-
-}  // namespace unitree_go
-
-#endif  // UNITREE_GO__MSG__DETAIL__UWB_STATE__STRUCT_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_state__traits.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_state__traits.hpp
deleted file mode 100644
index cc7b0cd..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_state__traits.hpp
+++ /dev/null
@@ -1,42 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__traits.hpp.em
-// with input from unitree_go:msg/UwbState.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__UWB_STATE__TRAITS_HPP_
-#define UNITREE_GO__MSG__DETAIL__UWB_STATE__TRAITS_HPP_
-
-#include "unitree_go/msg/detail/uwb_state__struct.hpp"
-#include <rosidl_runtime_cpp/traits.hpp>
-#include <stdint.h>
-#include <type_traits>
-
-namespace rosidl_generator_traits
-{
-
-template<>
-inline const char * data_type<unitree_go::msg::UwbState>()
-{
-  return "unitree_go::msg::UwbState";
-}
-
-template<>
-inline const char * name<unitree_go::msg::UwbState>()
-{
-  return "unitree_go/msg/UwbState";
-}
-
-template<>
-struct has_fixed_size<unitree_go::msg::UwbState>
-  : std::integral_constant<bool, true> {};
-
-template<>
-struct has_bounded_size<unitree_go::msg::UwbState>
-  : std::integral_constant<bool, true> {};
-
-template<>
-struct is_message<unitree_go::msg::UwbState>
-  : std::true_type {};
-
-}  // namespace rosidl_generator_traits
-
-#endif  // UNITREE_GO__MSG__DETAIL__UWB_STATE__TRAITS_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_state__type_support.c b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_state__type_support.c
deleted file mode 100644
index 79ba49b..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_state__type_support.c
+++ /dev/null
@@ -1,321 +0,0 @@
-// generated from rosidl_typesupport_introspection_c/resource/idl__type_support.c.em
-// with input from unitree_go:msg/UwbState.idl
-// generated code does not contain a copyright notice
-
-#include <stddef.h>
-#include "unitree_go/msg/detail/uwb_state__rosidl_typesupport_introspection_c.h"
-#include "unitree_go/msg/rosidl_typesupport_introspection_c__visibility_control.h"
-#include "rosidl_typesupport_introspection_c/field_types.h"
-#include "rosidl_typesupport_introspection_c/identifier.h"
-#include "rosidl_typesupport_introspection_c/message_introspection.h"
-#include "unitree_go/msg/detail/uwb_state__functions.h"
-#include "unitree_go/msg/detail/uwb_state__struct.h"
-
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-void UwbState__rosidl_typesupport_introspection_c__UwbState_init_function(
-  void * message_memory, enum rosidl_runtime_c__message_initialization _init)
-{
-  // TODO(karsten1987): initializers are not yet implemented for typesupport c
-  // see https://github.com/ros2/ros2/issues/397
-  (void) _init;
-  unitree_go__msg__UwbState__init(message_memory);
-}
-
-void UwbState__rosidl_typesupport_introspection_c__UwbState_fini_function(void * message_memory)
-{
-  unitree_go__msg__UwbState__fini(message_memory);
-}
-
-static rosidl_typesupport_introspection_c__MessageMember UwbState__rosidl_typesupport_introspection_c__UwbState_message_member_array[17] = {
-  {
-    "version",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_UINT8,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    true,  // is array
-    2,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__UwbState, version),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "channel",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_UINT8,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__UwbState, channel),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "joy_mode",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_UINT8,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__UwbState, joy_mode),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "orientation_est",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__UwbState, orientation_est),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "pitch_est",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__UwbState, pitch_est),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "distance_est",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__UwbState, distance_est),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "yaw_est",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__UwbState, yaw_est),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "tag_roll",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__UwbState, tag_roll),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "tag_pitch",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__UwbState, tag_pitch),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "tag_yaw",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__UwbState, tag_yaw),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "base_roll",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__UwbState, base_roll),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "base_pitch",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__UwbState, base_pitch),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "base_yaw",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__UwbState, base_yaw),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "joystick",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    true,  // is array
-    2,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__UwbState, joystick),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "error_state",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_UINT8,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__UwbState, error_state),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "buttons",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_UINT8,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__UwbState, buttons),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "enabled_from_app",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_UINT8,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__UwbState, enabled_from_app),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  }
-};
-
-static const rosidl_typesupport_introspection_c__MessageMembers UwbState__rosidl_typesupport_introspection_c__UwbState_message_members = {
-  "unitree_go__msg",  // message namespace
-  "UwbState",  // message name
-  17,  // number of fields
-  sizeof(unitree_go__msg__UwbState),
-  UwbState__rosidl_typesupport_introspection_c__UwbState_message_member_array,  // message members
-  UwbState__rosidl_typesupport_introspection_c__UwbState_init_function,  // function to initialize message memory (memory has to be allocated)
-  UwbState__rosidl_typesupport_introspection_c__UwbState_fini_function  // function to terminate message instance (will not free memory)
-};
-
-// this is not const since it must be initialized on first access
-// since C does not allow non-integral compile-time constants
-static rosidl_message_type_support_t UwbState__rosidl_typesupport_introspection_c__UwbState_message_type_support_handle = {
-  0,
-  &UwbState__rosidl_typesupport_introspection_c__UwbState_message_members,
-  get_message_typesupport_handle_function,
-};
-
-ROSIDL_TYPESUPPORT_INTROSPECTION_C_EXPORT_unitree_go
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, unitree_go, msg, UwbState)() {
-  if (!UwbState__rosidl_typesupport_introspection_c__UwbState_message_type_support_handle.typesupport_identifier) {
-    UwbState__rosidl_typesupport_introspection_c__UwbState_message_type_support_handle.typesupport_identifier =
-      rosidl_typesupport_introspection_c__identifier;
-  }
-  return &UwbState__rosidl_typesupport_introspection_c__UwbState_message_type_support_handle;
-}
-#ifdef __cplusplus
-}
-#endif
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_state__type_support.cpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_state__type_support.cpp
deleted file mode 100644
index ef785d2..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_state__type_support.cpp
+++ /dev/null
@@ -1,387 +0,0 @@
-// generated from rosidl_typesupport_introspection_cpp/resource/idl__type_support.cpp.em
-// with input from unitree_go:msg/UwbState.idl
-// generated code does not contain a copyright notice
-
-#include "array"
-#include "cstddef"
-#include "string"
-#include "vector"
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_cpp/message_type_support.hpp"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_go/msg/detail/uwb_state__struct.hpp"
-#include "rosidl_typesupport_introspection_cpp/field_types.hpp"
-#include "rosidl_typesupport_introspection_cpp/identifier.hpp"
-#include "rosidl_typesupport_introspection_cpp/message_introspection.hpp"
-#include "rosidl_typesupport_introspection_cpp/message_type_support_decl.hpp"
-#include "rosidl_typesupport_introspection_cpp/visibility_control.h"
-
-namespace unitree_go
-{
-
-namespace msg
-{
-
-namespace rosidl_typesupport_introspection_cpp
-{
-
-void UwbState_init_function(
-  void * message_memory, rosidl_runtime_cpp::MessageInitialization _init)
-{
-  new (message_memory) unitree_go::msg::UwbState(_init);
-}
-
-void UwbState_fini_function(void * message_memory)
-{
-  auto typed_message = static_cast<unitree_go::msg::UwbState *>(message_memory);
-  typed_message->~UwbState();
-}
-
-size_t size_function__UwbState__version(const void * untyped_member)
-{
-  (void)untyped_member;
-  return 2;
-}
-
-const void * get_const_function__UwbState__version(const void * untyped_member, size_t index)
-{
-  const auto & member =
-    *reinterpret_cast<const std::array<uint8_t, 2> *>(untyped_member);
-  return &member[index];
-}
-
-void * get_function__UwbState__version(void * untyped_member, size_t index)
-{
-  auto & member =
-    *reinterpret_cast<std::array<uint8_t, 2> *>(untyped_member);
-  return &member[index];
-}
-
-size_t size_function__UwbState__joystick(const void * untyped_member)
-{
-  (void)untyped_member;
-  return 2;
-}
-
-const void * get_const_function__UwbState__joystick(const void * untyped_member, size_t index)
-{
-  const auto & member =
-    *reinterpret_cast<const std::array<float, 2> *>(untyped_member);
-  return &member[index];
-}
-
-void * get_function__UwbState__joystick(void * untyped_member, size_t index)
-{
-  auto & member =
-    *reinterpret_cast<std::array<float, 2> *>(untyped_member);
-  return &member[index];
-}
-
-static const ::rosidl_typesupport_introspection_cpp::MessageMember UwbState_message_member_array[17] = {
-  {
-    "version",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT8,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    true,  // is array
-    2,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::UwbState, version),  // bytes offset in struct
-    nullptr,  // default value
-    size_function__UwbState__version,  // size() function pointer
-    get_const_function__UwbState__version,  // get_const(index) function pointer
-    get_function__UwbState__version,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "channel",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT8,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::UwbState, channel),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "joy_mode",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT8,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::UwbState, joy_mode),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "orientation_est",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::UwbState, orientation_est),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "pitch_est",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::UwbState, pitch_est),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "distance_est",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::UwbState, distance_est),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "yaw_est",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::UwbState, yaw_est),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "tag_roll",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::UwbState, tag_roll),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "tag_pitch",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::UwbState, tag_pitch),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "tag_yaw",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::UwbState, tag_yaw),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "base_roll",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::UwbState, base_roll),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "base_pitch",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::UwbState, base_pitch),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "base_yaw",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::UwbState, base_yaw),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "joystick",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    true,  // is array
-    2,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::UwbState, joystick),  // bytes offset in struct
-    nullptr,  // default value
-    size_function__UwbState__joystick,  // size() function pointer
-    get_const_function__UwbState__joystick,  // get_const(index) function pointer
-    get_function__UwbState__joystick,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "error_state",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT8,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::UwbState, error_state),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "buttons",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT8,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::UwbState, buttons),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "enabled_from_app",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT8,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::UwbState, enabled_from_app),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  }
-};
-
-static const ::rosidl_typesupport_introspection_cpp::MessageMembers UwbState_message_members = {
-  "unitree_go::msg",  // message namespace
-  "UwbState",  // message name
-  17,  // number of fields
-  sizeof(unitree_go::msg::UwbState),
-  UwbState_message_member_array,  // message members
-  UwbState_init_function,  // function to initialize message memory (memory has to be allocated)
-  UwbState_fini_function  // function to terminate message instance (will not free memory)
-};
-
-static const rosidl_message_type_support_t UwbState_message_type_support_handle = {
-  ::rosidl_typesupport_introspection_cpp::typesupport_identifier,
-  &UwbState_message_members,
-  get_message_typesupport_handle_function,
-};
-
-}  // namespace rosidl_typesupport_introspection_cpp
-
-}  // namespace msg
-
-}  // namespace unitree_go
-
-
-namespace rosidl_typesupport_introspection_cpp
-{
-
-template<>
-ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
-const rosidl_message_type_support_t *
-get_message_type_support_handle<unitree_go::msg::UwbState>()
-{
-  return &::unitree_go::msg::rosidl_typesupport_introspection_cpp::UwbState_message_type_support_handle;
-}
-
-}  // namespace rosidl_typesupport_introspection_cpp
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_cpp, unitree_go, msg, UwbState)() {
-  return &::unitree_go::msg::rosidl_typesupport_introspection_cpp::UwbState_message_type_support_handle;
-}
-
-#ifdef __cplusplus
-}
-#endif
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_state__type_support.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_state__type_support.h
deleted file mode 100644
index edda64e..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_state__type_support.h
+++ /dev/null
@@ -1,33 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__type_support.h.em
-// with input from unitree_go:msg/UwbState.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__UWB_STATE__TYPE_SUPPORT_H_
-#define UNITREE_GO__MSG__DETAIL__UWB_STATE__TYPE_SUPPORT_H_
-
-#include "rosidl_typesupport_interface/macros.h"
-
-#include "unitree_go/msg/rosidl_generator_c__visibility_control.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-
-// Forward declare the get type support functions for this type.
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
-  rosidl_typesupport_c,
-  unitree_go,
-  msg,
-  UwbState
-)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__UWB_STATE__TYPE_SUPPORT_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_state__type_support.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_state__type_support.hpp
deleted file mode 100644
index c2bdb62..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_state__type_support.hpp
+++ /dev/null
@@ -1,31 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__type_support.hpp.em
-// with input from unitree_go:msg/UwbState.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__UWB_STATE__TYPE_SUPPORT_HPP_
-#define UNITREE_GO__MSG__DETAIL__UWB_STATE__TYPE_SUPPORT_HPP_
-
-#include "rosidl_typesupport_interface/macros.h"
-
-#include "unitree_go/msg/rosidl_generator_cpp__visibility_control.hpp"
-
-#include "rosidl_typesupport_cpp/message_type_support.hpp"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-// Forward declare the get type support functions for this type.
-ROSIDL_GENERATOR_CPP_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
-  rosidl_typesupport_cpp,
-  unitree_go,
-  msg,
-  UwbState
-)();
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__UWB_STATE__TYPE_SUPPORT_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_switch__builder.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_switch__builder.hpp
deleted file mode 100644
index 9f6dc91..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_switch__builder.hpp
+++ /dev/null
@@ -1,55 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__builder.hpp.em
-// with input from unitree_go:msg/UwbSwitch.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__UWB_SWITCH__BUILDER_HPP_
-#define UNITREE_GO__MSG__DETAIL__UWB_SWITCH__BUILDER_HPP_
-
-#include "unitree_go/msg/detail/uwb_switch__struct.hpp"
-#include <rosidl_runtime_cpp/message_initialization.hpp>
-#include <algorithm>
-#include <utility>
-
-
-namespace unitree_go
-{
-
-namespace msg
-{
-
-namespace builder
-{
-
-class Init_UwbSwitch_enabled
-{
-public:
-  Init_UwbSwitch_enabled()
-  : msg_(::rosidl_runtime_cpp::MessageInitialization::SKIP)
-  {}
-  ::unitree_go::msg::UwbSwitch enabled(::unitree_go::msg::UwbSwitch::_enabled_type arg)
-  {
-    msg_.enabled = std::move(arg);
-    return std::move(msg_);
-  }
-
-private:
-  ::unitree_go::msg::UwbSwitch msg_;
-};
-
-}  // namespace builder
-
-}  // namespace msg
-
-template<typename MessageType>
-auto build();
-
-template<>
-inline
-auto build<::unitree_go::msg::UwbSwitch>()
-{
-  return unitree_go::msg::builder::Init_UwbSwitch_enabled();
-}
-
-}  // namespace unitree_go
-
-#endif  // UNITREE_GO__MSG__DETAIL__UWB_SWITCH__BUILDER_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_switch__functions.c b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_switch__functions.c
deleted file mode 100644
index de538ba..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_switch__functions.c
+++ /dev/null
@@ -1,231 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__functions.c.em
-// with input from unitree_go:msg/UwbSwitch.idl
-// generated code does not contain a copyright notice
-#include "unitree_go/msg/detail/uwb_switch__functions.h"
-
-#include <assert.h>
-#include <stdbool.h>
-#include <stdlib.h>
-#include <string.h>
-
-#include "rcutils/allocator.h"
-
-
-bool
-unitree_go__msg__UwbSwitch__init(unitree_go__msg__UwbSwitch * msg)
-{
-  if (!msg) {
-    return false;
-  }
-  // enabled
-  return true;
-}
-
-void
-unitree_go__msg__UwbSwitch__fini(unitree_go__msg__UwbSwitch * msg)
-{
-  if (!msg) {
-    return;
-  }
-  // enabled
-}
-
-bool
-unitree_go__msg__UwbSwitch__are_equal(const unitree_go__msg__UwbSwitch * lhs, const unitree_go__msg__UwbSwitch * rhs)
-{
-  if (!lhs || !rhs) {
-    return false;
-  }
-  // enabled
-  if (lhs->enabled != rhs->enabled) {
-    return false;
-  }
-  return true;
-}
-
-bool
-unitree_go__msg__UwbSwitch__copy(
-  const unitree_go__msg__UwbSwitch * input,
-  unitree_go__msg__UwbSwitch * output)
-{
-  if (!input || !output) {
-    return false;
-  }
-  // enabled
-  output->enabled = input->enabled;
-  return true;
-}
-
-unitree_go__msg__UwbSwitch *
-unitree_go__msg__UwbSwitch__create()
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  unitree_go__msg__UwbSwitch * msg = (unitree_go__msg__UwbSwitch *)allocator.allocate(sizeof(unitree_go__msg__UwbSwitch), allocator.state);
-  if (!msg) {
-    return NULL;
-  }
-  memset(msg, 0, sizeof(unitree_go__msg__UwbSwitch));
-  bool success = unitree_go__msg__UwbSwitch__init(msg);
-  if (!success) {
-    allocator.deallocate(msg, allocator.state);
-    return NULL;
-  }
-  return msg;
-}
-
-void
-unitree_go__msg__UwbSwitch__destroy(unitree_go__msg__UwbSwitch * msg)
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  if (msg) {
-    unitree_go__msg__UwbSwitch__fini(msg);
-  }
-  allocator.deallocate(msg, allocator.state);
-}
-
-
-bool
-unitree_go__msg__UwbSwitch__Sequence__init(unitree_go__msg__UwbSwitch__Sequence * array, size_t size)
-{
-  if (!array) {
-    return false;
-  }
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  unitree_go__msg__UwbSwitch * data = NULL;
-
-  if (size) {
-    data = (unitree_go__msg__UwbSwitch *)allocator.zero_allocate(size, sizeof(unitree_go__msg__UwbSwitch), allocator.state);
-    if (!data) {
-      return false;
-    }
-    // initialize all array elements
-    size_t i;
-    for (i = 0; i < size; ++i) {
-      bool success = unitree_go__msg__UwbSwitch__init(&data[i]);
-      if (!success) {
-        break;
-      }
-    }
-    if (i < size) {
-      // if initialization failed finalize the already initialized array elements
-      for (; i > 0; --i) {
-        unitree_go__msg__UwbSwitch__fini(&data[i - 1]);
-      }
-      allocator.deallocate(data, allocator.state);
-      return false;
-    }
-  }
-  array->data = data;
-  array->size = size;
-  array->capacity = size;
-  return true;
-}
-
-void
-unitree_go__msg__UwbSwitch__Sequence__fini(unitree_go__msg__UwbSwitch__Sequence * array)
-{
-  if (!array) {
-    return;
-  }
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-
-  if (array->data) {
-    // ensure that data and capacity values are consistent
-    assert(array->capacity > 0);
-    // finalize all array elements
-    for (size_t i = 0; i < array->capacity; ++i) {
-      unitree_go__msg__UwbSwitch__fini(&array->data[i]);
-    }
-    allocator.deallocate(array->data, allocator.state);
-    array->data = NULL;
-    array->size = 0;
-    array->capacity = 0;
-  } else {
-    // ensure that data, size, and capacity values are consistent
-    assert(0 == array->size);
-    assert(0 == array->capacity);
-  }
-}
-
-unitree_go__msg__UwbSwitch__Sequence *
-unitree_go__msg__UwbSwitch__Sequence__create(size_t size)
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  unitree_go__msg__UwbSwitch__Sequence * array = (unitree_go__msg__UwbSwitch__Sequence *)allocator.allocate(sizeof(unitree_go__msg__UwbSwitch__Sequence), allocator.state);
-  if (!array) {
-    return NULL;
-  }
-  bool success = unitree_go__msg__UwbSwitch__Sequence__init(array, size);
-  if (!success) {
-    allocator.deallocate(array, allocator.state);
-    return NULL;
-  }
-  return array;
-}
-
-void
-unitree_go__msg__UwbSwitch__Sequence__destroy(unitree_go__msg__UwbSwitch__Sequence * array)
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  if (array) {
-    unitree_go__msg__UwbSwitch__Sequence__fini(array);
-  }
-  allocator.deallocate(array, allocator.state);
-}
-
-bool
-unitree_go__msg__UwbSwitch__Sequence__are_equal(const unitree_go__msg__UwbSwitch__Sequence * lhs, const unitree_go__msg__UwbSwitch__Sequence * rhs)
-{
-  if (!lhs || !rhs) {
-    return false;
-  }
-  if (lhs->size != rhs->size) {
-    return false;
-  }
-  for (size_t i = 0; i < lhs->size; ++i) {
-    if (!unitree_go__msg__UwbSwitch__are_equal(&(lhs->data[i]), &(rhs->data[i]))) {
-      return false;
-    }
-  }
-  return true;
-}
-
-bool
-unitree_go__msg__UwbSwitch__Sequence__copy(
-  const unitree_go__msg__UwbSwitch__Sequence * input,
-  unitree_go__msg__UwbSwitch__Sequence * output)
-{
-  if (!input || !output) {
-    return false;
-  }
-  if (output->capacity < input->size) {
-    const size_t allocation_size =
-      input->size * sizeof(unitree_go__msg__UwbSwitch);
-    unitree_go__msg__UwbSwitch * data =
-      (unitree_go__msg__UwbSwitch *)realloc(output->data, allocation_size);
-    if (!data) {
-      return false;
-    }
-    for (size_t i = output->capacity; i < input->size; ++i) {
-      if (!unitree_go__msg__UwbSwitch__init(&data[i])) {
-        /* free currently allocated and return false */
-        for (; i-- > output->capacity; ) {
-          unitree_go__msg__UwbSwitch__fini(&data[i]);
-        }
-        free(data);
-        return false;
-      }
-    }
-    output->data = data;
-    output->capacity = input->size;
-  }
-  output->size = input->size;
-  for (size_t i = 0; i < input->size; ++i) {
-    if (!unitree_go__msg__UwbSwitch__copy(
-        &(input->data[i]), &(output->data[i])))
-    {
-      return false;
-    }
-  }
-  return true;
-}
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_switch__functions.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_switch__functions.h
deleted file mode 100644
index 03b8a4f..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_switch__functions.h
+++ /dev/null
@@ -1,177 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__functions.h.em
-// with input from unitree_go:msg/UwbSwitch.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__UWB_SWITCH__FUNCTIONS_H_
-#define UNITREE_GO__MSG__DETAIL__UWB_SWITCH__FUNCTIONS_H_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include <stdbool.h>
-#include <stdlib.h>
-
-#include "rosidl_runtime_c/visibility_control.h"
-#include "unitree_go/msg/rosidl_generator_c__visibility_control.h"
-
-#include "unitree_go/msg/detail/uwb_switch__struct.h"
-
-/// Initialize msg/UwbSwitch message.
-/**
- * If the init function is called twice for the same message without
- * calling fini inbetween previously allocated memory will be leaked.
- * \param[in,out] msg The previously allocated message pointer.
- * Fields without a default value will not be initialized by this function.
- * You might want to call memset(msg, 0, sizeof(
- * unitree_go__msg__UwbSwitch
- * )) before or use
- * unitree_go__msg__UwbSwitch__create()
- * to allocate and initialize the message.
- * \return true if initialization was successful, otherwise false
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__UwbSwitch__init(unitree_go__msg__UwbSwitch * msg);
-
-/// Finalize msg/UwbSwitch message.
-/**
- * \param[in,out] msg The allocated message pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-void
-unitree_go__msg__UwbSwitch__fini(unitree_go__msg__UwbSwitch * msg);
-
-/// Create msg/UwbSwitch message.
-/**
- * It allocates the memory for the message, sets the memory to zero, and
- * calls
- * unitree_go__msg__UwbSwitch__init().
- * \return The pointer to the initialized message if successful,
- * otherwise NULL
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-unitree_go__msg__UwbSwitch *
-unitree_go__msg__UwbSwitch__create();
-
-/// Destroy msg/UwbSwitch message.
-/**
- * It calls
- * unitree_go__msg__UwbSwitch__fini()
- * and frees the memory of the message.
- * \param[in,out] msg The allocated message pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-void
-unitree_go__msg__UwbSwitch__destroy(unitree_go__msg__UwbSwitch * msg);
-
-/// Check for msg/UwbSwitch message equality.
-/**
- * \param[in] lhs The message on the left hand size of the equality operator.
- * \param[in] rhs The message on the right hand size of the equality operator.
- * \return true if messages are equal, otherwise false.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__UwbSwitch__are_equal(const unitree_go__msg__UwbSwitch * lhs, const unitree_go__msg__UwbSwitch * rhs);
-
-/// Copy a msg/UwbSwitch message.
-/**
- * This functions performs a deep copy, as opposed to the shallow copy that
- * plain assignment yields.
- *
- * \param[in] input The source message pointer.
- * \param[out] output The target message pointer, which must
- *   have been initialized before calling this function.
- * \return true if successful, or false if either pointer is null
- *   or memory allocation fails.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__UwbSwitch__copy(
-  const unitree_go__msg__UwbSwitch * input,
-  unitree_go__msg__UwbSwitch * output);
-
-/// Initialize array of msg/UwbSwitch messages.
-/**
- * It allocates the memory for the number of elements and calls
- * unitree_go__msg__UwbSwitch__init()
- * for each element of the array.
- * \param[in,out] array The allocated array pointer.
- * \param[in] size The size / capacity of the array.
- * \return true if initialization was successful, otherwise false
- * If the array pointer is valid and the size is zero it is guaranteed
- # to return true.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__UwbSwitch__Sequence__init(unitree_go__msg__UwbSwitch__Sequence * array, size_t size);
-
-/// Finalize array of msg/UwbSwitch messages.
-/**
- * It calls
- * unitree_go__msg__UwbSwitch__fini()
- * for each element of the array and frees the memory for the number of
- * elements.
- * \param[in,out] array The initialized array pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-void
-unitree_go__msg__UwbSwitch__Sequence__fini(unitree_go__msg__UwbSwitch__Sequence * array);
-
-/// Create array of msg/UwbSwitch messages.
-/**
- * It allocates the memory for the array and calls
- * unitree_go__msg__UwbSwitch__Sequence__init().
- * \param[in] size The size / capacity of the array.
- * \return The pointer to the initialized array if successful, otherwise NULL
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-unitree_go__msg__UwbSwitch__Sequence *
-unitree_go__msg__UwbSwitch__Sequence__create(size_t size);
-
-/// Destroy array of msg/UwbSwitch messages.
-/**
- * It calls
- * unitree_go__msg__UwbSwitch__Sequence__fini()
- * on the array,
- * and frees the memory of the array.
- * \param[in,out] array The initialized array pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-void
-unitree_go__msg__UwbSwitch__Sequence__destroy(unitree_go__msg__UwbSwitch__Sequence * array);
-
-/// Check for msg/UwbSwitch message array equality.
-/**
- * \param[in] lhs The message array on the left hand size of the equality operator.
- * \param[in] rhs The message array on the right hand size of the equality operator.
- * \return true if message arrays are equal in size and content, otherwise false.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__UwbSwitch__Sequence__are_equal(const unitree_go__msg__UwbSwitch__Sequence * lhs, const unitree_go__msg__UwbSwitch__Sequence * rhs);
-
-/// Copy an array of msg/UwbSwitch messages.
-/**
- * This functions performs a deep copy, as opposed to the shallow copy that
- * plain assignment yields.
- *
- * \param[in] input The source array pointer.
- * \param[out] output The target array pointer, which must
- *   have been initialized before calling this function.
- * \return true if successful, or false if either pointer
- *   is null or memory allocation fails.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__UwbSwitch__Sequence__copy(
-  const unitree_go__msg__UwbSwitch__Sequence * input,
-  unitree_go__msg__UwbSwitch__Sequence * output);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__UWB_SWITCH__FUNCTIONS_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_switch__rosidl_typesupport_fastrtps_c.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_switch__rosidl_typesupport_fastrtps_c.h
deleted file mode 100644
index dd73301..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_switch__rosidl_typesupport_fastrtps_c.h
+++ /dev/null
@@ -1,36 +0,0 @@
-// generated from rosidl_typesupport_fastrtps_c/resource/idl__rosidl_typesupport_fastrtps_c.h.em
-// with input from unitree_go:msg/UwbSwitch.idl
-// generated code does not contain a copyright notice
-#ifndef UNITREE_GO__MSG__DETAIL__UWB_SWITCH__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_
-#define UNITREE_GO__MSG__DETAIL__UWB_SWITCH__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_
-
-
-#include <stddef.h>
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_go/msg/rosidl_typesupport_fastrtps_c__visibility_control.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_go
-size_t get_serialized_size_unitree_go__msg__UwbSwitch(
-  const void * untyped_ros_message,
-  size_t current_alignment);
-
-ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_go
-size_t max_serialized_size_unitree_go__msg__UwbSwitch(
-  bool & full_bounded,
-  size_t current_alignment);
-
-ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_fastrtps_c, unitree_go, msg, UwbSwitch)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__UWB_SWITCH__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_switch__rosidl_typesupport_fastrtps_cpp.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_switch__rosidl_typesupport_fastrtps_cpp.hpp
deleted file mode 100644
index e361630..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_switch__rosidl_typesupport_fastrtps_cpp.hpp
+++ /dev/null
@@ -1,79 +0,0 @@
-// generated from rosidl_typesupport_fastrtps_cpp/resource/idl__rosidl_typesupport_fastrtps_cpp.hpp.em
-// with input from unitree_go:msg/UwbSwitch.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__UWB_SWITCH__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_
-#define UNITREE_GO__MSG__DETAIL__UWB_SWITCH__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_go/msg/rosidl_typesupport_fastrtps_cpp__visibility_control.h"
-#include "unitree_go/msg/detail/uwb_switch__struct.hpp"
-
-#ifndef _WIN32
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wunused-parameter"
-# ifdef __clang__
-#  pragma clang diagnostic ignored "-Wdeprecated-register"
-#  pragma clang diagnostic ignored "-Wreturn-type-c-linkage"
-# endif
-#endif
-#ifndef _WIN32
-# pragma GCC diagnostic pop
-#endif
-
-#include "fastcdr/Cdr.h"
-
-namespace unitree_go
-{
-
-namespace msg
-{
-
-namespace typesupport_fastrtps_cpp
-{
-
-bool
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-cdr_serialize(
-  const unitree_go::msg::UwbSwitch & ros_message,
-  eprosima::fastcdr::Cdr & cdr);
-
-bool
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-cdr_deserialize(
-  eprosima::fastcdr::Cdr & cdr,
-  unitree_go::msg::UwbSwitch & ros_message);
-
-size_t
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-get_serialized_size(
-  const unitree_go::msg::UwbSwitch & ros_message,
-  size_t current_alignment);
-
-size_t
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-max_serialized_size_UwbSwitch(
-  bool & full_bounded,
-  size_t current_alignment);
-
-}  // namespace typesupport_fastrtps_cpp
-
-}  // namespace msg
-
-}  // namespace unitree_go
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_fastrtps_cpp, unitree_go, msg, UwbSwitch)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__UWB_SWITCH__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_switch__rosidl_typesupport_introspection_c.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_switch__rosidl_typesupport_introspection_c.h
deleted file mode 100644
index dfd5ad9..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_switch__rosidl_typesupport_introspection_c.h
+++ /dev/null
@@ -1,26 +0,0 @@
-// generated from rosidl_typesupport_introspection_c/resource/idl__rosidl_typesupport_introspection_c.h.em
-// with input from unitree_go:msg/UwbSwitch.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__UWB_SWITCH__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
-#define UNITREE_GO__MSG__DETAIL__UWB_SWITCH__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_go/msg/rosidl_typesupport_introspection_c__visibility_control.h"
-
-ROSIDL_TYPESUPPORT_INTROSPECTION_C_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, unitree_go, msg, UwbSwitch)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__UWB_SWITCH__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_switch__rosidl_typesupport_introspection_cpp.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_switch__rosidl_typesupport_introspection_cpp.hpp
deleted file mode 100644
index 3a61be8..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_switch__rosidl_typesupport_introspection_cpp.hpp
+++ /dev/null
@@ -1,27 +0,0 @@
-// generated from rosidl_typesupport_introspection_cpp/resource/idl__rosidl_typesupport_introspection_cpp.h.em
-// with input from unitree_go:msg/UwbSwitch.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__UWB_SWITCH__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_
-#define UNITREE_GO__MSG__DETAIL__UWB_SWITCH__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_
-
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "rosidl_typesupport_introspection_cpp/visibility_control.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-// TODO(dirk-thomas) these visibility macros should be message package specific
-ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
-const rosidl_message_type_support_t *
-  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_cpp, unitree_go, msg, UwbSwitch)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__UWB_SWITCH__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_switch__struct.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_switch__struct.h
deleted file mode 100644
index 5ef47e3..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_switch__struct.h
+++ /dev/null
@@ -1,40 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__struct.h.em
-// with input from unitree_go:msg/UwbSwitch.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__UWB_SWITCH__STRUCT_H_
-#define UNITREE_GO__MSG__DETAIL__UWB_SWITCH__STRUCT_H_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include <stdbool.h>
-#include <stddef.h>
-#include <stdint.h>
-
-
-// Constants defined in the message
-
-// Struct defined in msg/UwbSwitch in the package unitree_go.
-typedef struct unitree_go__msg__UwbSwitch
-{
-  uint8_t enabled;
-} unitree_go__msg__UwbSwitch;
-
-// Struct for a sequence of unitree_go__msg__UwbSwitch.
-typedef struct unitree_go__msg__UwbSwitch__Sequence
-{
-  unitree_go__msg__UwbSwitch * data;
-  /// The number of valid items in data
-  size_t size;
-  /// The number of allocated items in data
-  size_t capacity;
-} unitree_go__msg__UwbSwitch__Sequence;
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__UWB_SWITCH__STRUCT_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_switch__struct.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_switch__struct.hpp
deleted file mode 100644
index 53687e1..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_switch__struct.hpp
+++ /dev/null
@@ -1,130 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__struct.hpp.em
-// with input from unitree_go:msg/UwbSwitch.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__UWB_SWITCH__STRUCT_HPP_
-#define UNITREE_GO__MSG__DETAIL__UWB_SWITCH__STRUCT_HPP_
-
-#include <rosidl_runtime_cpp/bounded_vector.hpp>
-#include <rosidl_runtime_cpp/message_initialization.hpp>
-#include <algorithm>
-#include <array>
-#include <memory>
-#include <string>
-#include <vector>
-
-
-#ifndef _WIN32
-# define DEPRECATED__unitree_go__msg__UwbSwitch __attribute__((deprecated))
-#else
-# define DEPRECATED__unitree_go__msg__UwbSwitch __declspec(deprecated)
-#endif
-
-namespace unitree_go
-{
-
-namespace msg
-{
-
-// message struct
-template<class ContainerAllocator>
-struct UwbSwitch_
-{
-  using Type = UwbSwitch_<ContainerAllocator>;
-
-  explicit UwbSwitch_(rosidl_runtime_cpp::MessageInitialization _init = rosidl_runtime_cpp::MessageInitialization::ALL)
-  {
-    if (rosidl_runtime_cpp::MessageInitialization::ALL == _init ||
-      rosidl_runtime_cpp::MessageInitialization::ZERO == _init)
-    {
-      this->enabled = 0;
-    }
-  }
-
-  explicit UwbSwitch_(const ContainerAllocator & _alloc, rosidl_runtime_cpp::MessageInitialization _init = rosidl_runtime_cpp::MessageInitialization::ALL)
-  {
-    (void)_alloc;
-    if (rosidl_runtime_cpp::MessageInitialization::ALL == _init ||
-      rosidl_runtime_cpp::MessageInitialization::ZERO == _init)
-    {
-      this->enabled = 0;
-    }
-  }
-
-  // field types and members
-  using _enabled_type =
-    uint8_t;
-  _enabled_type enabled;
-
-  // setters for named parameter idiom
-  Type & set__enabled(
-    const uint8_t & _arg)
-  {
-    this->enabled = _arg;
-    return *this;
-  }
-
-  // constant declarations
-
-  // pointer types
-  using RawPtr =
-    unitree_go::msg::UwbSwitch_<ContainerAllocator> *;
-  using ConstRawPtr =
-    const unitree_go::msg::UwbSwitch_<ContainerAllocator> *;
-  using SharedPtr =
-    std::shared_ptr<unitree_go::msg::UwbSwitch_<ContainerAllocator>>;
-  using ConstSharedPtr =
-    std::shared_ptr<unitree_go::msg::UwbSwitch_<ContainerAllocator> const>;
-
-  template<typename Deleter = std::default_delete<
-      unitree_go::msg::UwbSwitch_<ContainerAllocator>>>
-  using UniquePtrWithDeleter =
-    std::unique_ptr<unitree_go::msg::UwbSwitch_<ContainerAllocator>, Deleter>;
-
-  using UniquePtr = UniquePtrWithDeleter<>;
-
-  template<typename Deleter = std::default_delete<
-      unitree_go::msg::UwbSwitch_<ContainerAllocator>>>
-  using ConstUniquePtrWithDeleter =
-    std::unique_ptr<unitree_go::msg::UwbSwitch_<ContainerAllocator> const, Deleter>;
-  using ConstUniquePtr = ConstUniquePtrWithDeleter<>;
-
-  using WeakPtr =
-    std::weak_ptr<unitree_go::msg::UwbSwitch_<ContainerAllocator>>;
-  using ConstWeakPtr =
-    std::weak_ptr<unitree_go::msg::UwbSwitch_<ContainerAllocator> const>;
-
-  // pointer types similar to ROS 1, use SharedPtr / ConstSharedPtr instead
-  // NOTE: Can't use 'using' here because GNU C++ can't parse attributes properly
-  typedef DEPRECATED__unitree_go__msg__UwbSwitch
-    std::shared_ptr<unitree_go::msg::UwbSwitch_<ContainerAllocator>>
-    Ptr;
-  typedef DEPRECATED__unitree_go__msg__UwbSwitch
-    std::shared_ptr<unitree_go::msg::UwbSwitch_<ContainerAllocator> const>
-    ConstPtr;
-
-  // comparison operators
-  bool operator==(const UwbSwitch_ & other) const
-  {
-    if (this->enabled != other.enabled) {
-      return false;
-    }
-    return true;
-  }
-  bool operator!=(const UwbSwitch_ & other) const
-  {
-    return !this->operator==(other);
-  }
-};  // struct UwbSwitch_
-
-// alias to use template instance with default allocator
-using UwbSwitch =
-  unitree_go::msg::UwbSwitch_<std::allocator<void>>;
-
-// constant definitions
-
-}  // namespace msg
-
-}  // namespace unitree_go
-
-#endif  // UNITREE_GO__MSG__DETAIL__UWB_SWITCH__STRUCT_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_switch__traits.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_switch__traits.hpp
deleted file mode 100644
index c7a7d65..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_switch__traits.hpp
+++ /dev/null
@@ -1,42 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__traits.hpp.em
-// with input from unitree_go:msg/UwbSwitch.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__UWB_SWITCH__TRAITS_HPP_
-#define UNITREE_GO__MSG__DETAIL__UWB_SWITCH__TRAITS_HPP_
-
-#include "unitree_go/msg/detail/uwb_switch__struct.hpp"
-#include <rosidl_runtime_cpp/traits.hpp>
-#include <stdint.h>
-#include <type_traits>
-
-namespace rosidl_generator_traits
-{
-
-template<>
-inline const char * data_type<unitree_go::msg::UwbSwitch>()
-{
-  return "unitree_go::msg::UwbSwitch";
-}
-
-template<>
-inline const char * name<unitree_go::msg::UwbSwitch>()
-{
-  return "unitree_go/msg/UwbSwitch";
-}
-
-template<>
-struct has_fixed_size<unitree_go::msg::UwbSwitch>
-  : std::integral_constant<bool, true> {};
-
-template<>
-struct has_bounded_size<unitree_go::msg::UwbSwitch>
-  : std::integral_constant<bool, true> {};
-
-template<>
-struct is_message<unitree_go::msg::UwbSwitch>
-  : std::true_type {};
-
-}  // namespace rosidl_generator_traits
-
-#endif  // UNITREE_GO__MSG__DETAIL__UWB_SWITCH__TRAITS_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_switch__type_support.c b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_switch__type_support.c
deleted file mode 100644
index 19a4eb9..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_switch__type_support.c
+++ /dev/null
@@ -1,81 +0,0 @@
-// generated from rosidl_typesupport_introspection_c/resource/idl__type_support.c.em
-// with input from unitree_go:msg/UwbSwitch.idl
-// generated code does not contain a copyright notice
-
-#include <stddef.h>
-#include "unitree_go/msg/detail/uwb_switch__rosidl_typesupport_introspection_c.h"
-#include "unitree_go/msg/rosidl_typesupport_introspection_c__visibility_control.h"
-#include "rosidl_typesupport_introspection_c/field_types.h"
-#include "rosidl_typesupport_introspection_c/identifier.h"
-#include "rosidl_typesupport_introspection_c/message_introspection.h"
-#include "unitree_go/msg/detail/uwb_switch__functions.h"
-#include "unitree_go/msg/detail/uwb_switch__struct.h"
-
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-void UwbSwitch__rosidl_typesupport_introspection_c__UwbSwitch_init_function(
-  void * message_memory, enum rosidl_runtime_c__message_initialization _init)
-{
-  // TODO(karsten1987): initializers are not yet implemented for typesupport c
-  // see https://github.com/ros2/ros2/issues/397
-  (void) _init;
-  unitree_go__msg__UwbSwitch__init(message_memory);
-}
-
-void UwbSwitch__rosidl_typesupport_introspection_c__UwbSwitch_fini_function(void * message_memory)
-{
-  unitree_go__msg__UwbSwitch__fini(message_memory);
-}
-
-static rosidl_typesupport_introspection_c__MessageMember UwbSwitch__rosidl_typesupport_introspection_c__UwbSwitch_message_member_array[1] = {
-  {
-    "enabled",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_UINT8,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__UwbSwitch, enabled),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  }
-};
-
-static const rosidl_typesupport_introspection_c__MessageMembers UwbSwitch__rosidl_typesupport_introspection_c__UwbSwitch_message_members = {
-  "unitree_go__msg",  // message namespace
-  "UwbSwitch",  // message name
-  1,  // number of fields
-  sizeof(unitree_go__msg__UwbSwitch),
-  UwbSwitch__rosidl_typesupport_introspection_c__UwbSwitch_message_member_array,  // message members
-  UwbSwitch__rosidl_typesupport_introspection_c__UwbSwitch_init_function,  // function to initialize message memory (memory has to be allocated)
-  UwbSwitch__rosidl_typesupport_introspection_c__UwbSwitch_fini_function  // function to terminate message instance (will not free memory)
-};
-
-// this is not const since it must be initialized on first access
-// since C does not allow non-integral compile-time constants
-static rosidl_message_type_support_t UwbSwitch__rosidl_typesupport_introspection_c__UwbSwitch_message_type_support_handle = {
-  0,
-  &UwbSwitch__rosidl_typesupport_introspection_c__UwbSwitch_message_members,
-  get_message_typesupport_handle_function,
-};
-
-ROSIDL_TYPESUPPORT_INTROSPECTION_C_EXPORT_unitree_go
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, unitree_go, msg, UwbSwitch)() {
-  if (!UwbSwitch__rosidl_typesupport_introspection_c__UwbSwitch_message_type_support_handle.typesupport_identifier) {
-    UwbSwitch__rosidl_typesupport_introspection_c__UwbSwitch_message_type_support_handle.typesupport_identifier =
-      rosidl_typesupport_introspection_c__identifier;
-  }
-  return &UwbSwitch__rosidl_typesupport_introspection_c__UwbSwitch_message_type_support_handle;
-}
-#ifdef __cplusplus
-}
-#endif
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_switch__type_support.cpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_switch__type_support.cpp
deleted file mode 100644
index 655a906..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_switch__type_support.cpp
+++ /dev/null
@@ -1,107 +0,0 @@
-// generated from rosidl_typesupport_introspection_cpp/resource/idl__type_support.cpp.em
-// with input from unitree_go:msg/UwbSwitch.idl
-// generated code does not contain a copyright notice
-
-#include "array"
-#include "cstddef"
-#include "string"
-#include "vector"
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_cpp/message_type_support.hpp"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_go/msg/detail/uwb_switch__struct.hpp"
-#include "rosidl_typesupport_introspection_cpp/field_types.hpp"
-#include "rosidl_typesupport_introspection_cpp/identifier.hpp"
-#include "rosidl_typesupport_introspection_cpp/message_introspection.hpp"
-#include "rosidl_typesupport_introspection_cpp/message_type_support_decl.hpp"
-#include "rosidl_typesupport_introspection_cpp/visibility_control.h"
-
-namespace unitree_go
-{
-
-namespace msg
-{
-
-namespace rosidl_typesupport_introspection_cpp
-{
-
-void UwbSwitch_init_function(
-  void * message_memory, rosidl_runtime_cpp::MessageInitialization _init)
-{
-  new (message_memory) unitree_go::msg::UwbSwitch(_init);
-}
-
-void UwbSwitch_fini_function(void * message_memory)
-{
-  auto typed_message = static_cast<unitree_go::msg::UwbSwitch *>(message_memory);
-  typed_message->~UwbSwitch();
-}
-
-static const ::rosidl_typesupport_introspection_cpp::MessageMember UwbSwitch_message_member_array[1] = {
-  {
-    "enabled",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT8,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::UwbSwitch, enabled),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  }
-};
-
-static const ::rosidl_typesupport_introspection_cpp::MessageMembers UwbSwitch_message_members = {
-  "unitree_go::msg",  // message namespace
-  "UwbSwitch",  // message name
-  1,  // number of fields
-  sizeof(unitree_go::msg::UwbSwitch),
-  UwbSwitch_message_member_array,  // message members
-  UwbSwitch_init_function,  // function to initialize message memory (memory has to be allocated)
-  UwbSwitch_fini_function  // function to terminate message instance (will not free memory)
-};
-
-static const rosidl_message_type_support_t UwbSwitch_message_type_support_handle = {
-  ::rosidl_typesupport_introspection_cpp::typesupport_identifier,
-  &UwbSwitch_message_members,
-  get_message_typesupport_handle_function,
-};
-
-}  // namespace rosidl_typesupport_introspection_cpp
-
-}  // namespace msg
-
-}  // namespace unitree_go
-
-
-namespace rosidl_typesupport_introspection_cpp
-{
-
-template<>
-ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
-const rosidl_message_type_support_t *
-get_message_type_support_handle<unitree_go::msg::UwbSwitch>()
-{
-  return &::unitree_go::msg::rosidl_typesupport_introspection_cpp::UwbSwitch_message_type_support_handle;
-}
-
-}  // namespace rosidl_typesupport_introspection_cpp
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_cpp, unitree_go, msg, UwbSwitch)() {
-  return &::unitree_go::msg::rosidl_typesupport_introspection_cpp::UwbSwitch_message_type_support_handle;
-}
-
-#ifdef __cplusplus
-}
-#endif
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_switch__type_support.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_switch__type_support.h
deleted file mode 100644
index 5e0c51d..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_switch__type_support.h
+++ /dev/null
@@ -1,33 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__type_support.h.em
-// with input from unitree_go:msg/UwbSwitch.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__UWB_SWITCH__TYPE_SUPPORT_H_
-#define UNITREE_GO__MSG__DETAIL__UWB_SWITCH__TYPE_SUPPORT_H_
-
-#include "rosidl_typesupport_interface/macros.h"
-
-#include "unitree_go/msg/rosidl_generator_c__visibility_control.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-
-// Forward declare the get type support functions for this type.
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
-  rosidl_typesupport_c,
-  unitree_go,
-  msg,
-  UwbSwitch
-)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__UWB_SWITCH__TYPE_SUPPORT_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_switch__type_support.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_switch__type_support.hpp
deleted file mode 100644
index 6a267cc..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_switch__type_support.hpp
+++ /dev/null
@@ -1,31 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__type_support.hpp.em
-// with input from unitree_go:msg/UwbSwitch.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__UWB_SWITCH__TYPE_SUPPORT_HPP_
-#define UNITREE_GO__MSG__DETAIL__UWB_SWITCH__TYPE_SUPPORT_HPP_
-
-#include "rosidl_typesupport_interface/macros.h"
-
-#include "unitree_go/msg/rosidl_generator_cpp__visibility_control.hpp"
-
-#include "rosidl_typesupport_cpp/message_type_support.hpp"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-// Forward declare the get type support functions for this type.
-ROSIDL_GENERATOR_CPP_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
-  rosidl_typesupport_cpp,
-  unitree_go,
-  msg,
-  UwbSwitch
-)();
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__UWB_SWITCH__TYPE_SUPPORT_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/wireless_controller__builder.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/wireless_controller__builder.hpp
deleted file mode 100644
index 66ec9e5..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/wireless_controller__builder.hpp
+++ /dev/null
@@ -1,119 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__builder.hpp.em
-// with input from unitree_go:msg/WirelessController.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__WIRELESS_CONTROLLER__BUILDER_HPP_
-#define UNITREE_GO__MSG__DETAIL__WIRELESS_CONTROLLER__BUILDER_HPP_
-
-#include "unitree_go/msg/detail/wireless_controller__struct.hpp"
-#include <rosidl_runtime_cpp/message_initialization.hpp>
-#include <algorithm>
-#include <utility>
-
-
-namespace unitree_go
-{
-
-namespace msg
-{
-
-namespace builder
-{
-
-class Init_WirelessController_keys
-{
-public:
-  explicit Init_WirelessController_keys(::unitree_go::msg::WirelessController & msg)
-  : msg_(msg)
-  {}
-  ::unitree_go::msg::WirelessController keys(::unitree_go::msg::WirelessController::_keys_type arg)
-  {
-    msg_.keys = std::move(arg);
-    return std::move(msg_);
-  }
-
-private:
-  ::unitree_go::msg::WirelessController msg_;
-};
-
-class Init_WirelessController_ry
-{
-public:
-  explicit Init_WirelessController_ry(::unitree_go::msg::WirelessController & msg)
-  : msg_(msg)
-  {}
-  Init_WirelessController_keys ry(::unitree_go::msg::WirelessController::_ry_type arg)
-  {
-    msg_.ry = std::move(arg);
-    return Init_WirelessController_keys(msg_);
-  }
-
-private:
-  ::unitree_go::msg::WirelessController msg_;
-};
-
-class Init_WirelessController_rx
-{
-public:
-  explicit Init_WirelessController_rx(::unitree_go::msg::WirelessController & msg)
-  : msg_(msg)
-  {}
-  Init_WirelessController_ry rx(::unitree_go::msg::WirelessController::_rx_type arg)
-  {
-    msg_.rx = std::move(arg);
-    return Init_WirelessController_ry(msg_);
-  }
-
-private:
-  ::unitree_go::msg::WirelessController msg_;
-};
-
-class Init_WirelessController_ly
-{
-public:
-  explicit Init_WirelessController_ly(::unitree_go::msg::WirelessController & msg)
-  : msg_(msg)
-  {}
-  Init_WirelessController_rx ly(::unitree_go::msg::WirelessController::_ly_type arg)
-  {
-    msg_.ly = std::move(arg);
-    return Init_WirelessController_rx(msg_);
-  }
-
-private:
-  ::unitree_go::msg::WirelessController msg_;
-};
-
-class Init_WirelessController_lx
-{
-public:
-  Init_WirelessController_lx()
-  : msg_(::rosidl_runtime_cpp::MessageInitialization::SKIP)
-  {}
-  Init_WirelessController_ly lx(::unitree_go::msg::WirelessController::_lx_type arg)
-  {
-    msg_.lx = std::move(arg);
-    return Init_WirelessController_ly(msg_);
-  }
-
-private:
-  ::unitree_go::msg::WirelessController msg_;
-};
-
-}  // namespace builder
-
-}  // namespace msg
-
-template<typename MessageType>
-auto build();
-
-template<>
-inline
-auto build<::unitree_go::msg::WirelessController>()
-{
-  return unitree_go::msg::builder::Init_WirelessController_lx();
-}
-
-}  // namespace unitree_go
-
-#endif  // UNITREE_GO__MSG__DETAIL__WIRELESS_CONTROLLER__BUILDER_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/wireless_controller__functions.c b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/wireless_controller__functions.c
deleted file mode 100644
index 24d212f..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/wireless_controller__functions.c
+++ /dev/null
@@ -1,263 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__functions.c.em
-// with input from unitree_go:msg/WirelessController.idl
-// generated code does not contain a copyright notice
-#include "unitree_go/msg/detail/wireless_controller__functions.h"
-
-#include <assert.h>
-#include <stdbool.h>
-#include <stdlib.h>
-#include <string.h>
-
-#include "rcutils/allocator.h"
-
-
-bool
-unitree_go__msg__WirelessController__init(unitree_go__msg__WirelessController * msg)
-{
-  if (!msg) {
-    return false;
-  }
-  // lx
-  // ly
-  // rx
-  // ry
-  // keys
-  return true;
-}
-
-void
-unitree_go__msg__WirelessController__fini(unitree_go__msg__WirelessController * msg)
-{
-  if (!msg) {
-    return;
-  }
-  // lx
-  // ly
-  // rx
-  // ry
-  // keys
-}
-
-bool
-unitree_go__msg__WirelessController__are_equal(const unitree_go__msg__WirelessController * lhs, const unitree_go__msg__WirelessController * rhs)
-{
-  if (!lhs || !rhs) {
-    return false;
-  }
-  // lx
-  if (lhs->lx != rhs->lx) {
-    return false;
-  }
-  // ly
-  if (lhs->ly != rhs->ly) {
-    return false;
-  }
-  // rx
-  if (lhs->rx != rhs->rx) {
-    return false;
-  }
-  // ry
-  if (lhs->ry != rhs->ry) {
-    return false;
-  }
-  // keys
-  if (lhs->keys != rhs->keys) {
-    return false;
-  }
-  return true;
-}
-
-bool
-unitree_go__msg__WirelessController__copy(
-  const unitree_go__msg__WirelessController * input,
-  unitree_go__msg__WirelessController * output)
-{
-  if (!input || !output) {
-    return false;
-  }
-  // lx
-  output->lx = input->lx;
-  // ly
-  output->ly = input->ly;
-  // rx
-  output->rx = input->rx;
-  // ry
-  output->ry = input->ry;
-  // keys
-  output->keys = input->keys;
-  return true;
-}
-
-unitree_go__msg__WirelessController *
-unitree_go__msg__WirelessController__create()
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  unitree_go__msg__WirelessController * msg = (unitree_go__msg__WirelessController *)allocator.allocate(sizeof(unitree_go__msg__WirelessController), allocator.state);
-  if (!msg) {
-    return NULL;
-  }
-  memset(msg, 0, sizeof(unitree_go__msg__WirelessController));
-  bool success = unitree_go__msg__WirelessController__init(msg);
-  if (!success) {
-    allocator.deallocate(msg, allocator.state);
-    return NULL;
-  }
-  return msg;
-}
-
-void
-unitree_go__msg__WirelessController__destroy(unitree_go__msg__WirelessController * msg)
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  if (msg) {
-    unitree_go__msg__WirelessController__fini(msg);
-  }
-  allocator.deallocate(msg, allocator.state);
-}
-
-
-bool
-unitree_go__msg__WirelessController__Sequence__init(unitree_go__msg__WirelessController__Sequence * array, size_t size)
-{
-  if (!array) {
-    return false;
-  }
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  unitree_go__msg__WirelessController * data = NULL;
-
-  if (size) {
-    data = (unitree_go__msg__WirelessController *)allocator.zero_allocate(size, sizeof(unitree_go__msg__WirelessController), allocator.state);
-    if (!data) {
-      return false;
-    }
-    // initialize all array elements
-    size_t i;
-    for (i = 0; i < size; ++i) {
-      bool success = unitree_go__msg__WirelessController__init(&data[i]);
-      if (!success) {
-        break;
-      }
-    }
-    if (i < size) {
-      // if initialization failed finalize the already initialized array elements
-      for (; i > 0; --i) {
-        unitree_go__msg__WirelessController__fini(&data[i - 1]);
-      }
-      allocator.deallocate(data, allocator.state);
-      return false;
-    }
-  }
-  array->data = data;
-  array->size = size;
-  array->capacity = size;
-  return true;
-}
-
-void
-unitree_go__msg__WirelessController__Sequence__fini(unitree_go__msg__WirelessController__Sequence * array)
-{
-  if (!array) {
-    return;
-  }
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-
-  if (array->data) {
-    // ensure that data and capacity values are consistent
-    assert(array->capacity > 0);
-    // finalize all array elements
-    for (size_t i = 0; i < array->capacity; ++i) {
-      unitree_go__msg__WirelessController__fini(&array->data[i]);
-    }
-    allocator.deallocate(array->data, allocator.state);
-    array->data = NULL;
-    array->size = 0;
-    array->capacity = 0;
-  } else {
-    // ensure that data, size, and capacity values are consistent
-    assert(0 == array->size);
-    assert(0 == array->capacity);
-  }
-}
-
-unitree_go__msg__WirelessController__Sequence *
-unitree_go__msg__WirelessController__Sequence__create(size_t size)
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  unitree_go__msg__WirelessController__Sequence * array = (unitree_go__msg__WirelessController__Sequence *)allocator.allocate(sizeof(unitree_go__msg__WirelessController__Sequence), allocator.state);
-  if (!array) {
-    return NULL;
-  }
-  bool success = unitree_go__msg__WirelessController__Sequence__init(array, size);
-  if (!success) {
-    allocator.deallocate(array, allocator.state);
-    return NULL;
-  }
-  return array;
-}
-
-void
-unitree_go__msg__WirelessController__Sequence__destroy(unitree_go__msg__WirelessController__Sequence * array)
-{
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  if (array) {
-    unitree_go__msg__WirelessController__Sequence__fini(array);
-  }
-  allocator.deallocate(array, allocator.state);
-}
-
-bool
-unitree_go__msg__WirelessController__Sequence__are_equal(const unitree_go__msg__WirelessController__Sequence * lhs, const unitree_go__msg__WirelessController__Sequence * rhs)
-{
-  if (!lhs || !rhs) {
-    return false;
-  }
-  if (lhs->size != rhs->size) {
-    return false;
-  }
-  for (size_t i = 0; i < lhs->size; ++i) {
-    if (!unitree_go__msg__WirelessController__are_equal(&(lhs->data[i]), &(rhs->data[i]))) {
-      return false;
-    }
-  }
-  return true;
-}
-
-bool
-unitree_go__msg__WirelessController__Sequence__copy(
-  const unitree_go__msg__WirelessController__Sequence * input,
-  unitree_go__msg__WirelessController__Sequence * output)
-{
-  if (!input || !output) {
-    return false;
-  }
-  if (output->capacity < input->size) {
-    const size_t allocation_size =
-      input->size * sizeof(unitree_go__msg__WirelessController);
-    unitree_go__msg__WirelessController * data =
-      (unitree_go__msg__WirelessController *)realloc(output->data, allocation_size);
-    if (!data) {
-      return false;
-    }
-    for (size_t i = output->capacity; i < input->size; ++i) {
-      if (!unitree_go__msg__WirelessController__init(&data[i])) {
-        /* free currently allocated and return false */
-        for (; i-- > output->capacity; ) {
-          unitree_go__msg__WirelessController__fini(&data[i]);
-        }
-        free(data);
-        return false;
-      }
-    }
-    output->data = data;
-    output->capacity = input->size;
-  }
-  output->size = input->size;
-  for (size_t i = 0; i < input->size; ++i) {
-    if (!unitree_go__msg__WirelessController__copy(
-        &(input->data[i]), &(output->data[i])))
-    {
-      return false;
-    }
-  }
-  return true;
-}
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/wireless_controller__functions.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/wireless_controller__functions.h
deleted file mode 100644
index 0172ba8..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/wireless_controller__functions.h
+++ /dev/null
@@ -1,177 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__functions.h.em
-// with input from unitree_go:msg/WirelessController.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__WIRELESS_CONTROLLER__FUNCTIONS_H_
-#define UNITREE_GO__MSG__DETAIL__WIRELESS_CONTROLLER__FUNCTIONS_H_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include <stdbool.h>
-#include <stdlib.h>
-
-#include "rosidl_runtime_c/visibility_control.h"
-#include "unitree_go/msg/rosidl_generator_c__visibility_control.h"
-
-#include "unitree_go/msg/detail/wireless_controller__struct.h"
-
-/// Initialize msg/WirelessController message.
-/**
- * If the init function is called twice for the same message without
- * calling fini inbetween previously allocated memory will be leaked.
- * \param[in,out] msg The previously allocated message pointer.
- * Fields without a default value will not be initialized by this function.
- * You might want to call memset(msg, 0, sizeof(
- * unitree_go__msg__WirelessController
- * )) before or use
- * unitree_go__msg__WirelessController__create()
- * to allocate and initialize the message.
- * \return true if initialization was successful, otherwise false
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__WirelessController__init(unitree_go__msg__WirelessController * msg);
-
-/// Finalize msg/WirelessController message.
-/**
- * \param[in,out] msg The allocated message pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-void
-unitree_go__msg__WirelessController__fini(unitree_go__msg__WirelessController * msg);
-
-/// Create msg/WirelessController message.
-/**
- * It allocates the memory for the message, sets the memory to zero, and
- * calls
- * unitree_go__msg__WirelessController__init().
- * \return The pointer to the initialized message if successful,
- * otherwise NULL
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-unitree_go__msg__WirelessController *
-unitree_go__msg__WirelessController__create();
-
-/// Destroy msg/WirelessController message.
-/**
- * It calls
- * unitree_go__msg__WirelessController__fini()
- * and frees the memory of the message.
- * \param[in,out] msg The allocated message pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-void
-unitree_go__msg__WirelessController__destroy(unitree_go__msg__WirelessController * msg);
-
-/// Check for msg/WirelessController message equality.
-/**
- * \param[in] lhs The message on the left hand size of the equality operator.
- * \param[in] rhs The message on the right hand size of the equality operator.
- * \return true if messages are equal, otherwise false.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__WirelessController__are_equal(const unitree_go__msg__WirelessController * lhs, const unitree_go__msg__WirelessController * rhs);
-
-/// Copy a msg/WirelessController message.
-/**
- * This functions performs a deep copy, as opposed to the shallow copy that
- * plain assignment yields.
- *
- * \param[in] input The source message pointer.
- * \param[out] output The target message pointer, which must
- *   have been initialized before calling this function.
- * \return true if successful, or false if either pointer is null
- *   or memory allocation fails.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__WirelessController__copy(
-  const unitree_go__msg__WirelessController * input,
-  unitree_go__msg__WirelessController * output);
-
-/// Initialize array of msg/WirelessController messages.
-/**
- * It allocates the memory for the number of elements and calls
- * unitree_go__msg__WirelessController__init()
- * for each element of the array.
- * \param[in,out] array The allocated array pointer.
- * \param[in] size The size / capacity of the array.
- * \return true if initialization was successful, otherwise false
- * If the array pointer is valid and the size is zero it is guaranteed
- # to return true.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__WirelessController__Sequence__init(unitree_go__msg__WirelessController__Sequence * array, size_t size);
-
-/// Finalize array of msg/WirelessController messages.
-/**
- * It calls
- * unitree_go__msg__WirelessController__fini()
- * for each element of the array and frees the memory for the number of
- * elements.
- * \param[in,out] array The initialized array pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-void
-unitree_go__msg__WirelessController__Sequence__fini(unitree_go__msg__WirelessController__Sequence * array);
-
-/// Create array of msg/WirelessController messages.
-/**
- * It allocates the memory for the array and calls
- * unitree_go__msg__WirelessController__Sequence__init().
- * \param[in] size The size / capacity of the array.
- * \return The pointer to the initialized array if successful, otherwise NULL
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-unitree_go__msg__WirelessController__Sequence *
-unitree_go__msg__WirelessController__Sequence__create(size_t size);
-
-/// Destroy array of msg/WirelessController messages.
-/**
- * It calls
- * unitree_go__msg__WirelessController__Sequence__fini()
- * on the array,
- * and frees the memory of the array.
- * \param[in,out] array The initialized array pointer.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-void
-unitree_go__msg__WirelessController__Sequence__destroy(unitree_go__msg__WirelessController__Sequence * array);
-
-/// Check for msg/WirelessController message array equality.
-/**
- * \param[in] lhs The message array on the left hand size of the equality operator.
- * \param[in] rhs The message array on the right hand size of the equality operator.
- * \return true if message arrays are equal in size and content, otherwise false.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__WirelessController__Sequence__are_equal(const unitree_go__msg__WirelessController__Sequence * lhs, const unitree_go__msg__WirelessController__Sequence * rhs);
-
-/// Copy an array of msg/WirelessController messages.
-/**
- * This functions performs a deep copy, as opposed to the shallow copy that
- * plain assignment yields.
- *
- * \param[in] input The source array pointer.
- * \param[out] output The target array pointer, which must
- *   have been initialized before calling this function.
- * \return true if successful, or false if either pointer
- *   is null or memory allocation fails.
- */
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-bool
-unitree_go__msg__WirelessController__Sequence__copy(
-  const unitree_go__msg__WirelessController__Sequence * input,
-  unitree_go__msg__WirelessController__Sequence * output);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__WIRELESS_CONTROLLER__FUNCTIONS_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/wireless_controller__rosidl_typesupport_fastrtps_c.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/wireless_controller__rosidl_typesupport_fastrtps_c.h
deleted file mode 100644
index 588e22f..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/wireless_controller__rosidl_typesupport_fastrtps_c.h
+++ /dev/null
@@ -1,36 +0,0 @@
-// generated from rosidl_typesupport_fastrtps_c/resource/idl__rosidl_typesupport_fastrtps_c.h.em
-// with input from unitree_go:msg/WirelessController.idl
-// generated code does not contain a copyright notice
-#ifndef UNITREE_GO__MSG__DETAIL__WIRELESS_CONTROLLER__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_
-#define UNITREE_GO__MSG__DETAIL__WIRELESS_CONTROLLER__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_
-
-
-#include <stddef.h>
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_go/msg/rosidl_typesupport_fastrtps_c__visibility_control.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_go
-size_t get_serialized_size_unitree_go__msg__WirelessController(
-  const void * untyped_ros_message,
-  size_t current_alignment);
-
-ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_go
-size_t max_serialized_size_unitree_go__msg__WirelessController(
-  bool & full_bounded,
-  size_t current_alignment);
-
-ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_fastrtps_c, unitree_go, msg, WirelessController)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__WIRELESS_CONTROLLER__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/wireless_controller__rosidl_typesupport_fastrtps_cpp.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/wireless_controller__rosidl_typesupport_fastrtps_cpp.hpp
deleted file mode 100644
index 408d255..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/wireless_controller__rosidl_typesupport_fastrtps_cpp.hpp
+++ /dev/null
@@ -1,79 +0,0 @@
-// generated from rosidl_typesupport_fastrtps_cpp/resource/idl__rosidl_typesupport_fastrtps_cpp.hpp.em
-// with input from unitree_go:msg/WirelessController.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__WIRELESS_CONTROLLER__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_
-#define UNITREE_GO__MSG__DETAIL__WIRELESS_CONTROLLER__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_go/msg/rosidl_typesupport_fastrtps_cpp__visibility_control.h"
-#include "unitree_go/msg/detail/wireless_controller__struct.hpp"
-
-#ifndef _WIN32
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wunused-parameter"
-# ifdef __clang__
-#  pragma clang diagnostic ignored "-Wdeprecated-register"
-#  pragma clang diagnostic ignored "-Wreturn-type-c-linkage"
-# endif
-#endif
-#ifndef _WIN32
-# pragma GCC diagnostic pop
-#endif
-
-#include "fastcdr/Cdr.h"
-
-namespace unitree_go
-{
-
-namespace msg
-{
-
-namespace typesupport_fastrtps_cpp
-{
-
-bool
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-cdr_serialize(
-  const unitree_go::msg::WirelessController & ros_message,
-  eprosima::fastcdr::Cdr & cdr);
-
-bool
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-cdr_deserialize(
-  eprosima::fastcdr::Cdr & cdr,
-  unitree_go::msg::WirelessController & ros_message);
-
-size_t
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-get_serialized_size(
-  const unitree_go::msg::WirelessController & ros_message,
-  size_t current_alignment);
-
-size_t
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-max_serialized_size_WirelessController(
-  bool & full_bounded,
-  size_t current_alignment);
-
-}  // namespace typesupport_fastrtps_cpp
-
-}  // namespace msg
-
-}  // namespace unitree_go
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_fastrtps_cpp, unitree_go, msg, WirelessController)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__WIRELESS_CONTROLLER__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/wireless_controller__rosidl_typesupport_introspection_c.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/wireless_controller__rosidl_typesupport_introspection_c.h
deleted file mode 100644
index e8a8623..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/wireless_controller__rosidl_typesupport_introspection_c.h
+++ /dev/null
@@ -1,26 +0,0 @@
-// generated from rosidl_typesupport_introspection_c/resource/idl__rosidl_typesupport_introspection_c.h.em
-// with input from unitree_go:msg/WirelessController.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__WIRELESS_CONTROLLER__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
-#define UNITREE_GO__MSG__DETAIL__WIRELESS_CONTROLLER__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_go/msg/rosidl_typesupport_introspection_c__visibility_control.h"
-
-ROSIDL_TYPESUPPORT_INTROSPECTION_C_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, unitree_go, msg, WirelessController)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__WIRELESS_CONTROLLER__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/wireless_controller__rosidl_typesupport_introspection_cpp.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/wireless_controller__rosidl_typesupport_introspection_cpp.hpp
deleted file mode 100644
index cbaa473..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/wireless_controller__rosidl_typesupport_introspection_cpp.hpp
+++ /dev/null
@@ -1,27 +0,0 @@
-// generated from rosidl_typesupport_introspection_cpp/resource/idl__rosidl_typesupport_introspection_cpp.h.em
-// with input from unitree_go:msg/WirelessController.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__WIRELESS_CONTROLLER__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_
-#define UNITREE_GO__MSG__DETAIL__WIRELESS_CONTROLLER__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_
-
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_interface/macros.h"
-#include "rosidl_typesupport_introspection_cpp/visibility_control.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-// TODO(dirk-thomas) these visibility macros should be message package specific
-ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
-const rosidl_message_type_support_t *
-  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_cpp, unitree_go, msg, WirelessController)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__WIRELESS_CONTROLLER__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/wireless_controller__struct.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/wireless_controller__struct.h
deleted file mode 100644
index fe23990..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/wireless_controller__struct.h
+++ /dev/null
@@ -1,44 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__struct.h.em
-// with input from unitree_go:msg/WirelessController.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__WIRELESS_CONTROLLER__STRUCT_H_
-#define UNITREE_GO__MSG__DETAIL__WIRELESS_CONTROLLER__STRUCT_H_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include <stdbool.h>
-#include <stddef.h>
-#include <stdint.h>
-
-
-// Constants defined in the message
-
-// Struct defined in msg/WirelessController in the package unitree_go.
-typedef struct unitree_go__msg__WirelessController
-{
-  float lx;
-  float ly;
-  float rx;
-  float ry;
-  uint16_t keys;
-} unitree_go__msg__WirelessController;
-
-// Struct for a sequence of unitree_go__msg__WirelessController.
-typedef struct unitree_go__msg__WirelessController__Sequence
-{
-  unitree_go__msg__WirelessController * data;
-  /// The number of valid items in data
-  size_t size;
-  /// The number of allocated items in data
-  size_t capacity;
-} unitree_go__msg__WirelessController__Sequence;
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__WIRELESS_CONTROLLER__STRUCT_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/wireless_controller__struct.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/wireless_controller__struct.hpp
deleted file mode 100644
index a77cab5..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/wireless_controller__struct.hpp
+++ /dev/null
@@ -1,186 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__struct.hpp.em
-// with input from unitree_go:msg/WirelessController.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__WIRELESS_CONTROLLER__STRUCT_HPP_
-#define UNITREE_GO__MSG__DETAIL__WIRELESS_CONTROLLER__STRUCT_HPP_
-
-#include <rosidl_runtime_cpp/bounded_vector.hpp>
-#include <rosidl_runtime_cpp/message_initialization.hpp>
-#include <algorithm>
-#include <array>
-#include <memory>
-#include <string>
-#include <vector>
-
-
-#ifndef _WIN32
-# define DEPRECATED__unitree_go__msg__WirelessController __attribute__((deprecated))
-#else
-# define DEPRECATED__unitree_go__msg__WirelessController __declspec(deprecated)
-#endif
-
-namespace unitree_go
-{
-
-namespace msg
-{
-
-// message struct
-template<class ContainerAllocator>
-struct WirelessController_
-{
-  using Type = WirelessController_<ContainerAllocator>;
-
-  explicit WirelessController_(rosidl_runtime_cpp::MessageInitialization _init = rosidl_runtime_cpp::MessageInitialization::ALL)
-  {
-    if (rosidl_runtime_cpp::MessageInitialization::ALL == _init ||
-      rosidl_runtime_cpp::MessageInitialization::ZERO == _init)
-    {
-      this->lx = 0.0f;
-      this->ly = 0.0f;
-      this->rx = 0.0f;
-      this->ry = 0.0f;
-      this->keys = 0;
-    }
-  }
-
-  explicit WirelessController_(const ContainerAllocator & _alloc, rosidl_runtime_cpp::MessageInitialization _init = rosidl_runtime_cpp::MessageInitialization::ALL)
-  {
-    (void)_alloc;
-    if (rosidl_runtime_cpp::MessageInitialization::ALL == _init ||
-      rosidl_runtime_cpp::MessageInitialization::ZERO == _init)
-    {
-      this->lx = 0.0f;
-      this->ly = 0.0f;
-      this->rx = 0.0f;
-      this->ry = 0.0f;
-      this->keys = 0;
-    }
-  }
-
-  // field types and members
-  using _lx_type =
-    float;
-  _lx_type lx;
-  using _ly_type =
-    float;
-  _ly_type ly;
-  using _rx_type =
-    float;
-  _rx_type rx;
-  using _ry_type =
-    float;
-  _ry_type ry;
-  using _keys_type =
-    uint16_t;
-  _keys_type keys;
-
-  // setters for named parameter idiom
-  Type & set__lx(
-    const float & _arg)
-  {
-    this->lx = _arg;
-    return *this;
-  }
-  Type & set__ly(
-    const float & _arg)
-  {
-    this->ly = _arg;
-    return *this;
-  }
-  Type & set__rx(
-    const float & _arg)
-  {
-    this->rx = _arg;
-    return *this;
-  }
-  Type & set__ry(
-    const float & _arg)
-  {
-    this->ry = _arg;
-    return *this;
-  }
-  Type & set__keys(
-    const uint16_t & _arg)
-  {
-    this->keys = _arg;
-    return *this;
-  }
-
-  // constant declarations
-
-  // pointer types
-  using RawPtr =
-    unitree_go::msg::WirelessController_<ContainerAllocator> *;
-  using ConstRawPtr =
-    const unitree_go::msg::WirelessController_<ContainerAllocator> *;
-  using SharedPtr =
-    std::shared_ptr<unitree_go::msg::WirelessController_<ContainerAllocator>>;
-  using ConstSharedPtr =
-    std::shared_ptr<unitree_go::msg::WirelessController_<ContainerAllocator> const>;
-
-  template<typename Deleter = std::default_delete<
-      unitree_go::msg::WirelessController_<ContainerAllocator>>>
-  using UniquePtrWithDeleter =
-    std::unique_ptr<unitree_go::msg::WirelessController_<ContainerAllocator>, Deleter>;
-
-  using UniquePtr = UniquePtrWithDeleter<>;
-
-  template<typename Deleter = std::default_delete<
-      unitree_go::msg::WirelessController_<ContainerAllocator>>>
-  using ConstUniquePtrWithDeleter =
-    std::unique_ptr<unitree_go::msg::WirelessController_<ContainerAllocator> const, Deleter>;
-  using ConstUniquePtr = ConstUniquePtrWithDeleter<>;
-
-  using WeakPtr =
-    std::weak_ptr<unitree_go::msg::WirelessController_<ContainerAllocator>>;
-  using ConstWeakPtr =
-    std::weak_ptr<unitree_go::msg::WirelessController_<ContainerAllocator> const>;
-
-  // pointer types similar to ROS 1, use SharedPtr / ConstSharedPtr instead
-  // NOTE: Can't use 'using' here because GNU C++ can't parse attributes properly
-  typedef DEPRECATED__unitree_go__msg__WirelessController
-    std::shared_ptr<unitree_go::msg::WirelessController_<ContainerAllocator>>
-    Ptr;
-  typedef DEPRECATED__unitree_go__msg__WirelessController
-    std::shared_ptr<unitree_go::msg::WirelessController_<ContainerAllocator> const>
-    ConstPtr;
-
-  // comparison operators
-  bool operator==(const WirelessController_ & other) const
-  {
-    if (this->lx != other.lx) {
-      return false;
-    }
-    if (this->ly != other.ly) {
-      return false;
-    }
-    if (this->rx != other.rx) {
-      return false;
-    }
-    if (this->ry != other.ry) {
-      return false;
-    }
-    if (this->keys != other.keys) {
-      return false;
-    }
-    return true;
-  }
-  bool operator!=(const WirelessController_ & other) const
-  {
-    return !this->operator==(other);
-  }
-};  // struct WirelessController_
-
-// alias to use template instance with default allocator
-using WirelessController =
-  unitree_go::msg::WirelessController_<std::allocator<void>>;
-
-// constant definitions
-
-}  // namespace msg
-
-}  // namespace unitree_go
-
-#endif  // UNITREE_GO__MSG__DETAIL__WIRELESS_CONTROLLER__STRUCT_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/wireless_controller__traits.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/wireless_controller__traits.hpp
deleted file mode 100644
index b1ecefe..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/wireless_controller__traits.hpp
+++ /dev/null
@@ -1,42 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__traits.hpp.em
-// with input from unitree_go:msg/WirelessController.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__WIRELESS_CONTROLLER__TRAITS_HPP_
-#define UNITREE_GO__MSG__DETAIL__WIRELESS_CONTROLLER__TRAITS_HPP_
-
-#include "unitree_go/msg/detail/wireless_controller__struct.hpp"
-#include <rosidl_runtime_cpp/traits.hpp>
-#include <stdint.h>
-#include <type_traits>
-
-namespace rosidl_generator_traits
-{
-
-template<>
-inline const char * data_type<unitree_go::msg::WirelessController>()
-{
-  return "unitree_go::msg::WirelessController";
-}
-
-template<>
-inline const char * name<unitree_go::msg::WirelessController>()
-{
-  return "unitree_go/msg/WirelessController";
-}
-
-template<>
-struct has_fixed_size<unitree_go::msg::WirelessController>
-  : std::integral_constant<bool, true> {};
-
-template<>
-struct has_bounded_size<unitree_go::msg::WirelessController>
-  : std::integral_constant<bool, true> {};
-
-template<>
-struct is_message<unitree_go::msg::WirelessController>
-  : std::true_type {};
-
-}  // namespace rosidl_generator_traits
-
-#endif  // UNITREE_GO__MSG__DETAIL__WIRELESS_CONTROLLER__TRAITS_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/wireless_controller__type_support.c b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/wireless_controller__type_support.c
deleted file mode 100644
index 20f8522..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/wireless_controller__type_support.c
+++ /dev/null
@@ -1,141 +0,0 @@
-// generated from rosidl_typesupport_introspection_c/resource/idl__type_support.c.em
-// with input from unitree_go:msg/WirelessController.idl
-// generated code does not contain a copyright notice
-
-#include <stddef.h>
-#include "unitree_go/msg/detail/wireless_controller__rosidl_typesupport_introspection_c.h"
-#include "unitree_go/msg/rosidl_typesupport_introspection_c__visibility_control.h"
-#include "rosidl_typesupport_introspection_c/field_types.h"
-#include "rosidl_typesupport_introspection_c/identifier.h"
-#include "rosidl_typesupport_introspection_c/message_introspection.h"
-#include "unitree_go/msg/detail/wireless_controller__functions.h"
-#include "unitree_go/msg/detail/wireless_controller__struct.h"
-
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-void WirelessController__rosidl_typesupport_introspection_c__WirelessController_init_function(
-  void * message_memory, enum rosidl_runtime_c__message_initialization _init)
-{
-  // TODO(karsten1987): initializers are not yet implemented for typesupport c
-  // see https://github.com/ros2/ros2/issues/397
-  (void) _init;
-  unitree_go__msg__WirelessController__init(message_memory);
-}
-
-void WirelessController__rosidl_typesupport_introspection_c__WirelessController_fini_function(void * message_memory)
-{
-  unitree_go__msg__WirelessController__fini(message_memory);
-}
-
-static rosidl_typesupport_introspection_c__MessageMember WirelessController__rosidl_typesupport_introspection_c__WirelessController_message_member_array[5] = {
-  {
-    "lx",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__WirelessController, lx),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "ly",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__WirelessController, ly),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "rx",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__WirelessController, rx),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "ry",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__WirelessController, ry),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  },
-  {
-    "keys",  // name
-    rosidl_typesupport_introspection_c__ROS_TYPE_UINT16,  // type
-    0,  // upper bound of string
-    NULL,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go__msg__WirelessController, keys),  // bytes offset in struct
-    NULL,  // default value
-    NULL,  // size() function pointer
-    NULL,  // get_const(index) function pointer
-    NULL,  // get(index) function pointer
-    NULL  // resize(index) function pointer
-  }
-};
-
-static const rosidl_typesupport_introspection_c__MessageMembers WirelessController__rosidl_typesupport_introspection_c__WirelessController_message_members = {
-  "unitree_go__msg",  // message namespace
-  "WirelessController",  // message name
-  5,  // number of fields
-  sizeof(unitree_go__msg__WirelessController),
-  WirelessController__rosidl_typesupport_introspection_c__WirelessController_message_member_array,  // message members
-  WirelessController__rosidl_typesupport_introspection_c__WirelessController_init_function,  // function to initialize message memory (memory has to be allocated)
-  WirelessController__rosidl_typesupport_introspection_c__WirelessController_fini_function  // function to terminate message instance (will not free memory)
-};
-
-// this is not const since it must be initialized on first access
-// since C does not allow non-integral compile-time constants
-static rosidl_message_type_support_t WirelessController__rosidl_typesupport_introspection_c__WirelessController_message_type_support_handle = {
-  0,
-  &WirelessController__rosidl_typesupport_introspection_c__WirelessController_message_members,
-  get_message_typesupport_handle_function,
-};
-
-ROSIDL_TYPESUPPORT_INTROSPECTION_C_EXPORT_unitree_go
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, unitree_go, msg, WirelessController)() {
-  if (!WirelessController__rosidl_typesupport_introspection_c__WirelessController_message_type_support_handle.typesupport_identifier) {
-    WirelessController__rosidl_typesupport_introspection_c__WirelessController_message_type_support_handle.typesupport_identifier =
-      rosidl_typesupport_introspection_c__identifier;
-  }
-  return &WirelessController__rosidl_typesupport_introspection_c__WirelessController_message_type_support_handle;
-}
-#ifdef __cplusplus
-}
-#endif
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/wireless_controller__type_support.cpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/wireless_controller__type_support.cpp
deleted file mode 100644
index b12627f..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/wireless_controller__type_support.cpp
+++ /dev/null
@@ -1,167 +0,0 @@
-// generated from rosidl_typesupport_introspection_cpp/resource/idl__type_support.cpp.em
-// with input from unitree_go:msg/WirelessController.idl
-// generated code does not contain a copyright notice
-
-#include "array"
-#include "cstddef"
-#include "string"
-#include "vector"
-#include "rosidl_runtime_c/message_type_support_struct.h"
-#include "rosidl_typesupport_cpp/message_type_support.hpp"
-#include "rosidl_typesupport_interface/macros.h"
-#include "unitree_go/msg/detail/wireless_controller__struct.hpp"
-#include "rosidl_typesupport_introspection_cpp/field_types.hpp"
-#include "rosidl_typesupport_introspection_cpp/identifier.hpp"
-#include "rosidl_typesupport_introspection_cpp/message_introspection.hpp"
-#include "rosidl_typesupport_introspection_cpp/message_type_support_decl.hpp"
-#include "rosidl_typesupport_introspection_cpp/visibility_control.h"
-
-namespace unitree_go
-{
-
-namespace msg
-{
-
-namespace rosidl_typesupport_introspection_cpp
-{
-
-void WirelessController_init_function(
-  void * message_memory, rosidl_runtime_cpp::MessageInitialization _init)
-{
-  new (message_memory) unitree_go::msg::WirelessController(_init);
-}
-
-void WirelessController_fini_function(void * message_memory)
-{
-  auto typed_message = static_cast<unitree_go::msg::WirelessController *>(message_memory);
-  typed_message->~WirelessController();
-}
-
-static const ::rosidl_typesupport_introspection_cpp::MessageMember WirelessController_message_member_array[5] = {
-  {
-    "lx",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::WirelessController, lx),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "ly",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::WirelessController, ly),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "rx",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::WirelessController, rx),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "ry",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_FLOAT,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::WirelessController, ry),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  },
-  {
-    "keys",  // name
-    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT16,  // type
-    0,  // upper bound of string
-    nullptr,  // members of sub message
-    false,  // is array
-    0,  // array size
-    false,  // is upper bound
-    offsetof(unitree_go::msg::WirelessController, keys),  // bytes offset in struct
-    nullptr,  // default value
-    nullptr,  // size() function pointer
-    nullptr,  // get_const(index) function pointer
-    nullptr,  // get(index) function pointer
-    nullptr  // resize(index) function pointer
-  }
-};
-
-static const ::rosidl_typesupport_introspection_cpp::MessageMembers WirelessController_message_members = {
-  "unitree_go::msg",  // message namespace
-  "WirelessController",  // message name
-  5,  // number of fields
-  sizeof(unitree_go::msg::WirelessController),
-  WirelessController_message_member_array,  // message members
-  WirelessController_init_function,  // function to initialize message memory (memory has to be allocated)
-  WirelessController_fini_function  // function to terminate message instance (will not free memory)
-};
-
-static const rosidl_message_type_support_t WirelessController_message_type_support_handle = {
-  ::rosidl_typesupport_introspection_cpp::typesupport_identifier,
-  &WirelessController_message_members,
-  get_message_typesupport_handle_function,
-};
-
-}  // namespace rosidl_typesupport_introspection_cpp
-
-}  // namespace msg
-
-}  // namespace unitree_go
-
-
-namespace rosidl_typesupport_introspection_cpp
-{
-
-template<>
-ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
-const rosidl_message_type_support_t *
-get_message_type_support_handle<unitree_go::msg::WirelessController>()
-{
-  return &::unitree_go::msg::rosidl_typesupport_introspection_cpp::WirelessController_message_type_support_handle;
-}
-
-}  // namespace rosidl_typesupport_introspection_cpp
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_cpp, unitree_go, msg, WirelessController)() {
-  return &::unitree_go::msg::rosidl_typesupport_introspection_cpp::WirelessController_message_type_support_handle;
-}
-
-#ifdef __cplusplus
-}
-#endif
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/wireless_controller__type_support.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/wireless_controller__type_support.h
deleted file mode 100644
index e40fb74..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/wireless_controller__type_support.h
+++ /dev/null
@@ -1,33 +0,0 @@
-// generated from rosidl_generator_c/resource/idl__type_support.h.em
-// with input from unitree_go:msg/WirelessController.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__WIRELESS_CONTROLLER__TYPE_SUPPORT_H_
-#define UNITREE_GO__MSG__DETAIL__WIRELESS_CONTROLLER__TYPE_SUPPORT_H_
-
-#include "rosidl_typesupport_interface/macros.h"
-
-#include "unitree_go/msg/rosidl_generator_c__visibility_control.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-
-// Forward declare the get type support functions for this type.
-ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
-  rosidl_typesupport_c,
-  unitree_go,
-  msg,
-  WirelessController
-)();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__WIRELESS_CONTROLLER__TYPE_SUPPORT_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/wireless_controller__type_support.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/wireless_controller__type_support.hpp
deleted file mode 100644
index 7fee35e..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/wireless_controller__type_support.hpp
+++ /dev/null
@@ -1,31 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl__type_support.hpp.em
-// with input from unitree_go:msg/WirelessController.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__DETAIL__WIRELESS_CONTROLLER__TYPE_SUPPORT_HPP_
-#define UNITREE_GO__MSG__DETAIL__WIRELESS_CONTROLLER__TYPE_SUPPORT_HPP_
-
-#include "rosidl_typesupport_interface/macros.h"
-
-#include "unitree_go/msg/rosidl_generator_cpp__visibility_control.hpp"
-
-#include "rosidl_typesupport_cpp/message_type_support.hpp"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-// Forward declare the get type support functions for this type.
-ROSIDL_GENERATOR_CPP_PUBLIC_unitree_go
-const rosidl_message_type_support_t *
-  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
-  rosidl_typesupport_cpp,
-  unitree_go,
-  msg,
-  WirelessController
-)();
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__DETAIL__WIRELESS_CONTROLLER__TYPE_SUPPORT_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/error.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/error.h
deleted file mode 100644
index d34d457..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/error.h
+++ /dev/null
@@ -1,12 +0,0 @@
-// generated from rosidl_generator_c/resource/idl.h.em
-// with input from unitree_go:msg/Error.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__ERROR_H_
-#define UNITREE_GO__MSG__ERROR_H_
-
-#include "unitree_go/msg/detail/error__struct.h"
-#include "unitree_go/msg/detail/error__functions.h"
-#include "unitree_go/msg/detail/error__type_support.h"
-
-#endif  // UNITREE_GO__MSG__ERROR_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/error.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/error.hpp
deleted file mode 100644
index 69d03b2..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/error.hpp
+++ /dev/null
@@ -1,12 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl.hpp.em
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__ERROR_HPP_
-#define UNITREE_GO__MSG__ERROR_HPP_
-
-#include "unitree_go/msg/detail/error__struct.hpp"
-#include "unitree_go/msg/detail/error__builder.hpp"
-#include "unitree_go/msg/detail/error__traits.hpp"
-#include "unitree_go/msg/detail/error__type_support.hpp"
-
-#endif  // UNITREE_GO__MSG__ERROR_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/go2_front_video_data.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/go2_front_video_data.h
deleted file mode 100644
index 8030eaa..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/go2_front_video_data.h
+++ /dev/null
@@ -1,12 +0,0 @@
-// generated from rosidl_generator_c/resource/idl.h.em
-// with input from unitree_go:msg/Go2FrontVideoData.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__GO2_FRONT_VIDEO_DATA_H_
-#define UNITREE_GO__MSG__GO2_FRONT_VIDEO_DATA_H_
-
-#include "unitree_go/msg/detail/go2_front_video_data__struct.h"
-#include "unitree_go/msg/detail/go2_front_video_data__functions.h"
-#include "unitree_go/msg/detail/go2_front_video_data__type_support.h"
-
-#endif  // UNITREE_GO__MSG__GO2_FRONT_VIDEO_DATA_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/go2_front_video_data.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/go2_front_video_data.hpp
deleted file mode 100644
index 2818e32..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/go2_front_video_data.hpp
+++ /dev/null
@@ -1,12 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl.hpp.em
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__GO2_FRONT_VIDEO_DATA_HPP_
-#define UNITREE_GO__MSG__GO2_FRONT_VIDEO_DATA_HPP_
-
-#include "unitree_go/msg/detail/go2_front_video_data__struct.hpp"
-#include "unitree_go/msg/detail/go2_front_video_data__builder.hpp"
-#include "unitree_go/msg/detail/go2_front_video_data__traits.hpp"
-#include "unitree_go/msg/detail/go2_front_video_data__type_support.hpp"
-
-#endif  // UNITREE_GO__MSG__GO2_FRONT_VIDEO_DATA_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/height_map.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/height_map.h
deleted file mode 100644
index 1d43b49..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/height_map.h
+++ /dev/null
@@ -1,12 +0,0 @@
-// generated from rosidl_generator_c/resource/idl.h.em
-// with input from unitree_go:msg/HeightMap.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__HEIGHT_MAP_H_
-#define UNITREE_GO__MSG__HEIGHT_MAP_H_
-
-#include "unitree_go/msg/detail/height_map__struct.h"
-#include "unitree_go/msg/detail/height_map__functions.h"
-#include "unitree_go/msg/detail/height_map__type_support.h"
-
-#endif  // UNITREE_GO__MSG__HEIGHT_MAP_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/height_map.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/height_map.hpp
deleted file mode 100644
index 5e89a32..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/height_map.hpp
+++ /dev/null
@@ -1,12 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl.hpp.em
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__HEIGHT_MAP_HPP_
-#define UNITREE_GO__MSG__HEIGHT_MAP_HPP_
-
-#include "unitree_go/msg/detail/height_map__struct.hpp"
-#include "unitree_go/msg/detail/height_map__builder.hpp"
-#include "unitree_go/msg/detail/height_map__traits.hpp"
-#include "unitree_go/msg/detail/height_map__type_support.hpp"
-
-#endif  // UNITREE_GO__MSG__HEIGHT_MAP_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/imu_state.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/imu_state.h
deleted file mode 100644
index 811c6bc..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/imu_state.h
+++ /dev/null
@@ -1,12 +0,0 @@
-// generated from rosidl_generator_c/resource/idl.h.em
-// with input from unitree_go:msg/IMUState.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__IMU_STATE_H_
-#define UNITREE_GO__MSG__IMU_STATE_H_
-
-#include "unitree_go/msg/detail/imu_state__struct.h"
-#include "unitree_go/msg/detail/imu_state__functions.h"
-#include "unitree_go/msg/detail/imu_state__type_support.h"
-
-#endif  // UNITREE_GO__MSG__IMU_STATE_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/imu_state.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/imu_state.hpp
deleted file mode 100644
index d3ecf23..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/imu_state.hpp
+++ /dev/null
@@ -1,12 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl.hpp.em
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__IMU_STATE_HPP_
-#define UNITREE_GO__MSG__IMU_STATE_HPP_
-
-#include "unitree_go/msg/detail/imu_state__struct.hpp"
-#include "unitree_go/msg/detail/imu_state__builder.hpp"
-#include "unitree_go/msg/detail/imu_state__traits.hpp"
-#include "unitree_go/msg/detail/imu_state__type_support.hpp"
-
-#endif  // UNITREE_GO__MSG__IMU_STATE_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/interface_config.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/interface_config.h
deleted file mode 100644
index f32bb9e..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/interface_config.h
+++ /dev/null
@@ -1,12 +0,0 @@
-// generated from rosidl_generator_c/resource/idl.h.em
-// with input from unitree_go:msg/InterfaceConfig.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__INTERFACE_CONFIG_H_
-#define UNITREE_GO__MSG__INTERFACE_CONFIG_H_
-
-#include "unitree_go/msg/detail/interface_config__struct.h"
-#include "unitree_go/msg/detail/interface_config__functions.h"
-#include "unitree_go/msg/detail/interface_config__type_support.h"
-
-#endif  // UNITREE_GO__MSG__INTERFACE_CONFIG_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/interface_config.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/interface_config.hpp
deleted file mode 100644
index 3da4e0a..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/interface_config.hpp
+++ /dev/null
@@ -1,12 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl.hpp.em
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__INTERFACE_CONFIG_HPP_
-#define UNITREE_GO__MSG__INTERFACE_CONFIG_HPP_
-
-#include "unitree_go/msg/detail/interface_config__struct.hpp"
-#include "unitree_go/msg/detail/interface_config__builder.hpp"
-#include "unitree_go/msg/detail/interface_config__traits.hpp"
-#include "unitree_go/msg/detail/interface_config__type_support.hpp"
-
-#endif  // UNITREE_GO__MSG__INTERFACE_CONFIG_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/lidar_state.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/lidar_state.h
deleted file mode 100644
index 40a1aa9..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/lidar_state.h
+++ /dev/null
@@ -1,12 +0,0 @@
-// generated from rosidl_generator_c/resource/idl.h.em
-// with input from unitree_go:msg/LidarState.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__LIDAR_STATE_H_
-#define UNITREE_GO__MSG__LIDAR_STATE_H_
-
-#include "unitree_go/msg/detail/lidar_state__struct.h"
-#include "unitree_go/msg/detail/lidar_state__functions.h"
-#include "unitree_go/msg/detail/lidar_state__type_support.h"
-
-#endif  // UNITREE_GO__MSG__LIDAR_STATE_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/lidar_state.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/lidar_state.hpp
deleted file mode 100644
index e0972ac..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/lidar_state.hpp
+++ /dev/null
@@ -1,12 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl.hpp.em
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__LIDAR_STATE_HPP_
-#define UNITREE_GO__MSG__LIDAR_STATE_HPP_
-
-#include "unitree_go/msg/detail/lidar_state__struct.hpp"
-#include "unitree_go/msg/detail/lidar_state__builder.hpp"
-#include "unitree_go/msg/detail/lidar_state__traits.hpp"
-#include "unitree_go/msg/detail/lidar_state__type_support.hpp"
-
-#endif  // UNITREE_GO__MSG__LIDAR_STATE_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/low_cmd.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/low_cmd.h
deleted file mode 100644
index e341923..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/low_cmd.h
+++ /dev/null
@@ -1,12 +0,0 @@
-// generated from rosidl_generator_c/resource/idl.h.em
-// with input from unitree_go:msg/LowCmd.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__LOW_CMD_H_
-#define UNITREE_GO__MSG__LOW_CMD_H_
-
-#include "unitree_go/msg/detail/low_cmd__struct.h"
-#include "unitree_go/msg/detail/low_cmd__functions.h"
-#include "unitree_go/msg/detail/low_cmd__type_support.h"
-
-#endif  // UNITREE_GO__MSG__LOW_CMD_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/low_cmd.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/low_cmd.hpp
deleted file mode 100644
index 72b89c0..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/low_cmd.hpp
+++ /dev/null
@@ -1,12 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl.hpp.em
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__LOW_CMD_HPP_
-#define UNITREE_GO__MSG__LOW_CMD_HPP_
-
-#include "unitree_go/msg/detail/low_cmd__struct.hpp"
-#include "unitree_go/msg/detail/low_cmd__builder.hpp"
-#include "unitree_go/msg/detail/low_cmd__traits.hpp"
-#include "unitree_go/msg/detail/low_cmd__type_support.hpp"
-
-#endif  // UNITREE_GO__MSG__LOW_CMD_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/low_state.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/low_state.h
deleted file mode 100644
index 37a0af7..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/low_state.h
+++ /dev/null
@@ -1,12 +0,0 @@
-// generated from rosidl_generator_c/resource/idl.h.em
-// with input from unitree_go:msg/LowState.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__LOW_STATE_H_
-#define UNITREE_GO__MSG__LOW_STATE_H_
-
-#include "unitree_go/msg/detail/low_state__struct.h"
-#include "unitree_go/msg/detail/low_state__functions.h"
-#include "unitree_go/msg/detail/low_state__type_support.h"
-
-#endif  // UNITREE_GO__MSG__LOW_STATE_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/low_state.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/low_state.hpp
deleted file mode 100644
index bca19a5..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/low_state.hpp
+++ /dev/null
@@ -1,12 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl.hpp.em
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__LOW_STATE_HPP_
-#define UNITREE_GO__MSG__LOW_STATE_HPP_
-
-#include "unitree_go/msg/detail/low_state__struct.hpp"
-#include "unitree_go/msg/detail/low_state__builder.hpp"
-#include "unitree_go/msg/detail/low_state__traits.hpp"
-#include "unitree_go/msg/detail/low_state__type_support.hpp"
-
-#endif  // UNITREE_GO__MSG__LOW_STATE_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/motor_cmd.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/motor_cmd.h
deleted file mode 100644
index 68b630f..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/motor_cmd.h
+++ /dev/null
@@ -1,12 +0,0 @@
-// generated from rosidl_generator_c/resource/idl.h.em
-// with input from unitree_go:msg/MotorCmd.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__MOTOR_CMD_H_
-#define UNITREE_GO__MSG__MOTOR_CMD_H_
-
-#include "unitree_go/msg/detail/motor_cmd__struct.h"
-#include "unitree_go/msg/detail/motor_cmd__functions.h"
-#include "unitree_go/msg/detail/motor_cmd__type_support.h"
-
-#endif  // UNITREE_GO__MSG__MOTOR_CMD_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/motor_cmd.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/motor_cmd.hpp
deleted file mode 100644
index 6b572ee..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/motor_cmd.hpp
+++ /dev/null
@@ -1,12 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl.hpp.em
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__MOTOR_CMD_HPP_
-#define UNITREE_GO__MSG__MOTOR_CMD_HPP_
-
-#include "unitree_go/msg/detail/motor_cmd__struct.hpp"
-#include "unitree_go/msg/detail/motor_cmd__builder.hpp"
-#include "unitree_go/msg/detail/motor_cmd__traits.hpp"
-#include "unitree_go/msg/detail/motor_cmd__type_support.hpp"
-
-#endif  // UNITREE_GO__MSG__MOTOR_CMD_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/motor_state.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/motor_state.h
deleted file mode 100644
index 11a6aba..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/motor_state.h
+++ /dev/null
@@ -1,12 +0,0 @@
-// generated from rosidl_generator_c/resource/idl.h.em
-// with input from unitree_go:msg/MotorState.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__MOTOR_STATE_H_
-#define UNITREE_GO__MSG__MOTOR_STATE_H_
-
-#include "unitree_go/msg/detail/motor_state__struct.h"
-#include "unitree_go/msg/detail/motor_state__functions.h"
-#include "unitree_go/msg/detail/motor_state__type_support.h"
-
-#endif  // UNITREE_GO__MSG__MOTOR_STATE_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/motor_state.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/motor_state.hpp
deleted file mode 100644
index 97aa176..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/motor_state.hpp
+++ /dev/null
@@ -1,12 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl.hpp.em
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__MOTOR_STATE_HPP_
-#define UNITREE_GO__MSG__MOTOR_STATE_HPP_
-
-#include "unitree_go/msg/detail/motor_state__struct.hpp"
-#include "unitree_go/msg/detail/motor_state__builder.hpp"
-#include "unitree_go/msg/detail/motor_state__traits.hpp"
-#include "unitree_go/msg/detail/motor_state__type_support.hpp"
-
-#endif  // UNITREE_GO__MSG__MOTOR_STATE_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/path_point.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/path_point.h
deleted file mode 100644
index f96e7b1..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/path_point.h
+++ /dev/null
@@ -1,12 +0,0 @@
-// generated from rosidl_generator_c/resource/idl.h.em
-// with input from unitree_go:msg/PathPoint.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__PATH_POINT_H_
-#define UNITREE_GO__MSG__PATH_POINT_H_
-
-#include "unitree_go/msg/detail/path_point__struct.h"
-#include "unitree_go/msg/detail/path_point__functions.h"
-#include "unitree_go/msg/detail/path_point__type_support.h"
-
-#endif  // UNITREE_GO__MSG__PATH_POINT_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/path_point.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/path_point.hpp
deleted file mode 100644
index 621cdab..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/path_point.hpp
+++ /dev/null
@@ -1,12 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl.hpp.em
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__PATH_POINT_HPP_
-#define UNITREE_GO__MSG__PATH_POINT_HPP_
-
-#include "unitree_go/msg/detail/path_point__struct.hpp"
-#include "unitree_go/msg/detail/path_point__builder.hpp"
-#include "unitree_go/msg/detail/path_point__traits.hpp"
-#include "unitree_go/msg/detail/path_point__type_support.hpp"
-
-#endif  // UNITREE_GO__MSG__PATH_POINT_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/req.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/req.h
deleted file mode 100644
index 77124a4..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/req.h
+++ /dev/null
@@ -1,12 +0,0 @@
-// generated from rosidl_generator_c/resource/idl.h.em
-// with input from unitree_go:msg/Req.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__REQ_H_
-#define UNITREE_GO__MSG__REQ_H_
-
-#include "unitree_go/msg/detail/req__struct.h"
-#include "unitree_go/msg/detail/req__functions.h"
-#include "unitree_go/msg/detail/req__type_support.h"
-
-#endif  // UNITREE_GO__MSG__REQ_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/req.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/req.hpp
deleted file mode 100644
index 1409e67..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/req.hpp
+++ /dev/null
@@ -1,12 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl.hpp.em
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__REQ_HPP_
-#define UNITREE_GO__MSG__REQ_HPP_
-
-#include "unitree_go/msg/detail/req__struct.hpp"
-#include "unitree_go/msg/detail/req__builder.hpp"
-#include "unitree_go/msg/detail/req__traits.hpp"
-#include "unitree_go/msg/detail/req__type_support.hpp"
-
-#endif  // UNITREE_GO__MSG__REQ_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/res.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/res.h
deleted file mode 100644
index 21f7767..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/res.h
+++ /dev/null
@@ -1,12 +0,0 @@
-// generated from rosidl_generator_c/resource/idl.h.em
-// with input from unitree_go:msg/Res.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__RES_H_
-#define UNITREE_GO__MSG__RES_H_
-
-#include "unitree_go/msg/detail/res__struct.h"
-#include "unitree_go/msg/detail/res__functions.h"
-#include "unitree_go/msg/detail/res__type_support.h"
-
-#endif  // UNITREE_GO__MSG__RES_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/res.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/res.hpp
deleted file mode 100644
index faa1ac4..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/res.hpp
+++ /dev/null
@@ -1,12 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl.hpp.em
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__RES_HPP_
-#define UNITREE_GO__MSG__RES_HPP_
-
-#include "unitree_go/msg/detail/res__struct.hpp"
-#include "unitree_go/msg/detail/res__builder.hpp"
-#include "unitree_go/msg/detail/res__traits.hpp"
-#include "unitree_go/msg/detail/res__type_support.hpp"
-
-#endif  // UNITREE_GO__MSG__RES_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/rosidl_generator_c__visibility_control.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/rosidl_generator_c__visibility_control.h
deleted file mode 100644
index 1416935..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/rosidl_generator_c__visibility_control.h
+++ /dev/null
@@ -1,42 +0,0 @@
-// generated from rosidl_generator_c/resource/rosidl_generator_c__visibility_control.h.in
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__ROSIDL_GENERATOR_C__VISIBILITY_CONTROL_H_
-#define UNITREE_GO__MSG__ROSIDL_GENERATOR_C__VISIBILITY_CONTROL_H_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
-//     https://gcc.gnu.org/wiki/Visibility
-
-#if defined _WIN32 || defined __CYGWIN__
-  #ifdef __GNUC__
-    #define ROSIDL_GENERATOR_C_EXPORT_unitree_go __attribute__ ((dllexport))
-    #define ROSIDL_GENERATOR_C_IMPORT_unitree_go __attribute__ ((dllimport))
-  #else
-    #define ROSIDL_GENERATOR_C_EXPORT_unitree_go __declspec(dllexport)
-    #define ROSIDL_GENERATOR_C_IMPORT_unitree_go __declspec(dllimport)
-  #endif
-  #ifdef ROSIDL_GENERATOR_C_BUILDING_DLL_unitree_go
-    #define ROSIDL_GENERATOR_C_PUBLIC_unitree_go ROSIDL_GENERATOR_C_EXPORT_unitree_go
-  #else
-    #define ROSIDL_GENERATOR_C_PUBLIC_unitree_go ROSIDL_GENERATOR_C_IMPORT_unitree_go
-  #endif
-#else
-  #define ROSIDL_GENERATOR_C_EXPORT_unitree_go __attribute__ ((visibility("default")))
-  #define ROSIDL_GENERATOR_C_IMPORT_unitree_go
-  #if __GNUC__ >= 4
-    #define ROSIDL_GENERATOR_C_PUBLIC_unitree_go __attribute__ ((visibility("default")))
-  #else
-    #define ROSIDL_GENERATOR_C_PUBLIC_unitree_go
-  #endif
-#endif
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__ROSIDL_GENERATOR_C__VISIBILITY_CONTROL_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/rosidl_generator_cpp__visibility_control.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/rosidl_generator_cpp__visibility_control.hpp
deleted file mode 100644
index ef63cae..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/rosidl_generator_cpp__visibility_control.hpp
+++ /dev/null
@@ -1,42 +0,0 @@
-// generated from rosidl_generator_cpp/resource/rosidl_generator_cpp__visibility_control.hpp.in
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__ROSIDL_GENERATOR_CPP__VISIBILITY_CONTROL_HPP_
-#define UNITREE_GO__MSG__ROSIDL_GENERATOR_CPP__VISIBILITY_CONTROL_HPP_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
-//     https://gcc.gnu.org/wiki/Visibility
-
-#if defined _WIN32 || defined __CYGWIN__
-  #ifdef __GNUC__
-    #define ROSIDL_GENERATOR_CPP_EXPORT_unitree_go __attribute__ ((dllexport))
-    #define ROSIDL_GENERATOR_CPP_IMPORT_unitree_go __attribute__ ((dllimport))
-  #else
-    #define ROSIDL_GENERATOR_CPP_EXPORT_unitree_go __declspec(dllexport)
-    #define ROSIDL_GENERATOR_CPP_IMPORT_unitree_go __declspec(dllimport)
-  #endif
-  #ifdef ROSIDL_GENERATOR_CPP_BUILDING_DLL_unitree_go
-    #define ROSIDL_GENERATOR_CPP_PUBLIC_unitree_go ROSIDL_GENERATOR_CPP_EXPORT_unitree_go
-  #else
-    #define ROSIDL_GENERATOR_CPP_PUBLIC_unitree_go ROSIDL_GENERATOR_CPP_IMPORT_unitree_go
-  #endif
-#else
-  #define ROSIDL_GENERATOR_CPP_EXPORT_unitree_go __attribute__ ((visibility("default")))
-  #define ROSIDL_GENERATOR_CPP_IMPORT_unitree_go
-  #if __GNUC__ >= 4
-    #define ROSIDL_GENERATOR_CPP_PUBLIC_unitree_go __attribute__ ((visibility("default")))
-  #else
-    #define ROSIDL_GENERATOR_CPP_PUBLIC_unitree_go
-  #endif
-#endif
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__ROSIDL_GENERATOR_CPP__VISIBILITY_CONTROL_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/rosidl_typesupport_fastrtps_c__visibility_control.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/rosidl_typesupport_fastrtps_c__visibility_control.h
deleted file mode 100644
index dbbaa78..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/rosidl_typesupport_fastrtps_c__visibility_control.h
+++ /dev/null
@@ -1,43 +0,0 @@
-// generated from
-// rosidl_typesupport_fastrtps_c/resource/rosidl_typesupport_fastrtps_c__visibility_control.h.in
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__ROSIDL_TYPESUPPORT_FASTRTPS_C__VISIBILITY_CONTROL_H_
-#define UNITREE_GO__MSG__ROSIDL_TYPESUPPORT_FASTRTPS_C__VISIBILITY_CONTROL_H_
-
-#if __cplusplus
-extern "C"
-{
-#endif
-
-// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
-//     https://gcc.gnu.org/wiki/Visibility
-
-#if defined _WIN32 || defined __CYGWIN__
-  #ifdef __GNUC__
-    #define ROSIDL_TYPESUPPORT_FASTRTPS_C_EXPORT_unitree_go __attribute__ ((dllexport))
-    #define ROSIDL_TYPESUPPORT_FASTRTPS_C_IMPORT_unitree_go __attribute__ ((dllimport))
-  #else
-    #define ROSIDL_TYPESUPPORT_FASTRTPS_C_EXPORT_unitree_go __declspec(dllexport)
-    #define ROSIDL_TYPESUPPORT_FASTRTPS_C_IMPORT_unitree_go __declspec(dllimport)
-  #endif
-  #ifdef ROSIDL_TYPESUPPORT_FASTRTPS_C_BUILDING_DLL_unitree_go
-    #define ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_go ROSIDL_TYPESUPPORT_FASTRTPS_C_EXPORT_unitree_go
-  #else
-    #define ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_go ROSIDL_TYPESUPPORT_FASTRTPS_C_IMPORT_unitree_go
-  #endif
-#else
-  #define ROSIDL_TYPESUPPORT_FASTRTPS_C_EXPORT_unitree_go __attribute__ ((visibility("default")))
-  #define ROSIDL_TYPESUPPORT_FASTRTPS_C_IMPORT_unitree_go
-  #if __GNUC__ >= 4
-    #define ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_go __attribute__ ((visibility("default")))
-  #else
-    #define ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_unitree_go
-  #endif
-#endif
-
-#if __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__ROSIDL_TYPESUPPORT_FASTRTPS_C__VISIBILITY_CONTROL_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/rosidl_typesupport_fastrtps_cpp__visibility_control.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/rosidl_typesupport_fastrtps_cpp__visibility_control.h
deleted file mode 100644
index 9334613..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/rosidl_typesupport_fastrtps_cpp__visibility_control.h
+++ /dev/null
@@ -1,43 +0,0 @@
-// generated from
-// rosidl_typesupport_fastrtps_cpp/resource/rosidl_typesupport_fastrtps_cpp__visibility_control.h.in
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__ROSIDL_TYPESUPPORT_FASTRTPS_CPP__VISIBILITY_CONTROL_H_
-#define UNITREE_GO__MSG__ROSIDL_TYPESUPPORT_FASTRTPS_CPP__VISIBILITY_CONTROL_H_
-
-#if __cplusplus
-extern "C"
-{
-#endif
-
-// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
-//     https://gcc.gnu.org/wiki/Visibility
-
-#if defined _WIN32 || defined __CYGWIN__
-  #ifdef __GNUC__
-    #define ROSIDL_TYPESUPPORT_FASTRTPS_CPP_EXPORT_unitree_go __attribute__ ((dllexport))
-    #define ROSIDL_TYPESUPPORT_FASTRTPS_CPP_IMPORT_unitree_go __attribute__ ((dllimport))
-  #else
-    #define ROSIDL_TYPESUPPORT_FASTRTPS_CPP_EXPORT_unitree_go __declspec(dllexport)
-    #define ROSIDL_TYPESUPPORT_FASTRTPS_CPP_IMPORT_unitree_go __declspec(dllimport)
-  #endif
-  #ifdef ROSIDL_TYPESUPPORT_FASTRTPS_CPP_BUILDING_DLL_unitree_go
-    #define ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go ROSIDL_TYPESUPPORT_FASTRTPS_CPP_EXPORT_unitree_go
-  #else
-    #define ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go ROSIDL_TYPESUPPORT_FASTRTPS_CPP_IMPORT_unitree_go
-  #endif
-#else
-  #define ROSIDL_TYPESUPPORT_FASTRTPS_CPP_EXPORT_unitree_go __attribute__ ((visibility("default")))
-  #define ROSIDL_TYPESUPPORT_FASTRTPS_CPP_IMPORT_unitree_go
-  #if __GNUC__ >= 4
-    #define ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go __attribute__ ((visibility("default")))
-  #else
-    #define ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_unitree_go
-  #endif
-#endif
-
-#if __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__ROSIDL_TYPESUPPORT_FASTRTPS_CPP__VISIBILITY_CONTROL_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/rosidl_typesupport_introspection_c__visibility_control.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/rosidl_typesupport_introspection_c__visibility_control.h
deleted file mode 100644
index 8191c90..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/rosidl_typesupport_introspection_c__visibility_control.h
+++ /dev/null
@@ -1,43 +0,0 @@
-// generated from
-// rosidl_typesupport_introspection_c/resource/rosidl_typesupport_introspection_c__visibility_control.h.in
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__ROSIDL_TYPESUPPORT_INTROSPECTION_C__VISIBILITY_CONTROL_H_
-#define UNITREE_GO__MSG__ROSIDL_TYPESUPPORT_INTROSPECTION_C__VISIBILITY_CONTROL_H_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
-//     https://gcc.gnu.org/wiki/Visibility
-
-#if defined _WIN32 || defined __CYGWIN__
-  #ifdef __GNUC__
-    #define ROSIDL_TYPESUPPORT_INTROSPECTION_C_EXPORT_unitree_go __attribute__ ((dllexport))
-    #define ROSIDL_TYPESUPPORT_INTROSPECTION_C_IMPORT_unitree_go __attribute__ ((dllimport))
-  #else
-    #define ROSIDL_TYPESUPPORT_INTROSPECTION_C_EXPORT_unitree_go __declspec(dllexport)
-    #define ROSIDL_TYPESUPPORT_INTROSPECTION_C_IMPORT_unitree_go __declspec(dllimport)
-  #endif
-  #ifdef ROSIDL_TYPESUPPORT_INTROSPECTION_C_BUILDING_DLL_unitree_go
-    #define ROSIDL_TYPESUPPORT_INTROSPECTION_C_PUBLIC_unitree_go ROSIDL_TYPESUPPORT_INTROSPECTION_C_EXPORT_unitree_go
-  #else
-    #define ROSIDL_TYPESUPPORT_INTROSPECTION_C_PUBLIC_unitree_go ROSIDL_TYPESUPPORT_INTROSPECTION_C_IMPORT_unitree_go
-  #endif
-#else
-  #define ROSIDL_TYPESUPPORT_INTROSPECTION_C_EXPORT_unitree_go __attribute__ ((visibility("default")))
-  #define ROSIDL_TYPESUPPORT_INTROSPECTION_C_IMPORT_unitree_go
-  #if __GNUC__ >= 4
-    #define ROSIDL_TYPESUPPORT_INTROSPECTION_C_PUBLIC_unitree_go __attribute__ ((visibility("default")))
-  #else
-    #define ROSIDL_TYPESUPPORT_INTROSPECTION_C_PUBLIC_unitree_go
-  #endif
-#endif
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // UNITREE_GO__MSG__ROSIDL_TYPESUPPORT_INTROSPECTION_C__VISIBILITY_CONTROL_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/sport_mode_cmd.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/sport_mode_cmd.h
deleted file mode 100644
index 77b5ab7..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/sport_mode_cmd.h
+++ /dev/null
@@ -1,12 +0,0 @@
-// generated from rosidl_generator_c/resource/idl.h.em
-// with input from unitree_go:msg/SportModeCmd.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__SPORT_MODE_CMD_H_
-#define UNITREE_GO__MSG__SPORT_MODE_CMD_H_
-
-#include "unitree_go/msg/detail/sport_mode_cmd__struct.h"
-#include "unitree_go/msg/detail/sport_mode_cmd__functions.h"
-#include "unitree_go/msg/detail/sport_mode_cmd__type_support.h"
-
-#endif  // UNITREE_GO__MSG__SPORT_MODE_CMD_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/sport_mode_cmd.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/sport_mode_cmd.hpp
deleted file mode 100644
index 08f5667..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/sport_mode_cmd.hpp
+++ /dev/null
@@ -1,12 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl.hpp.em
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__SPORT_MODE_CMD_HPP_
-#define UNITREE_GO__MSG__SPORT_MODE_CMD_HPP_
-
-#include "unitree_go/msg/detail/sport_mode_cmd__struct.hpp"
-#include "unitree_go/msg/detail/sport_mode_cmd__builder.hpp"
-#include "unitree_go/msg/detail/sport_mode_cmd__traits.hpp"
-#include "unitree_go/msg/detail/sport_mode_cmd__type_support.hpp"
-
-#endif  // UNITREE_GO__MSG__SPORT_MODE_CMD_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/sport_mode_state.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/sport_mode_state.h
deleted file mode 100644
index f8c2660..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/sport_mode_state.h
+++ /dev/null
@@ -1,12 +0,0 @@
-// generated from rosidl_generator_c/resource/idl.h.em
-// with input from unitree_go:msg/SportModeState.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__SPORT_MODE_STATE_H_
-#define UNITREE_GO__MSG__SPORT_MODE_STATE_H_
-
-#include "unitree_go/msg/detail/sport_mode_state__struct.h"
-#include "unitree_go/msg/detail/sport_mode_state__functions.h"
-#include "unitree_go/msg/detail/sport_mode_state__type_support.h"
-
-#endif  // UNITREE_GO__MSG__SPORT_MODE_STATE_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/sport_mode_state.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/sport_mode_state.hpp
deleted file mode 100644
index d61ced0..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/sport_mode_state.hpp
+++ /dev/null
@@ -1,12 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl.hpp.em
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__SPORT_MODE_STATE_HPP_
-#define UNITREE_GO__MSG__SPORT_MODE_STATE_HPP_
-
-#include "unitree_go/msg/detail/sport_mode_state__struct.hpp"
-#include "unitree_go/msg/detail/sport_mode_state__builder.hpp"
-#include "unitree_go/msg/detail/sport_mode_state__traits.hpp"
-#include "unitree_go/msg/detail/sport_mode_state__type_support.hpp"
-
-#endif  // UNITREE_GO__MSG__SPORT_MODE_STATE_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/time_spec.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/time_spec.h
deleted file mode 100644
index 2c05811..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/time_spec.h
+++ /dev/null
@@ -1,12 +0,0 @@
-// generated from rosidl_generator_c/resource/idl.h.em
-// with input from unitree_go:msg/TimeSpec.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__TIME_SPEC_H_
-#define UNITREE_GO__MSG__TIME_SPEC_H_
-
-#include "unitree_go/msg/detail/time_spec__struct.h"
-#include "unitree_go/msg/detail/time_spec__functions.h"
-#include "unitree_go/msg/detail/time_spec__type_support.h"
-
-#endif  // UNITREE_GO__MSG__TIME_SPEC_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/time_spec.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/time_spec.hpp
deleted file mode 100644
index 42f8731..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/time_spec.hpp
+++ /dev/null
@@ -1,12 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl.hpp.em
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__TIME_SPEC_HPP_
-#define UNITREE_GO__MSG__TIME_SPEC_HPP_
-
-#include "unitree_go/msg/detail/time_spec__struct.hpp"
-#include "unitree_go/msg/detail/time_spec__builder.hpp"
-#include "unitree_go/msg/detail/time_spec__traits.hpp"
-#include "unitree_go/msg/detail/time_spec__type_support.hpp"
-
-#endif  // UNITREE_GO__MSG__TIME_SPEC_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/uwb_state.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/uwb_state.h
deleted file mode 100644
index 743aaae..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/uwb_state.h
+++ /dev/null
@@ -1,12 +0,0 @@
-// generated from rosidl_generator_c/resource/idl.h.em
-// with input from unitree_go:msg/UwbState.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__UWB_STATE_H_
-#define UNITREE_GO__MSG__UWB_STATE_H_
-
-#include "unitree_go/msg/detail/uwb_state__struct.h"
-#include "unitree_go/msg/detail/uwb_state__functions.h"
-#include "unitree_go/msg/detail/uwb_state__type_support.h"
-
-#endif  // UNITREE_GO__MSG__UWB_STATE_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/uwb_state.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/uwb_state.hpp
deleted file mode 100644
index 6bbacba..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/uwb_state.hpp
+++ /dev/null
@@ -1,12 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl.hpp.em
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__UWB_STATE_HPP_
-#define UNITREE_GO__MSG__UWB_STATE_HPP_
-
-#include "unitree_go/msg/detail/uwb_state__struct.hpp"
-#include "unitree_go/msg/detail/uwb_state__builder.hpp"
-#include "unitree_go/msg/detail/uwb_state__traits.hpp"
-#include "unitree_go/msg/detail/uwb_state__type_support.hpp"
-
-#endif  // UNITREE_GO__MSG__UWB_STATE_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/uwb_switch.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/uwb_switch.h
deleted file mode 100644
index d80e55e..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/uwb_switch.h
+++ /dev/null
@@ -1,12 +0,0 @@
-// generated from rosidl_generator_c/resource/idl.h.em
-// with input from unitree_go:msg/UwbSwitch.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__UWB_SWITCH_H_
-#define UNITREE_GO__MSG__UWB_SWITCH_H_
-
-#include "unitree_go/msg/detail/uwb_switch__struct.h"
-#include "unitree_go/msg/detail/uwb_switch__functions.h"
-#include "unitree_go/msg/detail/uwb_switch__type_support.h"
-
-#endif  // UNITREE_GO__MSG__UWB_SWITCH_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/uwb_switch.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/uwb_switch.hpp
deleted file mode 100644
index 9845594..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/uwb_switch.hpp
+++ /dev/null
@@ -1,12 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl.hpp.em
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__UWB_SWITCH_HPP_
-#define UNITREE_GO__MSG__UWB_SWITCH_HPP_
-
-#include "unitree_go/msg/detail/uwb_switch__struct.hpp"
-#include "unitree_go/msg/detail/uwb_switch__builder.hpp"
-#include "unitree_go/msg/detail/uwb_switch__traits.hpp"
-#include "unitree_go/msg/detail/uwb_switch__type_support.hpp"
-
-#endif  // UNITREE_GO__MSG__UWB_SWITCH_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/wireless_controller.h b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/wireless_controller.h
deleted file mode 100644
index 67783ce..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/wireless_controller.h
+++ /dev/null
@@ -1,12 +0,0 @@
-// generated from rosidl_generator_c/resource/idl.h.em
-// with input from unitree_go:msg/WirelessController.idl
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__WIRELESS_CONTROLLER_H_
-#define UNITREE_GO__MSG__WIRELESS_CONTROLLER_H_
-
-#include "unitree_go/msg/detail/wireless_controller__struct.h"
-#include "unitree_go/msg/detail/wireless_controller__functions.h"
-#include "unitree_go/msg/detail/wireless_controller__type_support.h"
-
-#endif  // UNITREE_GO__MSG__WIRELESS_CONTROLLER_H_
diff --git a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/wireless_controller.hpp b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/wireless_controller.hpp
deleted file mode 100644
index 17aa9c0..0000000
--- a/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/wireless_controller.hpp
+++ /dev/null
@@ -1,12 +0,0 @@
-// generated from rosidl_generator_cpp/resource/idl.hpp.em
-// generated code does not contain a copyright notice
-
-#ifndef UNITREE_GO__MSG__WIRELESS_CONTROLLER_HPP_
-#define UNITREE_GO__MSG__WIRELESS_CONTROLLER_HPP_
-
-#include "unitree_go/msg/detail/wireless_controller__struct.hpp"
-#include "unitree_go/msg/detail/wireless_controller__builder.hpp"
-#include "unitree_go/msg/detail/wireless_controller__traits.hpp"
-#include "unitree_go/msg/detail/wireless_controller__type_support.hpp"
-
-#endif  // UNITREE_GO__MSG__WIRELESS_CONTROLLER_HPP_
diff --git a/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/__init__.py b/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/__init__.py
deleted file mode 100644
index e69de29..0000000
diff --git a/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/__init__.py b/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/__init__.py
deleted file mode 100644
index 5c00080..0000000
--- a/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/__init__.py
+++ /dev/null
@@ -1,22 +0,0 @@
-from unitree_go.msg._audio_data import AudioData  # noqa: F401
-from unitree_go.msg._bms_cmd import BmsCmd  # noqa: F401
-from unitree_go.msg._bms_state import BmsState  # noqa: F401
-from unitree_go.msg._error import Error  # noqa: F401
-from unitree_go.msg._go2_front_video_data import Go2FrontVideoData  # noqa: F401
-from unitree_go.msg._height_map import HeightMap  # noqa: F401
-from unitree_go.msg._imu_state import IMUState  # noqa: F401
-from unitree_go.msg._interface_config import InterfaceConfig  # noqa: F401
-from unitree_go.msg._lidar_state import LidarState  # noqa: F401
-from unitree_go.msg._low_cmd import LowCmd  # noqa: F401
-from unitree_go.msg._low_state import LowState  # noqa: F401
-from unitree_go.msg._motor_cmd import MotorCmd  # noqa: F401
-from unitree_go.msg._motor_state import MotorState  # noqa: F401
-from unitree_go.msg._path_point import PathPoint  # noqa: F401
-from unitree_go.msg._req import Req  # noqa: F401
-from unitree_go.msg._res import Res  # noqa: F401
-from unitree_go.msg._sport_mode_cmd import SportModeCmd  # noqa: F401
-from unitree_go.msg._sport_mode_state import SportModeState  # noqa: F401
-from unitree_go.msg._time_spec import TimeSpec  # noqa: F401
-from unitree_go.msg._uwb_state import UwbState  # noqa: F401
-from unitree_go.msg._uwb_switch import UwbSwitch  # noqa: F401
-from unitree_go.msg._wireless_controller import WirelessController  # noqa: F401
diff --git a/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_audio_data.py b/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_audio_data.py
deleted file mode 100644
index 9c9cf86..0000000
--- a/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_audio_data.py
+++ /dev/null
@@ -1,161 +0,0 @@
-# generated from rosidl_generator_py/resource/_idl.py.em
-# with input from unitree_go:msg/AudioData.idl
-# generated code does not contain a copyright notice
-
-
-# Import statements for member types
-
-# Member 'data'
-import array  # noqa: E402, I100
-
-import rosidl_parser.definition  # noqa: E402, I100
-
-
-class Metaclass_AudioData(type):
-    """Metaclass of message 'AudioData'."""
-
-    _CREATE_ROS_MESSAGE = None
-    _CONVERT_FROM_PY = None
-    _CONVERT_TO_PY = None
-    _DESTROY_ROS_MESSAGE = None
-    _TYPE_SUPPORT = None
-
-    __constants = {
-    }
-
-    @classmethod
-    def __import_type_support__(cls):
-        try:
-            from rosidl_generator_py import import_type_support
-            module = import_type_support('unitree_go')
-        except ImportError:
-            import logging
-            import traceback
-            logger = logging.getLogger(
-                'unitree_go.msg.AudioData')
-            logger.debug(
-                'Failed to import needed modules for type support:\n' +
-                traceback.format_exc())
-        else:
-            cls._CREATE_ROS_MESSAGE = module.create_ros_message_msg__msg__audio_data
-            cls._CONVERT_FROM_PY = module.convert_from_py_msg__msg__audio_data
-            cls._CONVERT_TO_PY = module.convert_to_py_msg__msg__audio_data
-            cls._TYPE_SUPPORT = module.type_support_msg__msg__audio_data
-            cls._DESTROY_ROS_MESSAGE = module.destroy_ros_message_msg__msg__audio_data
-
-    @classmethod
-    def __prepare__(cls, name, bases, **kwargs):
-        # list constant names here so that they appear in the help text of
-        # the message class under "Data and other attributes defined here:"
-        # as well as populate each message instance
-        return {
-        }
-
-
-class AudioData(metaclass=Metaclass_AudioData):
-    """Message class 'AudioData'."""
-
-    __slots__ = [
-        '_time_frame',
-        '_data',
-    ]
-
-    _fields_and_field_types = {
-        'time_frame': 'uint64',
-        'data': 'sequence<uint8>',
-    }
-
-    SLOT_TYPES = (
-        rosidl_parser.definition.BasicType('uint64'),  # noqa: E501
-        rosidl_parser.definition.UnboundedSequence(rosidl_parser.definition.BasicType('uint8')),  # noqa: E501
-    )
-
-    def __init__(self, **kwargs):
-        assert all('_' + key in self.__slots__ for key in kwargs.keys()), \
-            'Invalid arguments passed to constructor: %s' % \
-            ', '.join(sorted(k for k in kwargs.keys() if '_' + k not in self.__slots__))
-        self.time_frame = kwargs.get('time_frame', int())
-        self.data = array.array('B', kwargs.get('data', []))
-
-    def __repr__(self):
-        typename = self.__class__.__module__.split('.')
-        typename.pop()
-        typename.append(self.__class__.__name__)
-        args = []
-        for s, t in zip(self.__slots__, self.SLOT_TYPES):
-            field = getattr(self, s)
-            fieldstr = repr(field)
-            # We use Python array type for fields that can be directly stored
-            # in them, and "normal" sequences for everything else.  If it is
-            # a type that we store in an array, strip off the 'array' portion.
-            if (
-                isinstance(t, rosidl_parser.definition.AbstractSequence) and
-                isinstance(t.value_type, rosidl_parser.definition.BasicType) and
-                t.value_type.typename in ['float', 'double', 'int8', 'uint8', 'int16', 'uint16', 'int32', 'uint32', 'int64', 'uint64']
-            ):
-                if len(field) == 0:
-                    fieldstr = '[]'
-                else:
-                    assert fieldstr.startswith('array(')
-                    prefix = "array('X', "
-                    suffix = ')'
-                    fieldstr = fieldstr[len(prefix):-len(suffix)]
-            args.append(s[1:] + '=' + fieldstr)
-        return '%s(%s)' % ('.'.join(typename), ', '.join(args))
-
-    def __eq__(self, other):
-        if not isinstance(other, self.__class__):
-            return False
-        if self.time_frame != other.time_frame:
-            return False
-        if self.data != other.data:
-            return False
-        return True
-
-    @classmethod
-    def get_fields_and_field_types(cls):
-        from copy import copy
-        return copy(cls._fields_and_field_types)
-
-    @property
-    def time_frame(self):
-        """Message field 'time_frame'."""
-        return self._time_frame
-
-    @time_frame.setter
-    def time_frame(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, int), \
-                "The 'time_frame' field must be of type 'int'"
-            assert value >= 0 and value < 18446744073709551616, \
-                "The 'time_frame' field must be an unsigned integer in [0, 18446744073709551615]"
-        self._time_frame = value
-
-    @property
-    def data(self):
-        """Message field 'data'."""
-        return self._data
-
-    @data.setter
-    def data(self, value):
-        if isinstance(value, array.array):
-            assert value.typecode == 'B', \
-                "The 'data' array.array() must have the type code of 'B'"
-            self._data = value
-            return
-        if __debug__:
-            from collections.abc import Sequence
-            from collections.abc import Set
-            from collections import UserList
-            from collections import UserString
-            assert \
-                ((isinstance(value, Sequence) or
-                  isinstance(value, Set) or
-                  isinstance(value, UserList)) and
-                 not isinstance(value, str) and
-                 not isinstance(value, UserString) and
-                 all(isinstance(v, int) for v in value) and
-                 all(val >= 0 and val < 256 for val in value)), \
-                "The 'data' field must be a set or sequence and each value of type 'int' and each unsigned integer in [0, 255]"
-        self._data = array.array('B', value)
diff --git a/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_audio_data_s.c b/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_audio_data_s.c
deleted file mode 100644
index e85e1b1..0000000
--- a/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_audio_data_s.c
+++ /dev/null
@@ -1,221 +0,0 @@
-// generated from rosidl_generator_py/resource/_idl_support.c.em
-// with input from unitree_go:msg/AudioData.idl
-// generated code does not contain a copyright notice
-#define NPY_NO_DEPRECATED_API NPY_1_7_API_VERSION
-#include <Python.h>
-#include <stdbool.h>
-#ifndef _WIN32
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wunused-function"
-#endif
-#include "numpy/ndarrayobject.h"
-#ifndef _WIN32
-# pragma GCC diagnostic pop
-#endif
-#include "rosidl_runtime_c/visibility_control.h"
-#include "unitree_go/msg/detail/audio_data__struct.h"
-#include "unitree_go/msg/detail/audio_data__functions.h"
-
-#include "rosidl_runtime_c/primitives_sequence.h"
-#include "rosidl_runtime_c/primitives_sequence_functions.h"
-
-
-ROSIDL_GENERATOR_C_EXPORT
-bool unitree_go__msg__audio_data__convert_from_py(PyObject * _pymsg, void * _ros_message)
-{
-  // check that the passed message is of the expected Python class
-  {
-    char full_classname_dest[37];
-    {
-      char * class_name = NULL;
-      char * module_name = NULL;
-      {
-        PyObject * class_attr = PyObject_GetAttrString(_pymsg, "__class__");
-        if (class_attr) {
-          PyObject * name_attr = PyObject_GetAttrString(class_attr, "__name__");
-          if (name_attr) {
-            class_name = (char *)PyUnicode_1BYTE_DATA(name_attr);
-            Py_DECREF(name_attr);
-          }
-          PyObject * module_attr = PyObject_GetAttrString(class_attr, "__module__");
-          if (module_attr) {
-            module_name = (char *)PyUnicode_1BYTE_DATA(module_attr);
-            Py_DECREF(module_attr);
-          }
-          Py_DECREF(class_attr);
-        }
-      }
-      if (!class_name || !module_name) {
-        return false;
-      }
-      snprintf(full_classname_dest, sizeof(full_classname_dest), "%s.%s", module_name, class_name);
-    }
-    assert(strncmp("unitree_go.msg._audio_data.AudioData", full_classname_dest, 36) == 0);
-  }
-  unitree_go__msg__AudioData * ros_message = _ros_message;
-  {  // time_frame
-    PyObject * field = PyObject_GetAttrString(_pymsg, "time_frame");
-    if (!field) {
-      return false;
-    }
-    assert(PyLong_Check(field));
-    ros_message->time_frame = PyLong_AsUnsignedLongLong(field);
-    Py_DECREF(field);
-  }
-  {  // data
-    PyObject * field = PyObject_GetAttrString(_pymsg, "data");
-    if (!field) {
-      return false;
-    }
-    if (PyObject_CheckBuffer(field)) {
-      // Optimization for converting arrays of primitives
-      Py_buffer view;
-      int rc = PyObject_GetBuffer(field, &view, PyBUF_SIMPLE);
-      if (rc < 0) {
-        Py_DECREF(field);
-        return false;
-      }
-      Py_ssize_t size = view.len / sizeof(uint8_t);
-      if (!rosidl_runtime_c__uint8__Sequence__init(&(ros_message->data), size)) {
-        PyErr_SetString(PyExc_RuntimeError, "unable to create uint8__Sequence ros_message");
-        PyBuffer_Release(&view);
-        Py_DECREF(field);
-        return false;
-      }
-      uint8_t * dest = ros_message->data.data;
-      rc = PyBuffer_ToContiguous(dest, &view, view.len, 'C');
-      if (rc < 0) {
-        PyBuffer_Release(&view);
-        Py_DECREF(field);
-        return false;
-      }
-      PyBuffer_Release(&view);
-    } else {
-      PyObject * seq_field = PySequence_Fast(field, "expected a sequence in 'data'");
-      if (!seq_field) {
-        Py_DECREF(field);
-        return false;
-      }
-      Py_ssize_t size = PySequence_Size(field);
-      if (-1 == size) {
-        Py_DECREF(seq_field);
-        Py_DECREF(field);
-        return false;
-      }
-      if (!rosidl_runtime_c__uint8__Sequence__init(&(ros_message->data), size)) {
-        PyErr_SetString(PyExc_RuntimeError, "unable to create uint8__Sequence ros_message");
-        Py_DECREF(seq_field);
-        Py_DECREF(field);
-        return false;
-      }
-      uint8_t * dest = ros_message->data.data;
-      for (Py_ssize_t i = 0; i < size; ++i) {
-        PyObject * item = PySequence_Fast_GET_ITEM(seq_field, i);
-        if (!item) {
-          Py_DECREF(seq_field);
-          Py_DECREF(field);
-          return false;
-        }
-        assert(PyLong_Check(item));
-        uint8_t tmp = (uint8_t)PyLong_AsUnsignedLong(item);
-
-        memcpy(&dest[i], &tmp, sizeof(uint8_t));
-      }
-      Py_DECREF(seq_field);
-    }
-    Py_DECREF(field);
-  }
-
-  return true;
-}
-
-ROSIDL_GENERATOR_C_EXPORT
-PyObject * unitree_go__msg__audio_data__convert_to_py(void * raw_ros_message)
-{
-  /* NOTE(esteve): Call constructor of AudioData */
-  PyObject * _pymessage = NULL;
-  {
-    PyObject * pymessage_module = PyImport_ImportModule("unitree_go.msg._audio_data");
-    assert(pymessage_module);
-    PyObject * pymessage_class = PyObject_GetAttrString(pymessage_module, "AudioData");
-    assert(pymessage_class);
-    Py_DECREF(pymessage_module);
-    _pymessage = PyObject_CallObject(pymessage_class, NULL);
-    Py_DECREF(pymessage_class);
-    if (!_pymessage) {
-      return NULL;
-    }
-  }
-  unitree_go__msg__AudioData * ros_message = (unitree_go__msg__AudioData *)raw_ros_message;
-  {  // time_frame
-    PyObject * field = NULL;
-    field = PyLong_FromUnsignedLongLong(ros_message->time_frame);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "time_frame", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // data
-    PyObject * field = NULL;
-    field = PyObject_GetAttrString(_pymessage, "data");
-    if (!field) {
-      return NULL;
-    }
-    assert(field->ob_type != NULL);
-    assert(field->ob_type->tp_name != NULL);
-    assert(strcmp(field->ob_type->tp_name, "array.array") == 0);
-    // ensure that itemsize matches the sizeof of the ROS message field
-    PyObject * itemsize_attr = PyObject_GetAttrString(field, "itemsize");
-    assert(itemsize_attr != NULL);
-    size_t itemsize = PyLong_AsSize_t(itemsize_attr);
-    Py_DECREF(itemsize_attr);
-    if (itemsize != sizeof(uint8_t)) {
-      PyErr_SetString(PyExc_RuntimeError, "itemsize doesn't match expectation");
-      Py_DECREF(field);
-      return NULL;
-    }
-    // clear the array, poor approach to remove potential default values
-    Py_ssize_t length = PyObject_Length(field);
-    if (-1 == length) {
-      Py_DECREF(field);
-      return NULL;
-    }
-    if (length > 0) {
-      PyObject * pop = PyObject_GetAttrString(field, "pop");
-      assert(pop != NULL);
-      for (Py_ssize_t i = 0; i < length; ++i) {
-        PyObject * ret = PyObject_CallFunctionObjArgs(pop, NULL);
-        if (!ret) {
-          Py_DECREF(pop);
-          Py_DECREF(field);
-          return NULL;
-        }
-        Py_DECREF(ret);
-      }
-      Py_DECREF(pop);
-    }
-    if (ros_message->data.size > 0) {
-      // populating the array.array using the frombytes method
-      PyObject * frombytes = PyObject_GetAttrString(field, "frombytes");
-      assert(frombytes != NULL);
-      uint8_t * src = &(ros_message->data.data[0]);
-      PyObject * data = PyBytes_FromStringAndSize((const char *)src, ros_message->data.size * sizeof(uint8_t));
-      assert(data != NULL);
-      PyObject * ret = PyObject_CallFunctionObjArgs(frombytes, data, NULL);
-      Py_DECREF(data);
-      Py_DECREF(frombytes);
-      if (!ret) {
-        Py_DECREF(field);
-        return NULL;
-      }
-      Py_DECREF(ret);
-    }
-    Py_DECREF(field);
-  }
-
-  // ownership of _pymessage is transferred to the caller
-  return _pymessage;
-}
diff --git a/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_bms_cmd.py b/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_bms_cmd.py
deleted file mode 100644
index 6034fde..0000000
--- a/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_bms_cmd.py
+++ /dev/null
@@ -1,168 +0,0 @@
-# generated from rosidl_generator_py/resource/_idl.py.em
-# with input from unitree_go:msg/BmsCmd.idl
-# generated code does not contain a copyright notice
-
-
-# Import statements for member types
-
-# Member 'reserve'
-import numpy  # noqa: E402, I100
-
-import rosidl_parser.definition  # noqa: E402, I100
-
-
-class Metaclass_BmsCmd(type):
-    """Metaclass of message 'BmsCmd'."""
-
-    _CREATE_ROS_MESSAGE = None
-    _CONVERT_FROM_PY = None
-    _CONVERT_TO_PY = None
-    _DESTROY_ROS_MESSAGE = None
-    _TYPE_SUPPORT = None
-
-    __constants = {
-    }
-
-    @classmethod
-    def __import_type_support__(cls):
-        try:
-            from rosidl_generator_py import import_type_support
-            module = import_type_support('unitree_go')
-        except ImportError:
-            import logging
-            import traceback
-            logger = logging.getLogger(
-                'unitree_go.msg.BmsCmd')
-            logger.debug(
-                'Failed to import needed modules for type support:\n' +
-                traceback.format_exc())
-        else:
-            cls._CREATE_ROS_MESSAGE = module.create_ros_message_msg__msg__bms_cmd
-            cls._CONVERT_FROM_PY = module.convert_from_py_msg__msg__bms_cmd
-            cls._CONVERT_TO_PY = module.convert_to_py_msg__msg__bms_cmd
-            cls._TYPE_SUPPORT = module.type_support_msg__msg__bms_cmd
-            cls._DESTROY_ROS_MESSAGE = module.destroy_ros_message_msg__msg__bms_cmd
-
-    @classmethod
-    def __prepare__(cls, name, bases, **kwargs):
-        # list constant names here so that they appear in the help text of
-        # the message class under "Data and other attributes defined here:"
-        # as well as populate each message instance
-        return {
-        }
-
-
-class BmsCmd(metaclass=Metaclass_BmsCmd):
-    """Message class 'BmsCmd'."""
-
-    __slots__ = [
-        '_off',
-        '_reserve',
-    ]
-
-    _fields_and_field_types = {
-        'off': 'uint8',
-        'reserve': 'uint8[3]',
-    }
-
-    SLOT_TYPES = (
-        rosidl_parser.definition.BasicType('uint8'),  # noqa: E501
-        rosidl_parser.definition.Array(rosidl_parser.definition.BasicType('uint8'), 3),  # noqa: E501
-    )
-
-    def __init__(self, **kwargs):
-        assert all('_' + key in self.__slots__ for key in kwargs.keys()), \
-            'Invalid arguments passed to constructor: %s' % \
-            ', '.join(sorted(k for k in kwargs.keys() if '_' + k not in self.__slots__))
-        self.off = kwargs.get('off', int())
-        if 'reserve' not in kwargs:
-            self.reserve = numpy.zeros(3, dtype=numpy.uint8)
-        else:
-            self.reserve = numpy.array(kwargs.get('reserve'), dtype=numpy.uint8)
-            assert self.reserve.shape == (3, )
-
-    def __repr__(self):
-        typename = self.__class__.__module__.split('.')
-        typename.pop()
-        typename.append(self.__class__.__name__)
-        args = []
-        for s, t in zip(self.__slots__, self.SLOT_TYPES):
-            field = getattr(self, s)
-            fieldstr = repr(field)
-            # We use Python array type for fields that can be directly stored
-            # in them, and "normal" sequences for everything else.  If it is
-            # a type that we store in an array, strip off the 'array' portion.
-            if (
-                isinstance(t, rosidl_parser.definition.AbstractSequence) and
-                isinstance(t.value_type, rosidl_parser.definition.BasicType) and
-                t.value_type.typename in ['float', 'double', 'int8', 'uint8', 'int16', 'uint16', 'int32', 'uint32', 'int64', 'uint64']
-            ):
-                if len(field) == 0:
-                    fieldstr = '[]'
-                else:
-                    assert fieldstr.startswith('array(')
-                    prefix = "array('X', "
-                    suffix = ')'
-                    fieldstr = fieldstr[len(prefix):-len(suffix)]
-            args.append(s[1:] + '=' + fieldstr)
-        return '%s(%s)' % ('.'.join(typename), ', '.join(args))
-
-    def __eq__(self, other):
-        if not isinstance(other, self.__class__):
-            return False
-        if self.off != other.off:
-            return False
-        if all(self.reserve != other.reserve):
-            return False
-        return True
-
-    @classmethod
-    def get_fields_and_field_types(cls):
-        from copy import copy
-        return copy(cls._fields_and_field_types)
-
-    @property
-    def off(self):
-        """Message field 'off'."""
-        return self._off
-
-    @off.setter
-    def off(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, int), \
-                "The 'off' field must be of type 'int'"
-            assert value >= 0 and value < 256, \
-                "The 'off' field must be an unsigned integer in [0, 255]"
-        self._off = value
-
-    @property
-    def reserve(self):
-        """Message field 'reserve'."""
-        return self._reserve
-
-    @reserve.setter
-    def reserve(self, value):
-        if isinstance(value, numpy.ndarray):
-            assert value.dtype == numpy.uint8, \
-                "The 'reserve' numpy.ndarray() must have the dtype of 'numpy.uint8'"
-            assert value.size == 3, \
-                "The 'reserve' numpy.ndarray() must have a size of 3"
-            self._reserve = value
-            return
-        if __debug__:
-            from collections.abc import Sequence
-            from collections.abc import Set
-            from collections import UserList
-            from collections import UserString
-            assert \
-                ((isinstance(value, Sequence) or
-                  isinstance(value, Set) or
-                  isinstance(value, UserList)) and
-                 not isinstance(value, str) and
-                 not isinstance(value, UserString) and
-                 len(value) == 3 and
-                 all(isinstance(v, int) for v in value) and
-                 all(val >= 0 and val < 256 for val in value)), \
-                "The 'reserve' field must be a set or sequence with length 3 and each value of type 'int' and each unsigned integer in [0, 255]"
-        self._reserve = numpy.array(value, dtype=numpy.uint8)
diff --git a/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_bms_cmd_s.c b/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_bms_cmd_s.c
deleted file mode 100644
index 6c1efbd..0000000
--- a/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_bms_cmd_s.c
+++ /dev/null
@@ -1,143 +0,0 @@
-// generated from rosidl_generator_py/resource/_idl_support.c.em
-// with input from unitree_go:msg/BmsCmd.idl
-// generated code does not contain a copyright notice
-#define NPY_NO_DEPRECATED_API NPY_1_7_API_VERSION
-#include <Python.h>
-#include <stdbool.h>
-#ifndef _WIN32
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wunused-function"
-#endif
-#include "numpy/ndarrayobject.h"
-#ifndef _WIN32
-# pragma GCC diagnostic pop
-#endif
-#include "rosidl_runtime_c/visibility_control.h"
-#include "unitree_go/msg/detail/bms_cmd__struct.h"
-#include "unitree_go/msg/detail/bms_cmd__functions.h"
-
-#include "rosidl_runtime_c/primitives_sequence.h"
-#include "rosidl_runtime_c/primitives_sequence_functions.h"
-
-
-ROSIDL_GENERATOR_C_EXPORT
-bool unitree_go__msg__bms_cmd__convert_from_py(PyObject * _pymsg, void * _ros_message)
-{
-  // check that the passed message is of the expected Python class
-  {
-    char full_classname_dest[31];
-    {
-      char * class_name = NULL;
-      char * module_name = NULL;
-      {
-        PyObject * class_attr = PyObject_GetAttrString(_pymsg, "__class__");
-        if (class_attr) {
-          PyObject * name_attr = PyObject_GetAttrString(class_attr, "__name__");
-          if (name_attr) {
-            class_name = (char *)PyUnicode_1BYTE_DATA(name_attr);
-            Py_DECREF(name_attr);
-          }
-          PyObject * module_attr = PyObject_GetAttrString(class_attr, "__module__");
-          if (module_attr) {
-            module_name = (char *)PyUnicode_1BYTE_DATA(module_attr);
-            Py_DECREF(module_attr);
-          }
-          Py_DECREF(class_attr);
-        }
-      }
-      if (!class_name || !module_name) {
-        return false;
-      }
-      snprintf(full_classname_dest, sizeof(full_classname_dest), "%s.%s", module_name, class_name);
-    }
-    assert(strncmp("unitree_go.msg._bms_cmd.BmsCmd", full_classname_dest, 30) == 0);
-  }
-  unitree_go__msg__BmsCmd * ros_message = _ros_message;
-  {  // off
-    PyObject * field = PyObject_GetAttrString(_pymsg, "off");
-    if (!field) {
-      return false;
-    }
-    assert(PyLong_Check(field));
-    ros_message->off = (uint8_t)PyLong_AsUnsignedLong(field);
-    Py_DECREF(field);
-  }
-  {  // reserve
-    PyObject * field = PyObject_GetAttrString(_pymsg, "reserve");
-    if (!field) {
-      return false;
-    }
-    {
-      // TODO(dirk-thomas) use a better way to check the type before casting
-      assert(field->ob_type != NULL);
-      assert(field->ob_type->tp_name != NULL);
-      assert(strcmp(field->ob_type->tp_name, "numpy.ndarray") == 0);
-      PyArrayObject * seq_field = (PyArrayObject *)field;
-      Py_INCREF(seq_field);
-      assert(PyArray_NDIM(seq_field) == 1);
-      assert(PyArray_TYPE(seq_field) == NPY_UINT8);
-      Py_ssize_t size = 3;
-      uint8_t * dest = ros_message->reserve;
-      for (Py_ssize_t i = 0; i < size; ++i) {
-        uint8_t tmp = *(npy_uint8 *)PyArray_GETPTR1(seq_field, i);
-        memcpy(&dest[i], &tmp, sizeof(uint8_t));
-      }
-      Py_DECREF(seq_field);
-    }
-    Py_DECREF(field);
-  }
-
-  return true;
-}
-
-ROSIDL_GENERATOR_C_EXPORT
-PyObject * unitree_go__msg__bms_cmd__convert_to_py(void * raw_ros_message)
-{
-  /* NOTE(esteve): Call constructor of BmsCmd */
-  PyObject * _pymessage = NULL;
-  {
-    PyObject * pymessage_module = PyImport_ImportModule("unitree_go.msg._bms_cmd");
-    assert(pymessage_module);
-    PyObject * pymessage_class = PyObject_GetAttrString(pymessage_module, "BmsCmd");
-    assert(pymessage_class);
-    Py_DECREF(pymessage_module);
-    _pymessage = PyObject_CallObject(pymessage_class, NULL);
-    Py_DECREF(pymessage_class);
-    if (!_pymessage) {
-      return NULL;
-    }
-  }
-  unitree_go__msg__BmsCmd * ros_message = (unitree_go__msg__BmsCmd *)raw_ros_message;
-  {  // off
-    PyObject * field = NULL;
-    field = PyLong_FromUnsignedLong(ros_message->off);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "off", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // reserve
-    PyObject * field = NULL;
-    field = PyObject_GetAttrString(_pymessage, "reserve");
-    if (!field) {
-      return NULL;
-    }
-    assert(field->ob_type != NULL);
-    assert(field->ob_type->tp_name != NULL);
-    assert(strcmp(field->ob_type->tp_name, "numpy.ndarray") == 0);
-    PyArrayObject * seq_field = (PyArrayObject *)field;
-    assert(PyArray_NDIM(seq_field) == 1);
-    assert(PyArray_TYPE(seq_field) == NPY_UINT8);
-    assert(sizeof(npy_uint8) == sizeof(uint8_t));
-    npy_uint8 * dst = (npy_uint8 *)PyArray_GETPTR1(seq_field, 0);
-    uint8_t * src = &(ros_message->reserve[0]);
-    memcpy(dst, src, 3 * sizeof(uint8_t));
-    Py_DECREF(field);
-  }
-
-  // ownership of _pymessage is transferred to the caller
-  return _pymessage;
-}
diff --git a/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_bms_state.py b/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_bms_state.py
deleted file mode 100644
index e727d62..0000000
--- a/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_bms_state.py
+++ /dev/null
@@ -1,357 +0,0 @@
-# generated from rosidl_generator_py/resource/_idl.py.em
-# with input from unitree_go:msg/BmsState.idl
-# generated code does not contain a copyright notice
-
-
-# Import statements for member types
-
-# Member 'bq_ntc'
-# Member 'mcu_ntc'
-# Member 'cell_vol'
-import numpy  # noqa: E402, I100
-
-import rosidl_parser.definition  # noqa: E402, I100
-
-
-class Metaclass_BmsState(type):
-    """Metaclass of message 'BmsState'."""
-
-    _CREATE_ROS_MESSAGE = None
-    _CONVERT_FROM_PY = None
-    _CONVERT_TO_PY = None
-    _DESTROY_ROS_MESSAGE = None
-    _TYPE_SUPPORT = None
-
-    __constants = {
-    }
-
-    @classmethod
-    def __import_type_support__(cls):
-        try:
-            from rosidl_generator_py import import_type_support
-            module = import_type_support('unitree_go')
-        except ImportError:
-            import logging
-            import traceback
-            logger = logging.getLogger(
-                'unitree_go.msg.BmsState')
-            logger.debug(
-                'Failed to import needed modules for type support:\n' +
-                traceback.format_exc())
-        else:
-            cls._CREATE_ROS_MESSAGE = module.create_ros_message_msg__msg__bms_state
-            cls._CONVERT_FROM_PY = module.convert_from_py_msg__msg__bms_state
-            cls._CONVERT_TO_PY = module.convert_to_py_msg__msg__bms_state
-            cls._TYPE_SUPPORT = module.type_support_msg__msg__bms_state
-            cls._DESTROY_ROS_MESSAGE = module.destroy_ros_message_msg__msg__bms_state
-
-    @classmethod
-    def __prepare__(cls, name, bases, **kwargs):
-        # list constant names here so that they appear in the help text of
-        # the message class under "Data and other attributes defined here:"
-        # as well as populate each message instance
-        return {
-        }
-
-
-class BmsState(metaclass=Metaclass_BmsState):
-    """Message class 'BmsState'."""
-
-    __slots__ = [
-        '_version_high',
-        '_version_low',
-        '_status',
-        '_soc',
-        '_current',
-        '_cycle',
-        '_bq_ntc',
-        '_mcu_ntc',
-        '_cell_vol',
-    ]
-
-    _fields_and_field_types = {
-        'version_high': 'uint8',
-        'version_low': 'uint8',
-        'status': 'uint8',
-        'soc': 'uint8',
-        'current': 'int32',
-        'cycle': 'uint16',
-        'bq_ntc': 'int8[2]',
-        'mcu_ntc': 'int8[2]',
-        'cell_vol': 'uint16[15]',
-    }
-
-    SLOT_TYPES = (
-        rosidl_parser.definition.BasicType('uint8'),  # noqa: E501
-        rosidl_parser.definition.BasicType('uint8'),  # noqa: E501
-        rosidl_parser.definition.BasicType('uint8'),  # noqa: E501
-        rosidl_parser.definition.BasicType('uint8'),  # noqa: E501
-        rosidl_parser.definition.BasicType('int32'),  # noqa: E501
-        rosidl_parser.definition.BasicType('uint16'),  # noqa: E501
-        rosidl_parser.definition.Array(rosidl_parser.definition.BasicType('int8'), 2),  # noqa: E501
-        rosidl_parser.definition.Array(rosidl_parser.definition.BasicType('int8'), 2),  # noqa: E501
-        rosidl_parser.definition.Array(rosidl_parser.definition.BasicType('uint16'), 15),  # noqa: E501
-    )
-
-    def __init__(self, **kwargs):
-        assert all('_' + key in self.__slots__ for key in kwargs.keys()), \
-            'Invalid arguments passed to constructor: %s' % \
-            ', '.join(sorted(k for k in kwargs.keys() if '_' + k not in self.__slots__))
-        self.version_high = kwargs.get('version_high', int())
-        self.version_low = kwargs.get('version_low', int())
-        self.status = kwargs.get('status', int())
-        self.soc = kwargs.get('soc', int())
-        self.current = kwargs.get('current', int())
-        self.cycle = kwargs.get('cycle', int())
-        if 'bq_ntc' not in kwargs:
-            self.bq_ntc = numpy.zeros(2, dtype=numpy.int8)
-        else:
-            self.bq_ntc = numpy.array(kwargs.get('bq_ntc'), dtype=numpy.int8)
-            assert self.bq_ntc.shape == (2, )
-        if 'mcu_ntc' not in kwargs:
-            self.mcu_ntc = numpy.zeros(2, dtype=numpy.int8)
-        else:
-            self.mcu_ntc = numpy.array(kwargs.get('mcu_ntc'), dtype=numpy.int8)
-            assert self.mcu_ntc.shape == (2, )
-        if 'cell_vol' not in kwargs:
-            self.cell_vol = numpy.zeros(15, dtype=numpy.uint16)
-        else:
-            self.cell_vol = numpy.array(kwargs.get('cell_vol'), dtype=numpy.uint16)
-            assert self.cell_vol.shape == (15, )
-
-    def __repr__(self):
-        typename = self.__class__.__module__.split('.')
-        typename.pop()
-        typename.append(self.__class__.__name__)
-        args = []
-        for s, t in zip(self.__slots__, self.SLOT_TYPES):
-            field = getattr(self, s)
-            fieldstr = repr(field)
-            # We use Python array type for fields that can be directly stored
-            # in them, and "normal" sequences for everything else.  If it is
-            # a type that we store in an array, strip off the 'array' portion.
-            if (
-                isinstance(t, rosidl_parser.definition.AbstractSequence) and
-                isinstance(t.value_type, rosidl_parser.definition.BasicType) and
-                t.value_type.typename in ['float', 'double', 'int8', 'uint8', 'int16', 'uint16', 'int32', 'uint32', 'int64', 'uint64']
-            ):
-                if len(field) == 0:
-                    fieldstr = '[]'
-                else:
-                    assert fieldstr.startswith('array(')
-                    prefix = "array('X', "
-                    suffix = ')'
-                    fieldstr = fieldstr[len(prefix):-len(suffix)]
-            args.append(s[1:] + '=' + fieldstr)
-        return '%s(%s)' % ('.'.join(typename), ', '.join(args))
-
-    def __eq__(self, other):
-        if not isinstance(other, self.__class__):
-            return False
-        if self.version_high != other.version_high:
-            return False
-        if self.version_low != other.version_low:
-            return False
-        if self.status != other.status:
-            return False
-        if self.soc != other.soc:
-            return False
-        if self.current != other.current:
-            return False
-        if self.cycle != other.cycle:
-            return False
-        if all(self.bq_ntc != other.bq_ntc):
-            return False
-        if all(self.mcu_ntc != other.mcu_ntc):
-            return False
-        if all(self.cell_vol != other.cell_vol):
-            return False
-        return True
-
-    @classmethod
-    def get_fields_and_field_types(cls):
-        from copy import copy
-        return copy(cls._fields_and_field_types)
-
-    @property
-    def version_high(self):
-        """Message field 'version_high'."""
-        return self._version_high
-
-    @version_high.setter
-    def version_high(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, int), \
-                "The 'version_high' field must be of type 'int'"
-            assert value >= 0 and value < 256, \
-                "The 'version_high' field must be an unsigned integer in [0, 255]"
-        self._version_high = value
-
-    @property
-    def version_low(self):
-        """Message field 'version_low'."""
-        return self._version_low
-
-    @version_low.setter
-    def version_low(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, int), \
-                "The 'version_low' field must be of type 'int'"
-            assert value >= 0 and value < 256, \
-                "The 'version_low' field must be an unsigned integer in [0, 255]"
-        self._version_low = value
-
-    @property
-    def status(self):
-        """Message field 'status'."""
-        return self._status
-
-    @status.setter
-    def status(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, int), \
-                "The 'status' field must be of type 'int'"
-            assert value >= 0 and value < 256, \
-                "The 'status' field must be an unsigned integer in [0, 255]"
-        self._status = value
-
-    @property
-    def soc(self):
-        """Message field 'soc'."""
-        return self._soc
-
-    @soc.setter
-    def soc(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, int), \
-                "The 'soc' field must be of type 'int'"
-            assert value >= 0 and value < 256, \
-                "The 'soc' field must be an unsigned integer in [0, 255]"
-        self._soc = value
-
-    @property
-    def current(self):
-        """Message field 'current'."""
-        return self._current
-
-    @current.setter
-    def current(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, int), \
-                "The 'current' field must be of type 'int'"
-            assert value >= -2147483648 and value < 2147483648, \
-                "The 'current' field must be an integer in [-2147483648, 2147483647]"
-        self._current = value
-
-    @property
-    def cycle(self):
-        """Message field 'cycle'."""
-        return self._cycle
-
-    @cycle.setter
-    def cycle(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, int), \
-                "The 'cycle' field must be of type 'int'"
-            assert value >= 0 and value < 65536, \
-                "The 'cycle' field must be an unsigned integer in [0, 65535]"
-        self._cycle = value
-
-    @property
-    def bq_ntc(self):
-        """Message field 'bq_ntc'."""
-        return self._bq_ntc
-
-    @bq_ntc.setter
-    def bq_ntc(self, value):
-        if isinstance(value, numpy.ndarray):
-            assert value.dtype == numpy.int8, \
-                "The 'bq_ntc' numpy.ndarray() must have the dtype of 'numpy.int8'"
-            assert value.size == 2, \
-                "The 'bq_ntc' numpy.ndarray() must have a size of 2"
-            self._bq_ntc = value
-            return
-        if __debug__:
-            from collections.abc import Sequence
-            from collections.abc import Set
-            from collections import UserList
-            from collections import UserString
-            assert \
-                ((isinstance(value, Sequence) or
-                  isinstance(value, Set) or
-                  isinstance(value, UserList)) and
-                 not isinstance(value, str) and
-                 not isinstance(value, UserString) and
-                 len(value) == 2 and
-                 all(isinstance(v, int) for v in value) and
-                 all(val >= -128 and val < 128 for val in value)), \
-                "The 'bq_ntc' field must be a set or sequence with length 2 and each value of type 'int' and each integer in [-128, 127]"
-        self._bq_ntc = numpy.array(value, dtype=numpy.int8)
-
-    @property
-    def mcu_ntc(self):
-        """Message field 'mcu_ntc'."""
-        return self._mcu_ntc
-
-    @mcu_ntc.setter
-    def mcu_ntc(self, value):
-        if isinstance(value, numpy.ndarray):
-            assert value.dtype == numpy.int8, \
-                "The 'mcu_ntc' numpy.ndarray() must have the dtype of 'numpy.int8'"
-            assert value.size == 2, \
-                "The 'mcu_ntc' numpy.ndarray() must have a size of 2"
-            self._mcu_ntc = value
-            return
-        if __debug__:
-            from collections.abc import Sequence
-            from collections.abc import Set
-            from collections import UserList
-            from collections import UserString
-            assert \
-                ((isinstance(value, Sequence) or
-                  isinstance(value, Set) or
-                  isinstance(value, UserList)) and
-                 not isinstance(value, str) and
-                 not isinstance(value, UserString) and
-                 len(value) == 2 and
-                 all(isinstance(v, int) for v in value) and
-                 all(val >= -128 and val < 128 for val in value)), \
-                "The 'mcu_ntc' field must be a set or sequence with length 2 and each value of type 'int' and each integer in [-128, 127]"
-        self._mcu_ntc = numpy.array(value, dtype=numpy.int8)
-
-    @property
-    def cell_vol(self):
-        """Message field 'cell_vol'."""
-        return self._cell_vol
-
-    @cell_vol.setter
-    def cell_vol(self, value):
-        if isinstance(value, numpy.ndarray):
-            assert value.dtype == numpy.uint16, \
-                "The 'cell_vol' numpy.ndarray() must have the dtype of 'numpy.uint16'"
-            assert value.size == 15, \
-                "The 'cell_vol' numpy.ndarray() must have a size of 15"
-            self._cell_vol = value
-            return
-        if __debug__:
-            from collections.abc import Sequence
-            from collections.abc import Set
-            from collections import UserList
-            from collections import UserString
-            assert \
-                ((isinstance(value, Sequence) or
-                  isinstance(value, Set) or
-                  isinstance(value, UserList)) and
-                 not isinstance(value, str) and
-                 not isinstance(value, UserString) and
-                 len(value) == 15 and
-                 all(isinstance(v, int) for v in value) and
-                 all(val >= 0 and val < 65536 for val in value)), \
-                "The 'cell_vol' field must be a set or sequence with length 15 and each value of type 'int' and each unsigned integer in [0, 65535]"
-        self._cell_vol = numpy.array(value, dtype=numpy.uint16)
diff --git a/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_bms_state_s.c b/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_bms_state_s.c
deleted file mode 100644
index 6e26973..0000000
--- a/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_bms_state_s.c
+++ /dev/null
@@ -1,327 +0,0 @@
-// generated from rosidl_generator_py/resource/_idl_support.c.em
-// with input from unitree_go:msg/BmsState.idl
-// generated code does not contain a copyright notice
-#define NPY_NO_DEPRECATED_API NPY_1_7_API_VERSION
-#include <Python.h>
-#include <stdbool.h>
-#ifndef _WIN32
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wunused-function"
-#endif
-#include "numpy/ndarrayobject.h"
-#ifndef _WIN32
-# pragma GCC diagnostic pop
-#endif
-#include "rosidl_runtime_c/visibility_control.h"
-#include "unitree_go/msg/detail/bms_state__struct.h"
-#include "unitree_go/msg/detail/bms_state__functions.h"
-
-#include "rosidl_runtime_c/primitives_sequence.h"
-#include "rosidl_runtime_c/primitives_sequence_functions.h"
-
-
-ROSIDL_GENERATOR_C_EXPORT
-bool unitree_go__msg__bms_state__convert_from_py(PyObject * _pymsg, void * _ros_message)
-{
-  // check that the passed message is of the expected Python class
-  {
-    char full_classname_dest[35];
-    {
-      char * class_name = NULL;
-      char * module_name = NULL;
-      {
-        PyObject * class_attr = PyObject_GetAttrString(_pymsg, "__class__");
-        if (class_attr) {
-          PyObject * name_attr = PyObject_GetAttrString(class_attr, "__name__");
-          if (name_attr) {
-            class_name = (char *)PyUnicode_1BYTE_DATA(name_attr);
-            Py_DECREF(name_attr);
-          }
-          PyObject * module_attr = PyObject_GetAttrString(class_attr, "__module__");
-          if (module_attr) {
-            module_name = (char *)PyUnicode_1BYTE_DATA(module_attr);
-            Py_DECREF(module_attr);
-          }
-          Py_DECREF(class_attr);
-        }
-      }
-      if (!class_name || !module_name) {
-        return false;
-      }
-      snprintf(full_classname_dest, sizeof(full_classname_dest), "%s.%s", module_name, class_name);
-    }
-    assert(strncmp("unitree_go.msg._bms_state.BmsState", full_classname_dest, 34) == 0);
-  }
-  unitree_go__msg__BmsState * ros_message = _ros_message;
-  {  // version_high
-    PyObject * field = PyObject_GetAttrString(_pymsg, "version_high");
-    if (!field) {
-      return false;
-    }
-    assert(PyLong_Check(field));
-    ros_message->version_high = (uint8_t)PyLong_AsUnsignedLong(field);
-    Py_DECREF(field);
-  }
-  {  // version_low
-    PyObject * field = PyObject_GetAttrString(_pymsg, "version_low");
-    if (!field) {
-      return false;
-    }
-    assert(PyLong_Check(field));
-    ros_message->version_low = (uint8_t)PyLong_AsUnsignedLong(field);
-    Py_DECREF(field);
-  }
-  {  // status
-    PyObject * field = PyObject_GetAttrString(_pymsg, "status");
-    if (!field) {
-      return false;
-    }
-    assert(PyLong_Check(field));
-    ros_message->status = (uint8_t)PyLong_AsUnsignedLong(field);
-    Py_DECREF(field);
-  }
-  {  // soc
-    PyObject * field = PyObject_GetAttrString(_pymsg, "soc");
-    if (!field) {
-      return false;
-    }
-    assert(PyLong_Check(field));
-    ros_message->soc = (uint8_t)PyLong_AsUnsignedLong(field);
-    Py_DECREF(field);
-  }
-  {  // current
-    PyObject * field = PyObject_GetAttrString(_pymsg, "current");
-    if (!field) {
-      return false;
-    }
-    assert(PyLong_Check(field));
-    ros_message->current = (int32_t)PyLong_AsLong(field);
-    Py_DECREF(field);
-  }
-  {  // cycle
-    PyObject * field = PyObject_GetAttrString(_pymsg, "cycle");
-    if (!field) {
-      return false;
-    }
-    assert(PyLong_Check(field));
-    ros_message->cycle = (uint16_t)PyLong_AsUnsignedLong(field);
-    Py_DECREF(field);
-  }
-  {  // bq_ntc
-    PyObject * field = PyObject_GetAttrString(_pymsg, "bq_ntc");
-    if (!field) {
-      return false;
-    }
-    {
-      // TODO(dirk-thomas) use a better way to check the type before casting
-      assert(field->ob_type != NULL);
-      assert(field->ob_type->tp_name != NULL);
-      assert(strcmp(field->ob_type->tp_name, "numpy.ndarray") == 0);
-      PyArrayObject * seq_field = (PyArrayObject *)field;
-      Py_INCREF(seq_field);
-      assert(PyArray_NDIM(seq_field) == 1);
-      assert(PyArray_TYPE(seq_field) == NPY_INT8);
-      Py_ssize_t size = 2;
-      int8_t * dest = ros_message->bq_ntc;
-      for (Py_ssize_t i = 0; i < size; ++i) {
-        int8_t tmp = *(npy_int8 *)PyArray_GETPTR1(seq_field, i);
-        memcpy(&dest[i], &tmp, sizeof(int8_t));
-      }
-      Py_DECREF(seq_field);
-    }
-    Py_DECREF(field);
-  }
-  {  // mcu_ntc
-    PyObject * field = PyObject_GetAttrString(_pymsg, "mcu_ntc");
-    if (!field) {
-      return false;
-    }
-    {
-      // TODO(dirk-thomas) use a better way to check the type before casting
-      assert(field->ob_type != NULL);
-      assert(field->ob_type->tp_name != NULL);
-      assert(strcmp(field->ob_type->tp_name, "numpy.ndarray") == 0);
-      PyArrayObject * seq_field = (PyArrayObject *)field;
-      Py_INCREF(seq_field);
-      assert(PyArray_NDIM(seq_field) == 1);
-      assert(PyArray_TYPE(seq_field) == NPY_INT8);
-      Py_ssize_t size = 2;
-      int8_t * dest = ros_message->mcu_ntc;
-      for (Py_ssize_t i = 0; i < size; ++i) {
-        int8_t tmp = *(npy_int8 *)PyArray_GETPTR1(seq_field, i);
-        memcpy(&dest[i], &tmp, sizeof(int8_t));
-      }
-      Py_DECREF(seq_field);
-    }
-    Py_DECREF(field);
-  }
-  {  // cell_vol
-    PyObject * field = PyObject_GetAttrString(_pymsg, "cell_vol");
-    if (!field) {
-      return false;
-    }
-    {
-      // TODO(dirk-thomas) use a better way to check the type before casting
-      assert(field->ob_type != NULL);
-      assert(field->ob_type->tp_name != NULL);
-      assert(strcmp(field->ob_type->tp_name, "numpy.ndarray") == 0);
-      PyArrayObject * seq_field = (PyArrayObject *)field;
-      Py_INCREF(seq_field);
-      assert(PyArray_NDIM(seq_field) == 1);
-      assert(PyArray_TYPE(seq_field) == NPY_UINT16);
-      Py_ssize_t size = 15;
-      uint16_t * dest = ros_message->cell_vol;
-      for (Py_ssize_t i = 0; i < size; ++i) {
-        uint16_t tmp = *(npy_uint16 *)PyArray_GETPTR1(seq_field, i);
-        memcpy(&dest[i], &tmp, sizeof(uint16_t));
-      }
-      Py_DECREF(seq_field);
-    }
-    Py_DECREF(field);
-  }
-
-  return true;
-}
-
-ROSIDL_GENERATOR_C_EXPORT
-PyObject * unitree_go__msg__bms_state__convert_to_py(void * raw_ros_message)
-{
-  /* NOTE(esteve): Call constructor of BmsState */
-  PyObject * _pymessage = NULL;
-  {
-    PyObject * pymessage_module = PyImport_ImportModule("unitree_go.msg._bms_state");
-    assert(pymessage_module);
-    PyObject * pymessage_class = PyObject_GetAttrString(pymessage_module, "BmsState");
-    assert(pymessage_class);
-    Py_DECREF(pymessage_module);
-    _pymessage = PyObject_CallObject(pymessage_class, NULL);
-    Py_DECREF(pymessage_class);
-    if (!_pymessage) {
-      return NULL;
-    }
-  }
-  unitree_go__msg__BmsState * ros_message = (unitree_go__msg__BmsState *)raw_ros_message;
-  {  // version_high
-    PyObject * field = NULL;
-    field = PyLong_FromUnsignedLong(ros_message->version_high);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "version_high", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // version_low
-    PyObject * field = NULL;
-    field = PyLong_FromUnsignedLong(ros_message->version_low);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "version_low", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // status
-    PyObject * field = NULL;
-    field = PyLong_FromUnsignedLong(ros_message->status);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "status", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // soc
-    PyObject * field = NULL;
-    field = PyLong_FromUnsignedLong(ros_message->soc);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "soc", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // current
-    PyObject * field = NULL;
-    field = PyLong_FromLong(ros_message->current);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "current", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // cycle
-    PyObject * field = NULL;
-    field = PyLong_FromUnsignedLong(ros_message->cycle);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "cycle", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // bq_ntc
-    PyObject * field = NULL;
-    field = PyObject_GetAttrString(_pymessage, "bq_ntc");
-    if (!field) {
-      return NULL;
-    }
-    assert(field->ob_type != NULL);
-    assert(field->ob_type->tp_name != NULL);
-    assert(strcmp(field->ob_type->tp_name, "numpy.ndarray") == 0);
-    PyArrayObject * seq_field = (PyArrayObject *)field;
-    assert(PyArray_NDIM(seq_field) == 1);
-    assert(PyArray_TYPE(seq_field) == NPY_INT8);
-    assert(sizeof(npy_int8) == sizeof(int8_t));
-    npy_int8 * dst = (npy_int8 *)PyArray_GETPTR1(seq_field, 0);
-    int8_t * src = &(ros_message->bq_ntc[0]);
-    memcpy(dst, src, 2 * sizeof(int8_t));
-    Py_DECREF(field);
-  }
-  {  // mcu_ntc
-    PyObject * field = NULL;
-    field = PyObject_GetAttrString(_pymessage, "mcu_ntc");
-    if (!field) {
-      return NULL;
-    }
-    assert(field->ob_type != NULL);
-    assert(field->ob_type->tp_name != NULL);
-    assert(strcmp(field->ob_type->tp_name, "numpy.ndarray") == 0);
-    PyArrayObject * seq_field = (PyArrayObject *)field;
-    assert(PyArray_NDIM(seq_field) == 1);
-    assert(PyArray_TYPE(seq_field) == NPY_INT8);
-    assert(sizeof(npy_int8) == sizeof(int8_t));
-    npy_int8 * dst = (npy_int8 *)PyArray_GETPTR1(seq_field, 0);
-    int8_t * src = &(ros_message->mcu_ntc[0]);
-    memcpy(dst, src, 2 * sizeof(int8_t));
-    Py_DECREF(field);
-  }
-  {  // cell_vol
-    PyObject * field = NULL;
-    field = PyObject_GetAttrString(_pymessage, "cell_vol");
-    if (!field) {
-      return NULL;
-    }
-    assert(field->ob_type != NULL);
-    assert(field->ob_type->tp_name != NULL);
-    assert(strcmp(field->ob_type->tp_name, "numpy.ndarray") == 0);
-    PyArrayObject * seq_field = (PyArrayObject *)field;
-    assert(PyArray_NDIM(seq_field) == 1);
-    assert(PyArray_TYPE(seq_field) == NPY_UINT16);
-    assert(sizeof(npy_uint16) == sizeof(uint16_t));
-    npy_uint16 * dst = (npy_uint16 *)PyArray_GETPTR1(seq_field, 0);
-    uint16_t * src = &(ros_message->cell_vol[0]);
-    memcpy(dst, src, 15 * sizeof(uint16_t));
-    Py_DECREF(field);
-  }
-
-  // ownership of _pymessage is transferred to the caller
-  return _pymessage;
-}
diff --git a/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_error.py b/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_error.py
deleted file mode 100644
index 142341a..0000000
--- a/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_error.py
+++ /dev/null
@@ -1,145 +0,0 @@
-# generated from rosidl_generator_py/resource/_idl.py.em
-# with input from unitree_go:msg/Error.idl
-# generated code does not contain a copyright notice
-
-
-# Import statements for member types
-
-import rosidl_parser.definition  # noqa: E402, I100
-
-
-class Metaclass_Error(type):
-    """Metaclass of message 'Error'."""
-
-    _CREATE_ROS_MESSAGE = None
-    _CONVERT_FROM_PY = None
-    _CONVERT_TO_PY = None
-    _DESTROY_ROS_MESSAGE = None
-    _TYPE_SUPPORT = None
-
-    __constants = {
-    }
-
-    @classmethod
-    def __import_type_support__(cls):
-        try:
-            from rosidl_generator_py import import_type_support
-            module = import_type_support('unitree_go')
-        except ImportError:
-            import logging
-            import traceback
-            logger = logging.getLogger(
-                'unitree_go.msg.Error')
-            logger.debug(
-                'Failed to import needed modules for type support:\n' +
-                traceback.format_exc())
-        else:
-            cls._CREATE_ROS_MESSAGE = module.create_ros_message_msg__msg__error
-            cls._CONVERT_FROM_PY = module.convert_from_py_msg__msg__error
-            cls._CONVERT_TO_PY = module.convert_to_py_msg__msg__error
-            cls._TYPE_SUPPORT = module.type_support_msg__msg__error
-            cls._DESTROY_ROS_MESSAGE = module.destroy_ros_message_msg__msg__error
-
-    @classmethod
-    def __prepare__(cls, name, bases, **kwargs):
-        # list constant names here so that they appear in the help text of
-        # the message class under "Data and other attributes defined here:"
-        # as well as populate each message instance
-        return {
-        }
-
-
-class Error(metaclass=Metaclass_Error):
-    """Message class 'Error'."""
-
-    __slots__ = [
-        '_source',
-        '_state',
-    ]
-
-    _fields_and_field_types = {
-        'source': 'uint32',
-        'state': 'uint32',
-    }
-
-    SLOT_TYPES = (
-        rosidl_parser.definition.BasicType('uint32'),  # noqa: E501
-        rosidl_parser.definition.BasicType('uint32'),  # noqa: E501
-    )
-
-    def __init__(self, **kwargs):
-        assert all('_' + key in self.__slots__ for key in kwargs.keys()), \
-            'Invalid arguments passed to constructor: %s' % \
-            ', '.join(sorted(k for k in kwargs.keys() if '_' + k not in self.__slots__))
-        self.source = kwargs.get('source', int())
-        self.state = kwargs.get('state', int())
-
-    def __repr__(self):
-        typename = self.__class__.__module__.split('.')
-        typename.pop()
-        typename.append(self.__class__.__name__)
-        args = []
-        for s, t in zip(self.__slots__, self.SLOT_TYPES):
-            field = getattr(self, s)
-            fieldstr = repr(field)
-            # We use Python array type for fields that can be directly stored
-            # in them, and "normal" sequences for everything else.  If it is
-            # a type that we store in an array, strip off the 'array' portion.
-            if (
-                isinstance(t, rosidl_parser.definition.AbstractSequence) and
-                isinstance(t.value_type, rosidl_parser.definition.BasicType) and
-                t.value_type.typename in ['float', 'double', 'int8', 'uint8', 'int16', 'uint16', 'int32', 'uint32', 'int64', 'uint64']
-            ):
-                if len(field) == 0:
-                    fieldstr = '[]'
-                else:
-                    assert fieldstr.startswith('array(')
-                    prefix = "array('X', "
-                    suffix = ')'
-                    fieldstr = fieldstr[len(prefix):-len(suffix)]
-            args.append(s[1:] + '=' + fieldstr)
-        return '%s(%s)' % ('.'.join(typename), ', '.join(args))
-
-    def __eq__(self, other):
-        if not isinstance(other, self.__class__):
-            return False
-        if self.source != other.source:
-            return False
-        if self.state != other.state:
-            return False
-        return True
-
-    @classmethod
-    def get_fields_and_field_types(cls):
-        from copy import copy
-        return copy(cls._fields_and_field_types)
-
-    @property
-    def source(self):
-        """Message field 'source'."""
-        return self._source
-
-    @source.setter
-    def source(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, int), \
-                "The 'source' field must be of type 'int'"
-            assert value >= 0 and value < 4294967296, \
-                "The 'source' field must be an unsigned integer in [0, 4294967295]"
-        self._source = value
-
-    @property
-    def state(self):
-        """Message field 'state'."""
-        return self._state
-
-    @state.setter
-    def state(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, int), \
-                "The 'state' field must be of type 'int'"
-            assert value >= 0 and value < 4294967296, \
-                "The 'state' field must be an unsigned integer in [0, 4294967295]"
-        self._state = value
diff --git a/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_error_s.c b/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_error_s.c
deleted file mode 100644
index 4cafeba..0000000
--- a/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_error_s.c
+++ /dev/null
@@ -1,118 +0,0 @@
-// generated from rosidl_generator_py/resource/_idl_support.c.em
-// with input from unitree_go:msg/Error.idl
-// generated code does not contain a copyright notice
-#define NPY_NO_DEPRECATED_API NPY_1_7_API_VERSION
-#include <Python.h>
-#include <stdbool.h>
-#ifndef _WIN32
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wunused-function"
-#endif
-#include "numpy/ndarrayobject.h"
-#ifndef _WIN32
-# pragma GCC diagnostic pop
-#endif
-#include "rosidl_runtime_c/visibility_control.h"
-#include "unitree_go/msg/detail/error__struct.h"
-#include "unitree_go/msg/detail/error__functions.h"
-
-
-ROSIDL_GENERATOR_C_EXPORT
-bool unitree_go__msg__error__convert_from_py(PyObject * _pymsg, void * _ros_message)
-{
-  // check that the passed message is of the expected Python class
-  {
-    char full_classname_dest[28];
-    {
-      char * class_name = NULL;
-      char * module_name = NULL;
-      {
-        PyObject * class_attr = PyObject_GetAttrString(_pymsg, "__class__");
-        if (class_attr) {
-          PyObject * name_attr = PyObject_GetAttrString(class_attr, "__name__");
-          if (name_attr) {
-            class_name = (char *)PyUnicode_1BYTE_DATA(name_attr);
-            Py_DECREF(name_attr);
-          }
-          PyObject * module_attr = PyObject_GetAttrString(class_attr, "__module__");
-          if (module_attr) {
-            module_name = (char *)PyUnicode_1BYTE_DATA(module_attr);
-            Py_DECREF(module_attr);
-          }
-          Py_DECREF(class_attr);
-        }
-      }
-      if (!class_name || !module_name) {
-        return false;
-      }
-      snprintf(full_classname_dest, sizeof(full_classname_dest), "%s.%s", module_name, class_name);
-    }
-    assert(strncmp("unitree_go.msg._error.Error", full_classname_dest, 27) == 0);
-  }
-  unitree_go__msg__Error * ros_message = _ros_message;
-  {  // source
-    PyObject * field = PyObject_GetAttrString(_pymsg, "source");
-    if (!field) {
-      return false;
-    }
-    assert(PyLong_Check(field));
-    ros_message->source = PyLong_AsUnsignedLong(field);
-    Py_DECREF(field);
-  }
-  {  // state
-    PyObject * field = PyObject_GetAttrString(_pymsg, "state");
-    if (!field) {
-      return false;
-    }
-    assert(PyLong_Check(field));
-    ros_message->state = PyLong_AsUnsignedLong(field);
-    Py_DECREF(field);
-  }
-
-  return true;
-}
-
-ROSIDL_GENERATOR_C_EXPORT
-PyObject * unitree_go__msg__error__convert_to_py(void * raw_ros_message)
-{
-  /* NOTE(esteve): Call constructor of Error */
-  PyObject * _pymessage = NULL;
-  {
-    PyObject * pymessage_module = PyImport_ImportModule("unitree_go.msg._error");
-    assert(pymessage_module);
-    PyObject * pymessage_class = PyObject_GetAttrString(pymessage_module, "Error");
-    assert(pymessage_class);
-    Py_DECREF(pymessage_module);
-    _pymessage = PyObject_CallObject(pymessage_class, NULL);
-    Py_DECREF(pymessage_class);
-    if (!_pymessage) {
-      return NULL;
-    }
-  }
-  unitree_go__msg__Error * ros_message = (unitree_go__msg__Error *)raw_ros_message;
-  {  // source
-    PyObject * field = NULL;
-    field = PyLong_FromUnsignedLong(ros_message->source);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "source", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // state
-    PyObject * field = NULL;
-    field = PyLong_FromUnsignedLong(ros_message->state);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "state", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-
-  // ownership of _pymessage is transferred to the caller
-  return _pymessage;
-}
diff --git a/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_go2_front_video_data.py b/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_go2_front_video_data.py
deleted file mode 100644
index 81c366c..0000000
--- a/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_go2_front_video_data.py
+++ /dev/null
@@ -1,231 +0,0 @@
-# generated from rosidl_generator_py/resource/_idl.py.em
-# with input from unitree_go:msg/Go2FrontVideoData.idl
-# generated code does not contain a copyright notice
-
-
-# Import statements for member types
-
-# Member 'video720p'
-# Member 'video360p'
-# Member 'video180p'
-import array  # noqa: E402, I100
-
-import rosidl_parser.definition  # noqa: E402, I100
-
-
-class Metaclass_Go2FrontVideoData(type):
-    """Metaclass of message 'Go2FrontVideoData'."""
-
-    _CREATE_ROS_MESSAGE = None
-    _CONVERT_FROM_PY = None
-    _CONVERT_TO_PY = None
-    _DESTROY_ROS_MESSAGE = None
-    _TYPE_SUPPORT = None
-
-    __constants = {
-    }
-
-    @classmethod
-    def __import_type_support__(cls):
-        try:
-            from rosidl_generator_py import import_type_support
-            module = import_type_support('unitree_go')
-        except ImportError:
-            import logging
-            import traceback
-            logger = logging.getLogger(
-                'unitree_go.msg.Go2FrontVideoData')
-            logger.debug(
-                'Failed to import needed modules for type support:\n' +
-                traceback.format_exc())
-        else:
-            cls._CREATE_ROS_MESSAGE = module.create_ros_message_msg__msg__go2_front_video_data
-            cls._CONVERT_FROM_PY = module.convert_from_py_msg__msg__go2_front_video_data
-            cls._CONVERT_TO_PY = module.convert_to_py_msg__msg__go2_front_video_data
-            cls._TYPE_SUPPORT = module.type_support_msg__msg__go2_front_video_data
-            cls._DESTROY_ROS_MESSAGE = module.destroy_ros_message_msg__msg__go2_front_video_data
-
-    @classmethod
-    def __prepare__(cls, name, bases, **kwargs):
-        # list constant names here so that they appear in the help text of
-        # the message class under "Data and other attributes defined here:"
-        # as well as populate each message instance
-        return {
-        }
-
-
-class Go2FrontVideoData(metaclass=Metaclass_Go2FrontVideoData):
-    """Message class 'Go2FrontVideoData'."""
-
-    __slots__ = [
-        '_time_frame',
-        '_video720p',
-        '_video360p',
-        '_video180p',
-    ]
-
-    _fields_and_field_types = {
-        'time_frame': 'uint64',
-        'video720p': 'sequence<uint8>',
-        'video360p': 'sequence<uint8>',
-        'video180p': 'sequence<uint8>',
-    }
-
-    SLOT_TYPES = (
-        rosidl_parser.definition.BasicType('uint64'),  # noqa: E501
-        rosidl_parser.definition.UnboundedSequence(rosidl_parser.definition.BasicType('uint8')),  # noqa: E501
-        rosidl_parser.definition.UnboundedSequence(rosidl_parser.definition.BasicType('uint8')),  # noqa: E501
-        rosidl_parser.definition.UnboundedSequence(rosidl_parser.definition.BasicType('uint8')),  # noqa: E501
-    )
-
-    def __init__(self, **kwargs):
-        assert all('_' + key in self.__slots__ for key in kwargs.keys()), \
-            'Invalid arguments passed to constructor: %s' % \
-            ', '.join(sorted(k for k in kwargs.keys() if '_' + k not in self.__slots__))
-        self.time_frame = kwargs.get('time_frame', int())
-        self.video720p = array.array('B', kwargs.get('video720p', []))
-        self.video360p = array.array('B', kwargs.get('video360p', []))
-        self.video180p = array.array('B', kwargs.get('video180p', []))
-
-    def __repr__(self):
-        typename = self.__class__.__module__.split('.')
-        typename.pop()
-        typename.append(self.__class__.__name__)
-        args = []
-        for s, t in zip(self.__slots__, self.SLOT_TYPES):
-            field = getattr(self, s)
-            fieldstr = repr(field)
-            # We use Python array type for fields that can be directly stored
-            # in them, and "normal" sequences for everything else.  If it is
-            # a type that we store in an array, strip off the 'array' portion.
-            if (
-                isinstance(t, rosidl_parser.definition.AbstractSequence) and
-                isinstance(t.value_type, rosidl_parser.definition.BasicType) and
-                t.value_type.typename in ['float', 'double', 'int8', 'uint8', 'int16', 'uint16', 'int32', 'uint32', 'int64', 'uint64']
-            ):
-                if len(field) == 0:
-                    fieldstr = '[]'
-                else:
-                    assert fieldstr.startswith('array(')
-                    prefix = "array('X', "
-                    suffix = ')'
-                    fieldstr = fieldstr[len(prefix):-len(suffix)]
-            args.append(s[1:] + '=' + fieldstr)
-        return '%s(%s)' % ('.'.join(typename), ', '.join(args))
-
-    def __eq__(self, other):
-        if not isinstance(other, self.__class__):
-            return False
-        if self.time_frame != other.time_frame:
-            return False
-        if self.video720p != other.video720p:
-            return False
-        if self.video360p != other.video360p:
-            return False
-        if self.video180p != other.video180p:
-            return False
-        return True
-
-    @classmethod
-    def get_fields_and_field_types(cls):
-        from copy import copy
-        return copy(cls._fields_and_field_types)
-
-    @property
-    def time_frame(self):
-        """Message field 'time_frame'."""
-        return self._time_frame
-
-    @time_frame.setter
-    def time_frame(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, int), \
-                "The 'time_frame' field must be of type 'int'"
-            assert value >= 0 and value < 18446744073709551616, \
-                "The 'time_frame' field must be an unsigned integer in [0, 18446744073709551615]"
-        self._time_frame = value
-
-    @property
-    def video720p(self):
-        """Message field 'video720p'."""
-        return self._video720p
-
-    @video720p.setter
-    def video720p(self, value):
-        if isinstance(value, array.array):
-            assert value.typecode == 'B', \
-                "The 'video720p' array.array() must have the type code of 'B'"
-            self._video720p = value
-            return
-        if __debug__:
-            from collections.abc import Sequence
-            from collections.abc import Set
-            from collections import UserList
-            from collections import UserString
-            assert \
-                ((isinstance(value, Sequence) or
-                  isinstance(value, Set) or
-                  isinstance(value, UserList)) and
-                 not isinstance(value, str) and
-                 not isinstance(value, UserString) and
-                 all(isinstance(v, int) for v in value) and
-                 all(val >= 0 and val < 256 for val in value)), \
-                "The 'video720p' field must be a set or sequence and each value of type 'int' and each unsigned integer in [0, 255]"
-        self._video720p = array.array('B', value)
-
-    @property
-    def video360p(self):
-        """Message field 'video360p'."""
-        return self._video360p
-
-    @video360p.setter
-    def video360p(self, value):
-        if isinstance(value, array.array):
-            assert value.typecode == 'B', \
-                "The 'video360p' array.array() must have the type code of 'B'"
-            self._video360p = value
-            return
-        if __debug__:
-            from collections.abc import Sequence
-            from collections.abc import Set
-            from collections import UserList
-            from collections import UserString
-            assert \
-                ((isinstance(value, Sequence) or
-                  isinstance(value, Set) or
-                  isinstance(value, UserList)) and
-                 not isinstance(value, str) and
-                 not isinstance(value, UserString) and
-                 all(isinstance(v, int) for v in value) and
-                 all(val >= 0 and val < 256 for val in value)), \
-                "The 'video360p' field must be a set or sequence and each value of type 'int' and each unsigned integer in [0, 255]"
-        self._video360p = array.array('B', value)
-
-    @property
-    def video180p(self):
-        """Message field 'video180p'."""
-        return self._video180p
-
-    @video180p.setter
-    def video180p(self, value):
-        if isinstance(value, array.array):
-            assert value.typecode == 'B', \
-                "The 'video180p' array.array() must have the type code of 'B'"
-            self._video180p = value
-            return
-        if __debug__:
-            from collections.abc import Sequence
-            from collections.abc import Set
-            from collections import UserList
-            from collections import UserString
-            assert \
-                ((isinstance(value, Sequence) or
-                  isinstance(value, Set) or
-                  isinstance(value, UserList)) and
-                 not isinstance(value, str) and
-                 not isinstance(value, UserString) and
-                 all(isinstance(v, int) for v in value) and
-                 all(val >= 0 and val < 256 for val in value)), \
-                "The 'video180p' field must be a set or sequence and each value of type 'int' and each unsigned integer in [0, 255]"
-        self._video180p = array.array('B', value)
diff --git a/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_go2_front_video_data_s.c b/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_go2_front_video_data_s.c
deleted file mode 100644
index 2492f40..0000000
--- a/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_go2_front_video_data_s.c
+++ /dev/null
@@ -1,461 +0,0 @@
-// generated from rosidl_generator_py/resource/_idl_support.c.em
-// with input from unitree_go:msg/Go2FrontVideoData.idl
-// generated code does not contain a copyright notice
-#define NPY_NO_DEPRECATED_API NPY_1_7_API_VERSION
-#include <Python.h>
-#include <stdbool.h>
-#ifndef _WIN32
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wunused-function"
-#endif
-#include "numpy/ndarrayobject.h"
-#ifndef _WIN32
-# pragma GCC diagnostic pop
-#endif
-#include "rosidl_runtime_c/visibility_control.h"
-#include "unitree_go/msg/detail/go2_front_video_data__struct.h"
-#include "unitree_go/msg/detail/go2_front_video_data__functions.h"
-
-#include "rosidl_runtime_c/primitives_sequence.h"
-#include "rosidl_runtime_c/primitives_sequence_functions.h"
-
-
-ROSIDL_GENERATOR_C_EXPORT
-bool unitree_go__msg__go2_front_video_data__convert_from_py(PyObject * _pymsg, void * _ros_message)
-{
-  // check that the passed message is of the expected Python class
-  {
-    char full_classname_dest[55];
-    {
-      char * class_name = NULL;
-      char * module_name = NULL;
-      {
-        PyObject * class_attr = PyObject_GetAttrString(_pymsg, "__class__");
-        if (class_attr) {
-          PyObject * name_attr = PyObject_GetAttrString(class_attr, "__name__");
-          if (name_attr) {
-            class_name = (char *)PyUnicode_1BYTE_DATA(name_attr);
-            Py_DECREF(name_attr);
-          }
-          PyObject * module_attr = PyObject_GetAttrString(class_attr, "__module__");
-          if (module_attr) {
-            module_name = (char *)PyUnicode_1BYTE_DATA(module_attr);
-            Py_DECREF(module_attr);
-          }
-          Py_DECREF(class_attr);
-        }
-      }
-      if (!class_name || !module_name) {
-        return false;
-      }
-      snprintf(full_classname_dest, sizeof(full_classname_dest), "%s.%s", module_name, class_name);
-    }
-    assert(strncmp("unitree_go.msg._go2_front_video_data.Go2FrontVideoData", full_classname_dest, 54) == 0);
-  }
-  unitree_go__msg__Go2FrontVideoData * ros_message = _ros_message;
-  {  // time_frame
-    PyObject * field = PyObject_GetAttrString(_pymsg, "time_frame");
-    if (!field) {
-      return false;
-    }
-    assert(PyLong_Check(field));
-    ros_message->time_frame = PyLong_AsUnsignedLongLong(field);
-    Py_DECREF(field);
-  }
-  {  // video720p
-    PyObject * field = PyObject_GetAttrString(_pymsg, "video720p");
-    if (!field) {
-      return false;
-    }
-    if (PyObject_CheckBuffer(field)) {
-      // Optimization for converting arrays of primitives
-      Py_buffer view;
-      int rc = PyObject_GetBuffer(field, &view, PyBUF_SIMPLE);
-      if (rc < 0) {
-        Py_DECREF(field);
-        return false;
-      }
-      Py_ssize_t size = view.len / sizeof(uint8_t);
-      if (!rosidl_runtime_c__uint8__Sequence__init(&(ros_message->video720p), size)) {
-        PyErr_SetString(PyExc_RuntimeError, "unable to create uint8__Sequence ros_message");
-        PyBuffer_Release(&view);
-        Py_DECREF(field);
-        return false;
-      }
-      uint8_t * dest = ros_message->video720p.data;
-      rc = PyBuffer_ToContiguous(dest, &view, view.len, 'C');
-      if (rc < 0) {
-        PyBuffer_Release(&view);
-        Py_DECREF(field);
-        return false;
-      }
-      PyBuffer_Release(&view);
-    } else {
-      PyObject * seq_field = PySequence_Fast(field, "expected a sequence in 'video720p'");
-      if (!seq_field) {
-        Py_DECREF(field);
-        return false;
-      }
-      Py_ssize_t size = PySequence_Size(field);
-      if (-1 == size) {
-        Py_DECREF(seq_field);
-        Py_DECREF(field);
-        return false;
-      }
-      if (!rosidl_runtime_c__uint8__Sequence__init(&(ros_message->video720p), size)) {
-        PyErr_SetString(PyExc_RuntimeError, "unable to create uint8__Sequence ros_message");
-        Py_DECREF(seq_field);
-        Py_DECREF(field);
-        return false;
-      }
-      uint8_t * dest = ros_message->video720p.data;
-      for (Py_ssize_t i = 0; i < size; ++i) {
-        PyObject * item = PySequence_Fast_GET_ITEM(seq_field, i);
-        if (!item) {
-          Py_DECREF(seq_field);
-          Py_DECREF(field);
-          return false;
-        }
-        assert(PyLong_Check(item));
-        uint8_t tmp = (uint8_t)PyLong_AsUnsignedLong(item);
-
-        memcpy(&dest[i], &tmp, sizeof(uint8_t));
-      }
-      Py_DECREF(seq_field);
-    }
-    Py_DECREF(field);
-  }
-  {  // video360p
-    PyObject * field = PyObject_GetAttrString(_pymsg, "video360p");
-    if (!field) {
-      return false;
-    }
-    if (PyObject_CheckBuffer(field)) {
-      // Optimization for converting arrays of primitives
-      Py_buffer view;
-      int rc = PyObject_GetBuffer(field, &view, PyBUF_SIMPLE);
-      if (rc < 0) {
-        Py_DECREF(field);
-        return false;
-      }
-      Py_ssize_t size = view.len / sizeof(uint8_t);
-      if (!rosidl_runtime_c__uint8__Sequence__init(&(ros_message->video360p), size)) {
-        PyErr_SetString(PyExc_RuntimeError, "unable to create uint8__Sequence ros_message");
-        PyBuffer_Release(&view);
-        Py_DECREF(field);
-        return false;
-      }
-      uint8_t * dest = ros_message->video360p.data;
-      rc = PyBuffer_ToContiguous(dest, &view, view.len, 'C');
-      if (rc < 0) {
-        PyBuffer_Release(&view);
-        Py_DECREF(field);
-        return false;
-      }
-      PyBuffer_Release(&view);
-    } else {
-      PyObject * seq_field = PySequence_Fast(field, "expected a sequence in 'video360p'");
-      if (!seq_field) {
-        Py_DECREF(field);
-        return false;
-      }
-      Py_ssize_t size = PySequence_Size(field);
-      if (-1 == size) {
-        Py_DECREF(seq_field);
-        Py_DECREF(field);
-        return false;
-      }
-      if (!rosidl_runtime_c__uint8__Sequence__init(&(ros_message->video360p), size)) {
-        PyErr_SetString(PyExc_RuntimeError, "unable to create uint8__Sequence ros_message");
-        Py_DECREF(seq_field);
-        Py_DECREF(field);
-        return false;
-      }
-      uint8_t * dest = ros_message->video360p.data;
-      for (Py_ssize_t i = 0; i < size; ++i) {
-        PyObject * item = PySequence_Fast_GET_ITEM(seq_field, i);
-        if (!item) {
-          Py_DECREF(seq_field);
-          Py_DECREF(field);
-          return false;
-        }
-        assert(PyLong_Check(item));
-        uint8_t tmp = (uint8_t)PyLong_AsUnsignedLong(item);
-
-        memcpy(&dest[i], &tmp, sizeof(uint8_t));
-      }
-      Py_DECREF(seq_field);
-    }
-    Py_DECREF(field);
-  }
-  {  // video180p
-    PyObject * field = PyObject_GetAttrString(_pymsg, "video180p");
-    if (!field) {
-      return false;
-    }
-    if (PyObject_CheckBuffer(field)) {
-      // Optimization for converting arrays of primitives
-      Py_buffer view;
-      int rc = PyObject_GetBuffer(field, &view, PyBUF_SIMPLE);
-      if (rc < 0) {
-        Py_DECREF(field);
-        return false;
-      }
-      Py_ssize_t size = view.len / sizeof(uint8_t);
-      if (!rosidl_runtime_c__uint8__Sequence__init(&(ros_message->video180p), size)) {
-        PyErr_SetString(PyExc_RuntimeError, "unable to create uint8__Sequence ros_message");
-        PyBuffer_Release(&view);
-        Py_DECREF(field);
-        return false;
-      }
-      uint8_t * dest = ros_message->video180p.data;
-      rc = PyBuffer_ToContiguous(dest, &view, view.len, 'C');
-      if (rc < 0) {
-        PyBuffer_Release(&view);
-        Py_DECREF(field);
-        return false;
-      }
-      PyBuffer_Release(&view);
-    } else {
-      PyObject * seq_field = PySequence_Fast(field, "expected a sequence in 'video180p'");
-      if (!seq_field) {
-        Py_DECREF(field);
-        return false;
-      }
-      Py_ssize_t size = PySequence_Size(field);
-      if (-1 == size) {
-        Py_DECREF(seq_field);
-        Py_DECREF(field);
-        return false;
-      }
-      if (!rosidl_runtime_c__uint8__Sequence__init(&(ros_message->video180p), size)) {
-        PyErr_SetString(PyExc_RuntimeError, "unable to create uint8__Sequence ros_message");
-        Py_DECREF(seq_field);
-        Py_DECREF(field);
-        return false;
-      }
-      uint8_t * dest = ros_message->video180p.data;
-      for (Py_ssize_t i = 0; i < size; ++i) {
-        PyObject * item = PySequence_Fast_GET_ITEM(seq_field, i);
-        if (!item) {
-          Py_DECREF(seq_field);
-          Py_DECREF(field);
-          return false;
-        }
-        assert(PyLong_Check(item));
-        uint8_t tmp = (uint8_t)PyLong_AsUnsignedLong(item);
-
-        memcpy(&dest[i], &tmp, sizeof(uint8_t));
-      }
-      Py_DECREF(seq_field);
-    }
-    Py_DECREF(field);
-  }
-
-  return true;
-}
-
-ROSIDL_GENERATOR_C_EXPORT
-PyObject * unitree_go__msg__go2_front_video_data__convert_to_py(void * raw_ros_message)
-{
-  /* NOTE(esteve): Call constructor of Go2FrontVideoData */
-  PyObject * _pymessage = NULL;
-  {
-    PyObject * pymessage_module = PyImport_ImportModule("unitree_go.msg._go2_front_video_data");
-    assert(pymessage_module);
-    PyObject * pymessage_class = PyObject_GetAttrString(pymessage_module, "Go2FrontVideoData");
-    assert(pymessage_class);
-    Py_DECREF(pymessage_module);
-    _pymessage = PyObject_CallObject(pymessage_class, NULL);
-    Py_DECREF(pymessage_class);
-    if (!_pymessage) {
-      return NULL;
-    }
-  }
-  unitree_go__msg__Go2FrontVideoData * ros_message = (unitree_go__msg__Go2FrontVideoData *)raw_ros_message;
-  {  // time_frame
-    PyObject * field = NULL;
-    field = PyLong_FromUnsignedLongLong(ros_message->time_frame);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "time_frame", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // video720p
-    PyObject * field = NULL;
-    field = PyObject_GetAttrString(_pymessage, "video720p");
-    if (!field) {
-      return NULL;
-    }
-    assert(field->ob_type != NULL);
-    assert(field->ob_type->tp_name != NULL);
-    assert(strcmp(field->ob_type->tp_name, "array.array") == 0);
-    // ensure that itemsize matches the sizeof of the ROS message field
-    PyObject * itemsize_attr = PyObject_GetAttrString(field, "itemsize");
-    assert(itemsize_attr != NULL);
-    size_t itemsize = PyLong_AsSize_t(itemsize_attr);
-    Py_DECREF(itemsize_attr);
-    if (itemsize != sizeof(uint8_t)) {
-      PyErr_SetString(PyExc_RuntimeError, "itemsize doesn't match expectation");
-      Py_DECREF(field);
-      return NULL;
-    }
-    // clear the array, poor approach to remove potential default values
-    Py_ssize_t length = PyObject_Length(field);
-    if (-1 == length) {
-      Py_DECREF(field);
-      return NULL;
-    }
-    if (length > 0) {
-      PyObject * pop = PyObject_GetAttrString(field, "pop");
-      assert(pop != NULL);
-      for (Py_ssize_t i = 0; i < length; ++i) {
-        PyObject * ret = PyObject_CallFunctionObjArgs(pop, NULL);
-        if (!ret) {
-          Py_DECREF(pop);
-          Py_DECREF(field);
-          return NULL;
-        }
-        Py_DECREF(ret);
-      }
-      Py_DECREF(pop);
-    }
-    if (ros_message->video720p.size > 0) {
-      // populating the array.array using the frombytes method
-      PyObject * frombytes = PyObject_GetAttrString(field, "frombytes");
-      assert(frombytes != NULL);
-      uint8_t * src = &(ros_message->video720p.data[0]);
-      PyObject * data = PyBytes_FromStringAndSize((const char *)src, ros_message->video720p.size * sizeof(uint8_t));
-      assert(data != NULL);
-      PyObject * ret = PyObject_CallFunctionObjArgs(frombytes, data, NULL);
-      Py_DECREF(data);
-      Py_DECREF(frombytes);
-      if (!ret) {
-        Py_DECREF(field);
-        return NULL;
-      }
-      Py_DECREF(ret);
-    }
-    Py_DECREF(field);
-  }
-  {  // video360p
-    PyObject * field = NULL;
-    field = PyObject_GetAttrString(_pymessage, "video360p");
-    if (!field) {
-      return NULL;
-    }
-    assert(field->ob_type != NULL);
-    assert(field->ob_type->tp_name != NULL);
-    assert(strcmp(field->ob_type->tp_name, "array.array") == 0);
-    // ensure that itemsize matches the sizeof of the ROS message field
-    PyObject * itemsize_attr = PyObject_GetAttrString(field, "itemsize");
-    assert(itemsize_attr != NULL);
-    size_t itemsize = PyLong_AsSize_t(itemsize_attr);
-    Py_DECREF(itemsize_attr);
-    if (itemsize != sizeof(uint8_t)) {
-      PyErr_SetString(PyExc_RuntimeError, "itemsize doesn't match expectation");
-      Py_DECREF(field);
-      return NULL;
-    }
-    // clear the array, poor approach to remove potential default values
-    Py_ssize_t length = PyObject_Length(field);
-    if (-1 == length) {
-      Py_DECREF(field);
-      return NULL;
-    }
-    if (length > 0) {
-      PyObject * pop = PyObject_GetAttrString(field, "pop");
-      assert(pop != NULL);
-      for (Py_ssize_t i = 0; i < length; ++i) {
-        PyObject * ret = PyObject_CallFunctionObjArgs(pop, NULL);
-        if (!ret) {
-          Py_DECREF(pop);
-          Py_DECREF(field);
-          return NULL;
-        }
-        Py_DECREF(ret);
-      }
-      Py_DECREF(pop);
-    }
-    if (ros_message->video360p.size > 0) {
-      // populating the array.array using the frombytes method
-      PyObject * frombytes = PyObject_GetAttrString(field, "frombytes");
-      assert(frombytes != NULL);
-      uint8_t * src = &(ros_message->video360p.data[0]);
-      PyObject * data = PyBytes_FromStringAndSize((const char *)src, ros_message->video360p.size * sizeof(uint8_t));
-      assert(data != NULL);
-      PyObject * ret = PyObject_CallFunctionObjArgs(frombytes, data, NULL);
-      Py_DECREF(data);
-      Py_DECREF(frombytes);
-      if (!ret) {
-        Py_DECREF(field);
-        return NULL;
-      }
-      Py_DECREF(ret);
-    }
-    Py_DECREF(field);
-  }
-  {  // video180p
-    PyObject * field = NULL;
-    field = PyObject_GetAttrString(_pymessage, "video180p");
-    if (!field) {
-      return NULL;
-    }
-    assert(field->ob_type != NULL);
-    assert(field->ob_type->tp_name != NULL);
-    assert(strcmp(field->ob_type->tp_name, "array.array") == 0);
-    // ensure that itemsize matches the sizeof of the ROS message field
-    PyObject * itemsize_attr = PyObject_GetAttrString(field, "itemsize");
-    assert(itemsize_attr != NULL);
-    size_t itemsize = PyLong_AsSize_t(itemsize_attr);
-    Py_DECREF(itemsize_attr);
-    if (itemsize != sizeof(uint8_t)) {
-      PyErr_SetString(PyExc_RuntimeError, "itemsize doesn't match expectation");
-      Py_DECREF(field);
-      return NULL;
-    }
-    // clear the array, poor approach to remove potential default values
-    Py_ssize_t length = PyObject_Length(field);
-    if (-1 == length) {
-      Py_DECREF(field);
-      return NULL;
-    }
-    if (length > 0) {
-      PyObject * pop = PyObject_GetAttrString(field, "pop");
-      assert(pop != NULL);
-      for (Py_ssize_t i = 0; i < length; ++i) {
-        PyObject * ret = PyObject_CallFunctionObjArgs(pop, NULL);
-        if (!ret) {
-          Py_DECREF(pop);
-          Py_DECREF(field);
-          return NULL;
-        }
-        Py_DECREF(ret);
-      }
-      Py_DECREF(pop);
-    }
-    if (ros_message->video180p.size > 0) {
-      // populating the array.array using the frombytes method
-      PyObject * frombytes = PyObject_GetAttrString(field, "frombytes");
-      assert(frombytes != NULL);
-      uint8_t * src = &(ros_message->video180p.data[0]);
-      PyObject * data = PyBytes_FromStringAndSize((const char *)src, ros_message->video180p.size * sizeof(uint8_t));
-      assert(data != NULL);
-      PyObject * ret = PyObject_CallFunctionObjArgs(frombytes, data, NULL);
-      Py_DECREF(data);
-      Py_DECREF(frombytes);
-      if (!ret) {
-        Py_DECREF(field);
-        return NULL;
-      }
-      Py_DECREF(ret);
-    }
-    Py_DECREF(field);
-  }
-
-  // ownership of _pymessage is transferred to the caller
-  return _pymessage;
-}
diff --git a/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_height_map.py b/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_height_map.py
deleted file mode 100644
index 935feda..0000000
--- a/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_height_map.py
+++ /dev/null
@@ -1,283 +0,0 @@
-# generated from rosidl_generator_py/resource/_idl.py.em
-# with input from unitree_go:msg/HeightMap.idl
-# generated code does not contain a copyright notice
-
-
-# Import statements for member types
-
-# Member 'data'
-import array  # noqa: E402, I100
-
-# Member 'origin'
-import numpy  # noqa: E402, I100
-
-import rosidl_parser.definition  # noqa: E402, I100
-
-
-class Metaclass_HeightMap(type):
-    """Metaclass of message 'HeightMap'."""
-
-    _CREATE_ROS_MESSAGE = None
-    _CONVERT_FROM_PY = None
-    _CONVERT_TO_PY = None
-    _DESTROY_ROS_MESSAGE = None
-    _TYPE_SUPPORT = None
-
-    __constants = {
-    }
-
-    @classmethod
-    def __import_type_support__(cls):
-        try:
-            from rosidl_generator_py import import_type_support
-            module = import_type_support('unitree_go')
-        except ImportError:
-            import logging
-            import traceback
-            logger = logging.getLogger(
-                'unitree_go.msg.HeightMap')
-            logger.debug(
-                'Failed to import needed modules for type support:\n' +
-                traceback.format_exc())
-        else:
-            cls._CREATE_ROS_MESSAGE = module.create_ros_message_msg__msg__height_map
-            cls._CONVERT_FROM_PY = module.convert_from_py_msg__msg__height_map
-            cls._CONVERT_TO_PY = module.convert_to_py_msg__msg__height_map
-            cls._TYPE_SUPPORT = module.type_support_msg__msg__height_map
-            cls._DESTROY_ROS_MESSAGE = module.destroy_ros_message_msg__msg__height_map
-
-    @classmethod
-    def __prepare__(cls, name, bases, **kwargs):
-        # list constant names here so that they appear in the help text of
-        # the message class under "Data and other attributes defined here:"
-        # as well as populate each message instance
-        return {
-        }
-
-
-class HeightMap(metaclass=Metaclass_HeightMap):
-    """Message class 'HeightMap'."""
-
-    __slots__ = [
-        '_stamp',
-        '_frame_id',
-        '_resolution',
-        '_width',
-        '_height',
-        '_origin',
-        '_data',
-    ]
-
-    _fields_and_field_types = {
-        'stamp': 'double',
-        'frame_id': 'string',
-        'resolution': 'float',
-        'width': 'uint32',
-        'height': 'uint32',
-        'origin': 'float[2]',
-        'data': 'sequence<float>',
-    }
-
-    SLOT_TYPES = (
-        rosidl_parser.definition.BasicType('double'),  # noqa: E501
-        rosidl_parser.definition.UnboundedString(),  # noqa: E501
-        rosidl_parser.definition.BasicType('float'),  # noqa: E501
-        rosidl_parser.definition.BasicType('uint32'),  # noqa: E501
-        rosidl_parser.definition.BasicType('uint32'),  # noqa: E501
-        rosidl_parser.definition.Array(rosidl_parser.definition.BasicType('float'), 2),  # noqa: E501
-        rosidl_parser.definition.UnboundedSequence(rosidl_parser.definition.BasicType('float')),  # noqa: E501
-    )
-
-    def __init__(self, **kwargs):
-        assert all('_' + key in self.__slots__ for key in kwargs.keys()), \
-            'Invalid arguments passed to constructor: %s' % \
-            ', '.join(sorted(k for k in kwargs.keys() if '_' + k not in self.__slots__))
-        self.stamp = kwargs.get('stamp', float())
-        self.frame_id = kwargs.get('frame_id', str())
-        self.resolution = kwargs.get('resolution', float())
-        self.width = kwargs.get('width', int())
-        self.height = kwargs.get('height', int())
-        if 'origin' not in kwargs:
-            self.origin = numpy.zeros(2, dtype=numpy.float32)
-        else:
-            self.origin = numpy.array(kwargs.get('origin'), dtype=numpy.float32)
-            assert self.origin.shape == (2, )
-        self.data = array.array('f', kwargs.get('data', []))
-
-    def __repr__(self):
-        typename = self.__class__.__module__.split('.')
-        typename.pop()
-        typename.append(self.__class__.__name__)
-        args = []
-        for s, t in zip(self.__slots__, self.SLOT_TYPES):
-            field = getattr(self, s)
-            fieldstr = repr(field)
-            # We use Python array type for fields that can be directly stored
-            # in them, and "normal" sequences for everything else.  If it is
-            # a type that we store in an array, strip off the 'array' portion.
-            if (
-                isinstance(t, rosidl_parser.definition.AbstractSequence) and
-                isinstance(t.value_type, rosidl_parser.definition.BasicType) and
-                t.value_type.typename in ['float', 'double', 'int8', 'uint8', 'int16', 'uint16', 'int32', 'uint32', 'int64', 'uint64']
-            ):
-                if len(field) == 0:
-                    fieldstr = '[]'
-                else:
-                    assert fieldstr.startswith('array(')
-                    prefix = "array('X', "
-                    suffix = ')'
-                    fieldstr = fieldstr[len(prefix):-len(suffix)]
-            args.append(s[1:] + '=' + fieldstr)
-        return '%s(%s)' % ('.'.join(typename), ', '.join(args))
-
-    def __eq__(self, other):
-        if not isinstance(other, self.__class__):
-            return False
-        if self.stamp != other.stamp:
-            return False
-        if self.frame_id != other.frame_id:
-            return False
-        if self.resolution != other.resolution:
-            return False
-        if self.width != other.width:
-            return False
-        if self.height != other.height:
-            return False
-        if all(self.origin != other.origin):
-            return False
-        if self.data != other.data:
-            return False
-        return True
-
-    @classmethod
-    def get_fields_and_field_types(cls):
-        from copy import copy
-        return copy(cls._fields_and_field_types)
-
-    @property
-    def stamp(self):
-        """Message field 'stamp'."""
-        return self._stamp
-
-    @stamp.setter
-    def stamp(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, float), \
-                "The 'stamp' field must be of type 'float'"
-        self._stamp = value
-
-    @property
-    def frame_id(self):
-        """Message field 'frame_id'."""
-        return self._frame_id
-
-    @frame_id.setter
-    def frame_id(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, str), \
-                "The 'frame_id' field must be of type 'str'"
-        self._frame_id = value
-
-    @property
-    def resolution(self):
-        """Message field 'resolution'."""
-        return self._resolution
-
-    @resolution.setter
-    def resolution(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, float), \
-                "The 'resolution' field must be of type 'float'"
-        self._resolution = value
-
-    @property
-    def width(self):
-        """Message field 'width'."""
-        return self._width
-
-    @width.setter
-    def width(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, int), \
-                "The 'width' field must be of type 'int'"
-            assert value >= 0 and value < 4294967296, \
-                "The 'width' field must be an unsigned integer in [0, 4294967295]"
-        self._width = value
-
-    @property
-    def height(self):
-        """Message field 'height'."""
-        return self._height
-
-    @height.setter
-    def height(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, int), \
-                "The 'height' field must be of type 'int'"
-            assert value >= 0 and value < 4294967296, \
-                "The 'height' field must be an unsigned integer in [0, 4294967295]"
-        self._height = value
-
-    @property
-    def origin(self):
-        """Message field 'origin'."""
-        return self._origin
-
-    @origin.setter
-    def origin(self, value):
-        if isinstance(value, numpy.ndarray):
-            assert value.dtype == numpy.float32, \
-                "The 'origin' numpy.ndarray() must have the dtype of 'numpy.float32'"
-            assert value.size == 2, \
-                "The 'origin' numpy.ndarray() must have a size of 2"
-            self._origin = value
-            return
-        if __debug__:
-            from collections.abc import Sequence
-            from collections.abc import Set
-            from collections import UserList
-            from collections import UserString
-            assert \
-                ((isinstance(value, Sequence) or
-                  isinstance(value, Set) or
-                  isinstance(value, UserList)) and
-                 not isinstance(value, str) and
-                 not isinstance(value, UserString) and
-                 len(value) == 2 and
-                 all(isinstance(v, float) for v in value) and
-                 True), \
-                "The 'origin' field must be a set or sequence with length 2 and each value of type 'float'"
-        self._origin = numpy.array(value, dtype=numpy.float32)
-
-    @property
-    def data(self):
-        """Message field 'data'."""
-        return self._data
-
-    @data.setter
-    def data(self, value):
-        if isinstance(value, array.array):
-            assert value.typecode == 'f', \
-                "The 'data' array.array() must have the type code of 'f'"
-            self._data = value
-            return
-        if __debug__:
-            from collections.abc import Sequence
-            from collections.abc import Set
-            from collections import UserList
-            from collections import UserString
-            assert \
-                ((isinstance(value, Sequence) or
-                  isinstance(value, Set) or
-                  isinstance(value, UserList)) and
-                 not isinstance(value, str) and
-                 not isinstance(value, UserString) and
-                 all(isinstance(v, float) for v in value) and
-                 True), \
-                "The 'data' field must be a set or sequence and each value of type 'float'"
-        self._data = array.array('f', value)
diff --git a/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_height_map_s.c b/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_height_map_s.c
deleted file mode 100644
index c8b312c..0000000
--- a/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_height_map_s.c
+++ /dev/null
@@ -1,357 +0,0 @@
-// generated from rosidl_generator_py/resource/_idl_support.c.em
-// with input from unitree_go:msg/HeightMap.idl
-// generated code does not contain a copyright notice
-#define NPY_NO_DEPRECATED_API NPY_1_7_API_VERSION
-#include <Python.h>
-#include <stdbool.h>
-#ifndef _WIN32
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wunused-function"
-#endif
-#include "numpy/ndarrayobject.h"
-#ifndef _WIN32
-# pragma GCC diagnostic pop
-#endif
-#include "rosidl_runtime_c/visibility_control.h"
-#include "unitree_go/msg/detail/height_map__struct.h"
-#include "unitree_go/msg/detail/height_map__functions.h"
-
-#include "rosidl_runtime_c/string.h"
-#include "rosidl_runtime_c/string_functions.h"
-
-#include "rosidl_runtime_c/primitives_sequence.h"
-#include "rosidl_runtime_c/primitives_sequence_functions.h"
-
-
-ROSIDL_GENERATOR_C_EXPORT
-bool unitree_go__msg__height_map__convert_from_py(PyObject * _pymsg, void * _ros_message)
-{
-  // check that the passed message is of the expected Python class
-  {
-    char full_classname_dest[37];
-    {
-      char * class_name = NULL;
-      char * module_name = NULL;
-      {
-        PyObject * class_attr = PyObject_GetAttrString(_pymsg, "__class__");
-        if (class_attr) {
-          PyObject * name_attr = PyObject_GetAttrString(class_attr, "__name__");
-          if (name_attr) {
-            class_name = (char *)PyUnicode_1BYTE_DATA(name_attr);
-            Py_DECREF(name_attr);
-          }
-          PyObject * module_attr = PyObject_GetAttrString(class_attr, "__module__");
-          if (module_attr) {
-            module_name = (char *)PyUnicode_1BYTE_DATA(module_attr);
-            Py_DECREF(module_attr);
-          }
-          Py_DECREF(class_attr);
-        }
-      }
-      if (!class_name || !module_name) {
-        return false;
-      }
-      snprintf(full_classname_dest, sizeof(full_classname_dest), "%s.%s", module_name, class_name);
-    }
-    assert(strncmp("unitree_go.msg._height_map.HeightMap", full_classname_dest, 36) == 0);
-  }
-  unitree_go__msg__HeightMap * ros_message = _ros_message;
-  {  // stamp
-    PyObject * field = PyObject_GetAttrString(_pymsg, "stamp");
-    if (!field) {
-      return false;
-    }
-    assert(PyFloat_Check(field));
-    ros_message->stamp = PyFloat_AS_DOUBLE(field);
-    Py_DECREF(field);
-  }
-  {  // frame_id
-    PyObject * field = PyObject_GetAttrString(_pymsg, "frame_id");
-    if (!field) {
-      return false;
-    }
-    assert(PyUnicode_Check(field));
-    PyObject * encoded_field = PyUnicode_AsUTF8String(field);
-    if (!encoded_field) {
-      Py_DECREF(field);
-      return false;
-    }
-    rosidl_runtime_c__String__assign(&ros_message->frame_id, PyBytes_AS_STRING(encoded_field));
-    Py_DECREF(encoded_field);
-    Py_DECREF(field);
-  }
-  {  // resolution
-    PyObject * field = PyObject_GetAttrString(_pymsg, "resolution");
-    if (!field) {
-      return false;
-    }
-    assert(PyFloat_Check(field));
-    ros_message->resolution = (float)PyFloat_AS_DOUBLE(field);
-    Py_DECREF(field);
-  }
-  {  // width
-    PyObject * field = PyObject_GetAttrString(_pymsg, "width");
-    if (!field) {
-      return false;
-    }
-    assert(PyLong_Check(field));
-    ros_message->width = PyLong_AsUnsignedLong(field);
-    Py_DECREF(field);
-  }
-  {  // height
-    PyObject * field = PyObject_GetAttrString(_pymsg, "height");
-    if (!field) {
-      return false;
-    }
-    assert(PyLong_Check(field));
-    ros_message->height = PyLong_AsUnsignedLong(field);
-    Py_DECREF(field);
-  }
-  {  // origin
-    PyObject * field = PyObject_GetAttrString(_pymsg, "origin");
-    if (!field) {
-      return false;
-    }
-    {
-      // TODO(dirk-thomas) use a better way to check the type before casting
-      assert(field->ob_type != NULL);
-      assert(field->ob_type->tp_name != NULL);
-      assert(strcmp(field->ob_type->tp_name, "numpy.ndarray") == 0);
-      PyArrayObject * seq_field = (PyArrayObject *)field;
-      Py_INCREF(seq_field);
-      assert(PyArray_NDIM(seq_field) == 1);
-      assert(PyArray_TYPE(seq_field) == NPY_FLOAT32);
-      Py_ssize_t size = 2;
-      float * dest = ros_message->origin;
-      for (Py_ssize_t i = 0; i < size; ++i) {
-        float tmp = *(npy_float32 *)PyArray_GETPTR1(seq_field, i);
-        memcpy(&dest[i], &tmp, sizeof(float));
-      }
-      Py_DECREF(seq_field);
-    }
-    Py_DECREF(field);
-  }
-  {  // data
-    PyObject * field = PyObject_GetAttrString(_pymsg, "data");
-    if (!field) {
-      return false;
-    }
-    if (PyObject_CheckBuffer(field)) {
-      // Optimization for converting arrays of primitives
-      Py_buffer view;
-      int rc = PyObject_GetBuffer(field, &view, PyBUF_SIMPLE);
-      if (rc < 0) {
-        Py_DECREF(field);
-        return false;
-      }
-      Py_ssize_t size = view.len / sizeof(float);
-      if (!rosidl_runtime_c__float__Sequence__init(&(ros_message->data), size)) {
-        PyErr_SetString(PyExc_RuntimeError, "unable to create float__Sequence ros_message");
-        PyBuffer_Release(&view);
-        Py_DECREF(field);
-        return false;
-      }
-      float * dest = ros_message->data.data;
-      rc = PyBuffer_ToContiguous(dest, &view, view.len, 'C');
-      if (rc < 0) {
-        PyBuffer_Release(&view);
-        Py_DECREF(field);
-        return false;
-      }
-      PyBuffer_Release(&view);
-    } else {
-      PyObject * seq_field = PySequence_Fast(field, "expected a sequence in 'data'");
-      if (!seq_field) {
-        Py_DECREF(field);
-        return false;
-      }
-      Py_ssize_t size = PySequence_Size(field);
-      if (-1 == size) {
-        Py_DECREF(seq_field);
-        Py_DECREF(field);
-        return false;
-      }
-      if (!rosidl_runtime_c__float__Sequence__init(&(ros_message->data), size)) {
-        PyErr_SetString(PyExc_RuntimeError, "unable to create float__Sequence ros_message");
-        Py_DECREF(seq_field);
-        Py_DECREF(field);
-        return false;
-      }
-      float * dest = ros_message->data.data;
-      for (Py_ssize_t i = 0; i < size; ++i) {
-        PyObject * item = PySequence_Fast_GET_ITEM(seq_field, i);
-        if (!item) {
-          Py_DECREF(seq_field);
-          Py_DECREF(field);
-          return false;
-        }
-        assert(PyFloat_Check(item));
-        float tmp = (float)PyFloat_AS_DOUBLE(item);
-        memcpy(&dest[i], &tmp, sizeof(float));
-      }
-      Py_DECREF(seq_field);
-    }
-    Py_DECREF(field);
-  }
-
-  return true;
-}
-
-ROSIDL_GENERATOR_C_EXPORT
-PyObject * unitree_go__msg__height_map__convert_to_py(void * raw_ros_message)
-{
-  /* NOTE(esteve): Call constructor of HeightMap */
-  PyObject * _pymessage = NULL;
-  {
-    PyObject * pymessage_module = PyImport_ImportModule("unitree_go.msg._height_map");
-    assert(pymessage_module);
-    PyObject * pymessage_class = PyObject_GetAttrString(pymessage_module, "HeightMap");
-    assert(pymessage_class);
-    Py_DECREF(pymessage_module);
-    _pymessage = PyObject_CallObject(pymessage_class, NULL);
-    Py_DECREF(pymessage_class);
-    if (!_pymessage) {
-      return NULL;
-    }
-  }
-  unitree_go__msg__HeightMap * ros_message = (unitree_go__msg__HeightMap *)raw_ros_message;
-  {  // stamp
-    PyObject * field = NULL;
-    field = PyFloat_FromDouble(ros_message->stamp);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "stamp", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // frame_id
-    PyObject * field = NULL;
-    field = PyUnicode_DecodeUTF8(
-      ros_message->frame_id.data,
-      strlen(ros_message->frame_id.data),
-      "replace");
-    if (!field) {
-      return NULL;
-    }
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "frame_id", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // resolution
-    PyObject * field = NULL;
-    field = PyFloat_FromDouble(ros_message->resolution);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "resolution", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // width
-    PyObject * field = NULL;
-    field = PyLong_FromUnsignedLong(ros_message->width);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "width", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // height
-    PyObject * field = NULL;
-    field = PyLong_FromUnsignedLong(ros_message->height);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "height", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // origin
-    PyObject * field = NULL;
-    field = PyObject_GetAttrString(_pymessage, "origin");
-    if (!field) {
-      return NULL;
-    }
-    assert(field->ob_type != NULL);
-    assert(field->ob_type->tp_name != NULL);
-    assert(strcmp(field->ob_type->tp_name, "numpy.ndarray") == 0);
-    PyArrayObject * seq_field = (PyArrayObject *)field;
-    assert(PyArray_NDIM(seq_field) == 1);
-    assert(PyArray_TYPE(seq_field) == NPY_FLOAT32);
-    assert(sizeof(npy_float32) == sizeof(float));
-    npy_float32 * dst = (npy_float32 *)PyArray_GETPTR1(seq_field, 0);
-    float * src = &(ros_message->origin[0]);
-    memcpy(dst, src, 2 * sizeof(float));
-    Py_DECREF(field);
-  }
-  {  // data
-    PyObject * field = NULL;
-    field = PyObject_GetAttrString(_pymessage, "data");
-    if (!field) {
-      return NULL;
-    }
-    assert(field->ob_type != NULL);
-    assert(field->ob_type->tp_name != NULL);
-    assert(strcmp(field->ob_type->tp_name, "array.array") == 0);
-    // ensure that itemsize matches the sizeof of the ROS message field
-    PyObject * itemsize_attr = PyObject_GetAttrString(field, "itemsize");
-    assert(itemsize_attr != NULL);
-    size_t itemsize = PyLong_AsSize_t(itemsize_attr);
-    Py_DECREF(itemsize_attr);
-    if (itemsize != sizeof(float)) {
-      PyErr_SetString(PyExc_RuntimeError, "itemsize doesn't match expectation");
-      Py_DECREF(field);
-      return NULL;
-    }
-    // clear the array, poor approach to remove potential default values
-    Py_ssize_t length = PyObject_Length(field);
-    if (-1 == length) {
-      Py_DECREF(field);
-      return NULL;
-    }
-    if (length > 0) {
-      PyObject * pop = PyObject_GetAttrString(field, "pop");
-      assert(pop != NULL);
-      for (Py_ssize_t i = 0; i < length; ++i) {
-        PyObject * ret = PyObject_CallFunctionObjArgs(pop, NULL);
-        if (!ret) {
-          Py_DECREF(pop);
-          Py_DECREF(field);
-          return NULL;
-        }
-        Py_DECREF(ret);
-      }
-      Py_DECREF(pop);
-    }
-    if (ros_message->data.size > 0) {
-      // populating the array.array using the frombytes method
-      PyObject * frombytes = PyObject_GetAttrString(field, "frombytes");
-      assert(frombytes != NULL);
-      float * src = &(ros_message->data.data[0]);
-      PyObject * data = PyBytes_FromStringAndSize((const char *)src, ros_message->data.size * sizeof(float));
-      assert(data != NULL);
-      PyObject * ret = PyObject_CallFunctionObjArgs(frombytes, data, NULL);
-      Py_DECREF(data);
-      Py_DECREF(frombytes);
-      if (!ret) {
-        Py_DECREF(field);
-        return NULL;
-      }
-      Py_DECREF(ret);
-    }
-    Py_DECREF(field);
-  }
-
-  // ownership of _pymessage is transferred to the caller
-  return _pymessage;
-}
diff --git a/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_imu_state.py b/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_imu_state.py
deleted file mode 100644
index 78f6d31..0000000
--- a/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_imu_state.py
+++ /dev/null
@@ -1,294 +0,0 @@
-# generated from rosidl_generator_py/resource/_idl.py.em
-# with input from unitree_go:msg/IMUState.idl
-# generated code does not contain a copyright notice
-
-
-# Import statements for member types
-
-# Member 'quaternion'
-# Member 'gyroscope'
-# Member 'accelerometer'
-# Member 'rpy'
-import numpy  # noqa: E402, I100
-
-import rosidl_parser.definition  # noqa: E402, I100
-
-
-class Metaclass_IMUState(type):
-    """Metaclass of message 'IMUState'."""
-
-    _CREATE_ROS_MESSAGE = None
-    _CONVERT_FROM_PY = None
-    _CONVERT_TO_PY = None
-    _DESTROY_ROS_MESSAGE = None
-    _TYPE_SUPPORT = None
-
-    __constants = {
-    }
-
-    @classmethod
-    def __import_type_support__(cls):
-        try:
-            from rosidl_generator_py import import_type_support
-            module = import_type_support('unitree_go')
-        except ImportError:
-            import logging
-            import traceback
-            logger = logging.getLogger(
-                'unitree_go.msg.IMUState')
-            logger.debug(
-                'Failed to import needed modules for type support:\n' +
-                traceback.format_exc())
-        else:
-            cls._CREATE_ROS_MESSAGE = module.create_ros_message_msg__msg__imu_state
-            cls._CONVERT_FROM_PY = module.convert_from_py_msg__msg__imu_state
-            cls._CONVERT_TO_PY = module.convert_to_py_msg__msg__imu_state
-            cls._TYPE_SUPPORT = module.type_support_msg__msg__imu_state
-            cls._DESTROY_ROS_MESSAGE = module.destroy_ros_message_msg__msg__imu_state
-
-    @classmethod
-    def __prepare__(cls, name, bases, **kwargs):
-        # list constant names here so that they appear in the help text of
-        # the message class under "Data and other attributes defined here:"
-        # as well as populate each message instance
-        return {
-        }
-
-
-class IMUState(metaclass=Metaclass_IMUState):
-    """Message class 'IMUState'."""
-
-    __slots__ = [
-        '_quaternion',
-        '_gyroscope',
-        '_accelerometer',
-        '_rpy',
-        '_temperature',
-    ]
-
-    _fields_and_field_types = {
-        'quaternion': 'float[4]',
-        'gyroscope': 'float[3]',
-        'accelerometer': 'float[3]',
-        'rpy': 'float[3]',
-        'temperature': 'int8',
-    }
-
-    SLOT_TYPES = (
-        rosidl_parser.definition.Array(rosidl_parser.definition.BasicType('float'), 4),  # noqa: E501
-        rosidl_parser.definition.Array(rosidl_parser.definition.BasicType('float'), 3),  # noqa: E501
-        rosidl_parser.definition.Array(rosidl_parser.definition.BasicType('float'), 3),  # noqa: E501
-        rosidl_parser.definition.Array(rosidl_parser.definition.BasicType('float'), 3),  # noqa: E501
-        rosidl_parser.definition.BasicType('int8'),  # noqa: E501
-    )
-
-    def __init__(self, **kwargs):
-        assert all('_' + key in self.__slots__ for key in kwargs.keys()), \
-            'Invalid arguments passed to constructor: %s' % \
-            ', '.join(sorted(k for k in kwargs.keys() if '_' + k not in self.__slots__))
-        if 'quaternion' not in kwargs:
-            self.quaternion = numpy.zeros(4, dtype=numpy.float32)
-        else:
-            self.quaternion = numpy.array(kwargs.get('quaternion'), dtype=numpy.float32)
-            assert self.quaternion.shape == (4, )
-        if 'gyroscope' not in kwargs:
-            self.gyroscope = numpy.zeros(3, dtype=numpy.float32)
-        else:
-            self.gyroscope = numpy.array(kwargs.get('gyroscope'), dtype=numpy.float32)
-            assert self.gyroscope.shape == (3, )
-        if 'accelerometer' not in kwargs:
-            self.accelerometer = numpy.zeros(3, dtype=numpy.float32)
-        else:
-            self.accelerometer = numpy.array(kwargs.get('accelerometer'), dtype=numpy.float32)
-            assert self.accelerometer.shape == (3, )
-        if 'rpy' not in kwargs:
-            self.rpy = numpy.zeros(3, dtype=numpy.float32)
-        else:
-            self.rpy = numpy.array(kwargs.get('rpy'), dtype=numpy.float32)
-            assert self.rpy.shape == (3, )
-        self.temperature = kwargs.get('temperature', int())
-
-    def __repr__(self):
-        typename = self.__class__.__module__.split('.')
-        typename.pop()
-        typename.append(self.__class__.__name__)
-        args = []
-        for s, t in zip(self.__slots__, self.SLOT_TYPES):
-            field = getattr(self, s)
-            fieldstr = repr(field)
-            # We use Python array type for fields that can be directly stored
-            # in them, and "normal" sequences for everything else.  If it is
-            # a type that we store in an array, strip off the 'array' portion.
-            if (
-                isinstance(t, rosidl_parser.definition.AbstractSequence) and
-                isinstance(t.value_type, rosidl_parser.definition.BasicType) and
-                t.value_type.typename in ['float', 'double', 'int8', 'uint8', 'int16', 'uint16', 'int32', 'uint32', 'int64', 'uint64']
-            ):
-                if len(field) == 0:
-                    fieldstr = '[]'
-                else:
-                    assert fieldstr.startswith('array(')
-                    prefix = "array('X', "
-                    suffix = ')'
-                    fieldstr = fieldstr[len(prefix):-len(suffix)]
-            args.append(s[1:] + '=' + fieldstr)
-        return '%s(%s)' % ('.'.join(typename), ', '.join(args))
-
-    def __eq__(self, other):
-        if not isinstance(other, self.__class__):
-            return False
-        if all(self.quaternion != other.quaternion):
-            return False
-        if all(self.gyroscope != other.gyroscope):
-            return False
-        if all(self.accelerometer != other.accelerometer):
-            return False
-        if all(self.rpy != other.rpy):
-            return False
-        if self.temperature != other.temperature:
-            return False
-        return True
-
-    @classmethod
-    def get_fields_and_field_types(cls):
-        from copy import copy
-        return copy(cls._fields_and_field_types)
-
-    @property
-    def quaternion(self):
-        """Message field 'quaternion'."""
-        return self._quaternion
-
-    @quaternion.setter
-    def quaternion(self, value):
-        if isinstance(value, numpy.ndarray):
-            assert value.dtype == numpy.float32, \
-                "The 'quaternion' numpy.ndarray() must have the dtype of 'numpy.float32'"
-            assert value.size == 4, \
-                "The 'quaternion' numpy.ndarray() must have a size of 4"
-            self._quaternion = value
-            return
-        if __debug__:
-            from collections.abc import Sequence
-            from collections.abc import Set
-            from collections import UserList
-            from collections import UserString
-            assert \
-                ((isinstance(value, Sequence) or
-                  isinstance(value, Set) or
-                  isinstance(value, UserList)) and
-                 not isinstance(value, str) and
-                 not isinstance(value, UserString) and
-                 len(value) == 4 and
-                 all(isinstance(v, float) for v in value) and
-                 True), \
-                "The 'quaternion' field must be a set or sequence with length 4 and each value of type 'float'"
-        self._quaternion = numpy.array(value, dtype=numpy.float32)
-
-    @property
-    def gyroscope(self):
-        """Message field 'gyroscope'."""
-        return self._gyroscope
-
-    @gyroscope.setter
-    def gyroscope(self, value):
-        if isinstance(value, numpy.ndarray):
-            assert value.dtype == numpy.float32, \
-                "The 'gyroscope' numpy.ndarray() must have the dtype of 'numpy.float32'"
-            assert value.size == 3, \
-                "The 'gyroscope' numpy.ndarray() must have a size of 3"
-            self._gyroscope = value
-            return
-        if __debug__:
-            from collections.abc import Sequence
-            from collections.abc import Set
-            from collections import UserList
-            from collections import UserString
-            assert \
-                ((isinstance(value, Sequence) or
-                  isinstance(value, Set) or
-                  isinstance(value, UserList)) and
-                 not isinstance(value, str) and
-                 not isinstance(value, UserString) and
-                 len(value) == 3 and
-                 all(isinstance(v, float) for v in value) and
-                 True), \
-                "The 'gyroscope' field must be a set or sequence with length 3 and each value of type 'float'"
-        self._gyroscope = numpy.array(value, dtype=numpy.float32)
-
-    @property
-    def accelerometer(self):
-        """Message field 'accelerometer'."""
-        return self._accelerometer
-
-    @accelerometer.setter
-    def accelerometer(self, value):
-        if isinstance(value, numpy.ndarray):
-            assert value.dtype == numpy.float32, \
-                "The 'accelerometer' numpy.ndarray() must have the dtype of 'numpy.float32'"
-            assert value.size == 3, \
-                "The 'accelerometer' numpy.ndarray() must have a size of 3"
-            self._accelerometer = value
-            return
-        if __debug__:
-            from collections.abc import Sequence
-            from collections.abc import Set
-            from collections import UserList
-            from collections import UserString
-            assert \
-                ((isinstance(value, Sequence) or
-                  isinstance(value, Set) or
-                  isinstance(value, UserList)) and
-                 not isinstance(value, str) and
-                 not isinstance(value, UserString) and
-                 len(value) == 3 and
-                 all(isinstance(v, float) for v in value) and
-                 True), \
-                "The 'accelerometer' field must be a set or sequence with length 3 and each value of type 'float'"
-        self._accelerometer = numpy.array(value, dtype=numpy.float32)
-
-    @property
-    def rpy(self):
-        """Message field 'rpy'."""
-        return self._rpy
-
-    @rpy.setter
-    def rpy(self, value):
-        if isinstance(value, numpy.ndarray):
-            assert value.dtype == numpy.float32, \
-                "The 'rpy' numpy.ndarray() must have the dtype of 'numpy.float32'"
-            assert value.size == 3, \
-                "The 'rpy' numpy.ndarray() must have a size of 3"
-            self._rpy = value
-            return
-        if __debug__:
-            from collections.abc import Sequence
-            from collections.abc import Set
-            from collections import UserList
-            from collections import UserString
-            assert \
-                ((isinstance(value, Sequence) or
-                  isinstance(value, Set) or
-                  isinstance(value, UserList)) and
-                 not isinstance(value, str) and
-                 not isinstance(value, UserString) and
-                 len(value) == 3 and
-                 all(isinstance(v, float) for v in value) and
-                 True), \
-                "The 'rpy' field must be a set or sequence with length 3 and each value of type 'float'"
-        self._rpy = numpy.array(value, dtype=numpy.float32)
-
-    @property
-    def temperature(self):
-        """Message field 'temperature'."""
-        return self._temperature
-
-    @temperature.setter
-    def temperature(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, int), \
-                "The 'temperature' field must be of type 'int'"
-            assert value >= -128 and value < 128, \
-                "The 'temperature' field must be an integer in [-128, 127]"
-        self._temperature = value
diff --git a/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_imu_state_s.c b/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_imu_state_s.c
deleted file mode 100644
index 55cdeb7..0000000
--- a/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_imu_state_s.c
+++ /dev/null
@@ -1,269 +0,0 @@
-// generated from rosidl_generator_py/resource/_idl_support.c.em
-// with input from unitree_go:msg/IMUState.idl
-// generated code does not contain a copyright notice
-#define NPY_NO_DEPRECATED_API NPY_1_7_API_VERSION
-#include <Python.h>
-#include <stdbool.h>
-#ifndef _WIN32
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wunused-function"
-#endif
-#include "numpy/ndarrayobject.h"
-#ifndef _WIN32
-# pragma GCC diagnostic pop
-#endif
-#include "rosidl_runtime_c/visibility_control.h"
-#include "unitree_go/msg/detail/imu_state__struct.h"
-#include "unitree_go/msg/detail/imu_state__functions.h"
-
-#include "rosidl_runtime_c/primitives_sequence.h"
-#include "rosidl_runtime_c/primitives_sequence_functions.h"
-
-
-ROSIDL_GENERATOR_C_EXPORT
-bool unitree_go__msg__imu_state__convert_from_py(PyObject * _pymsg, void * _ros_message)
-{
-  // check that the passed message is of the expected Python class
-  {
-    char full_classname_dest[35];
-    {
-      char * class_name = NULL;
-      char * module_name = NULL;
-      {
-        PyObject * class_attr = PyObject_GetAttrString(_pymsg, "__class__");
-        if (class_attr) {
-          PyObject * name_attr = PyObject_GetAttrString(class_attr, "__name__");
-          if (name_attr) {
-            class_name = (char *)PyUnicode_1BYTE_DATA(name_attr);
-            Py_DECREF(name_attr);
-          }
-          PyObject * module_attr = PyObject_GetAttrString(class_attr, "__module__");
-          if (module_attr) {
-            module_name = (char *)PyUnicode_1BYTE_DATA(module_attr);
-            Py_DECREF(module_attr);
-          }
-          Py_DECREF(class_attr);
-        }
-      }
-      if (!class_name || !module_name) {
-        return false;
-      }
-      snprintf(full_classname_dest, sizeof(full_classname_dest), "%s.%s", module_name, class_name);
-    }
-    assert(strncmp("unitree_go.msg._imu_state.IMUState", full_classname_dest, 34) == 0);
-  }
-  unitree_go__msg__IMUState * ros_message = _ros_message;
-  {  // quaternion
-    PyObject * field = PyObject_GetAttrString(_pymsg, "quaternion");
-    if (!field) {
-      return false;
-    }
-    {
-      // TODO(dirk-thomas) use a better way to check the type before casting
-      assert(field->ob_type != NULL);
-      assert(field->ob_type->tp_name != NULL);
-      assert(strcmp(field->ob_type->tp_name, "numpy.ndarray") == 0);
-      PyArrayObject * seq_field = (PyArrayObject *)field;
-      Py_INCREF(seq_field);
-      assert(PyArray_NDIM(seq_field) == 1);
-      assert(PyArray_TYPE(seq_field) == NPY_FLOAT32);
-      Py_ssize_t size = 4;
-      float * dest = ros_message->quaternion;
-      for (Py_ssize_t i = 0; i < size; ++i) {
-        float tmp = *(npy_float32 *)PyArray_GETPTR1(seq_field, i);
-        memcpy(&dest[i], &tmp, sizeof(float));
-      }
-      Py_DECREF(seq_field);
-    }
-    Py_DECREF(field);
-  }
-  {  // gyroscope
-    PyObject * field = PyObject_GetAttrString(_pymsg, "gyroscope");
-    if (!field) {
-      return false;
-    }
-    {
-      // TODO(dirk-thomas) use a better way to check the type before casting
-      assert(field->ob_type != NULL);
-      assert(field->ob_type->tp_name != NULL);
-      assert(strcmp(field->ob_type->tp_name, "numpy.ndarray") == 0);
-      PyArrayObject * seq_field = (PyArrayObject *)field;
-      Py_INCREF(seq_field);
-      assert(PyArray_NDIM(seq_field) == 1);
-      assert(PyArray_TYPE(seq_field) == NPY_FLOAT32);
-      Py_ssize_t size = 3;
-      float * dest = ros_message->gyroscope;
-      for (Py_ssize_t i = 0; i < size; ++i) {
-        float tmp = *(npy_float32 *)PyArray_GETPTR1(seq_field, i);
-        memcpy(&dest[i], &tmp, sizeof(float));
-      }
-      Py_DECREF(seq_field);
-    }
-    Py_DECREF(field);
-  }
-  {  // accelerometer
-    PyObject * field = PyObject_GetAttrString(_pymsg, "accelerometer");
-    if (!field) {
-      return false;
-    }
-    {
-      // TODO(dirk-thomas) use a better way to check the type before casting
-      assert(field->ob_type != NULL);
-      assert(field->ob_type->tp_name != NULL);
-      assert(strcmp(field->ob_type->tp_name, "numpy.ndarray") == 0);
-      PyArrayObject * seq_field = (PyArrayObject *)field;
-      Py_INCREF(seq_field);
-      assert(PyArray_NDIM(seq_field) == 1);
-      assert(PyArray_TYPE(seq_field) == NPY_FLOAT32);
-      Py_ssize_t size = 3;
-      float * dest = ros_message->accelerometer;
-      for (Py_ssize_t i = 0; i < size; ++i) {
-        float tmp = *(npy_float32 *)PyArray_GETPTR1(seq_field, i);
-        memcpy(&dest[i], &tmp, sizeof(float));
-      }
-      Py_DECREF(seq_field);
-    }
-    Py_DECREF(field);
-  }
-  {  // rpy
-    PyObject * field = PyObject_GetAttrString(_pymsg, "rpy");
-    if (!field) {
-      return false;
-    }
-    {
-      // TODO(dirk-thomas) use a better way to check the type before casting
-      assert(field->ob_type != NULL);
-      assert(field->ob_type->tp_name != NULL);
-      assert(strcmp(field->ob_type->tp_name, "numpy.ndarray") == 0);
-      PyArrayObject * seq_field = (PyArrayObject *)field;
-      Py_INCREF(seq_field);
-      assert(PyArray_NDIM(seq_field) == 1);
-      assert(PyArray_TYPE(seq_field) == NPY_FLOAT32);
-      Py_ssize_t size = 3;
-      float * dest = ros_message->rpy;
-      for (Py_ssize_t i = 0; i < size; ++i) {
-        float tmp = *(npy_float32 *)PyArray_GETPTR1(seq_field, i);
-        memcpy(&dest[i], &tmp, sizeof(float));
-      }
-      Py_DECREF(seq_field);
-    }
-    Py_DECREF(field);
-  }
-  {  // temperature
-    PyObject * field = PyObject_GetAttrString(_pymsg, "temperature");
-    if (!field) {
-      return false;
-    }
-    assert(PyLong_Check(field));
-    ros_message->temperature = (int8_t)PyLong_AsLong(field);
-    Py_DECREF(field);
-  }
-
-  return true;
-}
-
-ROSIDL_GENERATOR_C_EXPORT
-PyObject * unitree_go__msg__imu_state__convert_to_py(void * raw_ros_message)
-{
-  /* NOTE(esteve): Call constructor of IMUState */
-  PyObject * _pymessage = NULL;
-  {
-    PyObject * pymessage_module = PyImport_ImportModule("unitree_go.msg._imu_state");
-    assert(pymessage_module);
-    PyObject * pymessage_class = PyObject_GetAttrString(pymessage_module, "IMUState");
-    assert(pymessage_class);
-    Py_DECREF(pymessage_module);
-    _pymessage = PyObject_CallObject(pymessage_class, NULL);
-    Py_DECREF(pymessage_class);
-    if (!_pymessage) {
-      return NULL;
-    }
-  }
-  unitree_go__msg__IMUState * ros_message = (unitree_go__msg__IMUState *)raw_ros_message;
-  {  // quaternion
-    PyObject * field = NULL;
-    field = PyObject_GetAttrString(_pymessage, "quaternion");
-    if (!field) {
-      return NULL;
-    }
-    assert(field->ob_type != NULL);
-    assert(field->ob_type->tp_name != NULL);
-    assert(strcmp(field->ob_type->tp_name, "numpy.ndarray") == 0);
-    PyArrayObject * seq_field = (PyArrayObject *)field;
-    assert(PyArray_NDIM(seq_field) == 1);
-    assert(PyArray_TYPE(seq_field) == NPY_FLOAT32);
-    assert(sizeof(npy_float32) == sizeof(float));
-    npy_float32 * dst = (npy_float32 *)PyArray_GETPTR1(seq_field, 0);
-    float * src = &(ros_message->quaternion[0]);
-    memcpy(dst, src, 4 * sizeof(float));
-    Py_DECREF(field);
-  }
-  {  // gyroscope
-    PyObject * field = NULL;
-    field = PyObject_GetAttrString(_pymessage, "gyroscope");
-    if (!field) {
-      return NULL;
-    }
-    assert(field->ob_type != NULL);
-    assert(field->ob_type->tp_name != NULL);
-    assert(strcmp(field->ob_type->tp_name, "numpy.ndarray") == 0);
-    PyArrayObject * seq_field = (PyArrayObject *)field;
-    assert(PyArray_NDIM(seq_field) == 1);
-    assert(PyArray_TYPE(seq_field) == NPY_FLOAT32);
-    assert(sizeof(npy_float32) == sizeof(float));
-    npy_float32 * dst = (npy_float32 *)PyArray_GETPTR1(seq_field, 0);
-    float * src = &(ros_message->gyroscope[0]);
-    memcpy(dst, src, 3 * sizeof(float));
-    Py_DECREF(field);
-  }
-  {  // accelerometer
-    PyObject * field = NULL;
-    field = PyObject_GetAttrString(_pymessage, "accelerometer");
-    if (!field) {
-      return NULL;
-    }
-    assert(field->ob_type != NULL);
-    assert(field->ob_type->tp_name != NULL);
-    assert(strcmp(field->ob_type->tp_name, "numpy.ndarray") == 0);
-    PyArrayObject * seq_field = (PyArrayObject *)field;
-    assert(PyArray_NDIM(seq_field) == 1);
-    assert(PyArray_TYPE(seq_field) == NPY_FLOAT32);
-    assert(sizeof(npy_float32) == sizeof(float));
-    npy_float32 * dst = (npy_float32 *)PyArray_GETPTR1(seq_field, 0);
-    float * src = &(ros_message->accelerometer[0]);
-    memcpy(dst, src, 3 * sizeof(float));
-    Py_DECREF(field);
-  }
-  {  // rpy
-    PyObject * field = NULL;
-    field = PyObject_GetAttrString(_pymessage, "rpy");
-    if (!field) {
-      return NULL;
-    }
-    assert(field->ob_type != NULL);
-    assert(field->ob_type->tp_name != NULL);
-    assert(strcmp(field->ob_type->tp_name, "numpy.ndarray") == 0);
-    PyArrayObject * seq_field = (PyArrayObject *)field;
-    assert(PyArray_NDIM(seq_field) == 1);
-    assert(PyArray_TYPE(seq_field) == NPY_FLOAT32);
-    assert(sizeof(npy_float32) == sizeof(float));
-    npy_float32 * dst = (npy_float32 *)PyArray_GETPTR1(seq_field, 0);
-    float * src = &(ros_message->rpy[0]);
-    memcpy(dst, src, 3 * sizeof(float));
-    Py_DECREF(field);
-  }
-  {  // temperature
-    PyObject * field = NULL;
-    field = PyLong_FromLong(ros_message->temperature);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "temperature", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-
-  // ownership of _pymessage is transferred to the caller
-  return _pymessage;
-}
diff --git a/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_interface_config.py b/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_interface_config.py
deleted file mode 100644
index cee6940..0000000
--- a/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_interface_config.py
+++ /dev/null
@@ -1,189 +0,0 @@
-# generated from rosidl_generator_py/resource/_idl.py.em
-# with input from unitree_go:msg/InterfaceConfig.idl
-# generated code does not contain a copyright notice
-
-
-# Import statements for member types
-
-# Member 'reserve'
-import numpy  # noqa: E402, I100
-
-import rosidl_parser.definition  # noqa: E402, I100
-
-
-class Metaclass_InterfaceConfig(type):
-    """Metaclass of message 'InterfaceConfig'."""
-
-    _CREATE_ROS_MESSAGE = None
-    _CONVERT_FROM_PY = None
-    _CONVERT_TO_PY = None
-    _DESTROY_ROS_MESSAGE = None
-    _TYPE_SUPPORT = None
-
-    __constants = {
-    }
-
-    @classmethod
-    def __import_type_support__(cls):
-        try:
-            from rosidl_generator_py import import_type_support
-            module = import_type_support('unitree_go')
-        except ImportError:
-            import logging
-            import traceback
-            logger = logging.getLogger(
-                'unitree_go.msg.InterfaceConfig')
-            logger.debug(
-                'Failed to import needed modules for type support:\n' +
-                traceback.format_exc())
-        else:
-            cls._CREATE_ROS_MESSAGE = module.create_ros_message_msg__msg__interface_config
-            cls._CONVERT_FROM_PY = module.convert_from_py_msg__msg__interface_config
-            cls._CONVERT_TO_PY = module.convert_to_py_msg__msg__interface_config
-            cls._TYPE_SUPPORT = module.type_support_msg__msg__interface_config
-            cls._DESTROY_ROS_MESSAGE = module.destroy_ros_message_msg__msg__interface_config
-
-    @classmethod
-    def __prepare__(cls, name, bases, **kwargs):
-        # list constant names here so that they appear in the help text of
-        # the message class under "Data and other attributes defined here:"
-        # as well as populate each message instance
-        return {
-        }
-
-
-class InterfaceConfig(metaclass=Metaclass_InterfaceConfig):
-    """Message class 'InterfaceConfig'."""
-
-    __slots__ = [
-        '_mode',
-        '_value',
-        '_reserve',
-    ]
-
-    _fields_and_field_types = {
-        'mode': 'uint8',
-        'value': 'uint8',
-        'reserve': 'uint8[2]',
-    }
-
-    SLOT_TYPES = (
-        rosidl_parser.definition.BasicType('uint8'),  # noqa: E501
-        rosidl_parser.definition.BasicType('uint8'),  # noqa: E501
-        rosidl_parser.definition.Array(rosidl_parser.definition.BasicType('uint8'), 2),  # noqa: E501
-    )
-
-    def __init__(self, **kwargs):
-        assert all('_' + key in self.__slots__ for key in kwargs.keys()), \
-            'Invalid arguments passed to constructor: %s' % \
-            ', '.join(sorted(k for k in kwargs.keys() if '_' + k not in self.__slots__))
-        self.mode = kwargs.get('mode', int())
-        self.value = kwargs.get('value', int())
-        if 'reserve' not in kwargs:
-            self.reserve = numpy.zeros(2, dtype=numpy.uint8)
-        else:
-            self.reserve = numpy.array(kwargs.get('reserve'), dtype=numpy.uint8)
-            assert self.reserve.shape == (2, )
-
-    def __repr__(self):
-        typename = self.__class__.__module__.split('.')
-        typename.pop()
-        typename.append(self.__class__.__name__)
-        args = []
-        for s, t in zip(self.__slots__, self.SLOT_TYPES):
-            field = getattr(self, s)
-            fieldstr = repr(field)
-            # We use Python array type for fields that can be directly stored
-            # in them, and "normal" sequences for everything else.  If it is
-            # a type that we store in an array, strip off the 'array' portion.
-            if (
-                isinstance(t, rosidl_parser.definition.AbstractSequence) and
-                isinstance(t.value_type, rosidl_parser.definition.BasicType) and
-                t.value_type.typename in ['float', 'double', 'int8', 'uint8', 'int16', 'uint16', 'int32', 'uint32', 'int64', 'uint64']
-            ):
-                if len(field) == 0:
-                    fieldstr = '[]'
-                else:
-                    assert fieldstr.startswith('array(')
-                    prefix = "array('X', "
-                    suffix = ')'
-                    fieldstr = fieldstr[len(prefix):-len(suffix)]
-            args.append(s[1:] + '=' + fieldstr)
-        return '%s(%s)' % ('.'.join(typename), ', '.join(args))
-
-    def __eq__(self, other):
-        if not isinstance(other, self.__class__):
-            return False
-        if self.mode != other.mode:
-            return False
-        if self.value != other.value:
-            return False
-        if all(self.reserve != other.reserve):
-            return False
-        return True
-
-    @classmethod
-    def get_fields_and_field_types(cls):
-        from copy import copy
-        return copy(cls._fields_and_field_types)
-
-    @property
-    def mode(self):
-        """Message field 'mode'."""
-        return self._mode
-
-    @mode.setter
-    def mode(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, int), \
-                "The 'mode' field must be of type 'int'"
-            assert value >= 0 and value < 256, \
-                "The 'mode' field must be an unsigned integer in [0, 255]"
-        self._mode = value
-
-    @property
-    def value(self):
-        """Message field 'value'."""
-        return self._value
-
-    @value.setter
-    def value(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, int), \
-                "The 'value' field must be of type 'int'"
-            assert value >= 0 and value < 256, \
-                "The 'value' field must be an unsigned integer in [0, 255]"
-        self._value = value
-
-    @property
-    def reserve(self):
-        """Message field 'reserve'."""
-        return self._reserve
-
-    @reserve.setter
-    def reserve(self, value):
-        if isinstance(value, numpy.ndarray):
-            assert value.dtype == numpy.uint8, \
-                "The 'reserve' numpy.ndarray() must have the dtype of 'numpy.uint8'"
-            assert value.size == 2, \
-                "The 'reserve' numpy.ndarray() must have a size of 2"
-            self._reserve = value
-            return
-        if __debug__:
-            from collections.abc import Sequence
-            from collections.abc import Set
-            from collections import UserList
-            from collections import UserString
-            assert \
-                ((isinstance(value, Sequence) or
-                  isinstance(value, Set) or
-                  isinstance(value, UserList)) and
-                 not isinstance(value, str) and
-                 not isinstance(value, UserString) and
-                 len(value) == 2 and
-                 all(isinstance(v, int) for v in value) and
-                 all(val >= 0 and val < 256 for val in value)), \
-                "The 'reserve' field must be a set or sequence with length 2 and each value of type 'int' and each unsigned integer in [0, 255]"
-        self._reserve = numpy.array(value, dtype=numpy.uint8)
diff --git a/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_interface_config_s.c b/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_interface_config_s.c
deleted file mode 100644
index 024a5c5..0000000
--- a/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_interface_config_s.c
+++ /dev/null
@@ -1,163 +0,0 @@
-// generated from rosidl_generator_py/resource/_idl_support.c.em
-// with input from unitree_go:msg/InterfaceConfig.idl
-// generated code does not contain a copyright notice
-#define NPY_NO_DEPRECATED_API NPY_1_7_API_VERSION
-#include <Python.h>
-#include <stdbool.h>
-#ifndef _WIN32
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wunused-function"
-#endif
-#include "numpy/ndarrayobject.h"
-#ifndef _WIN32
-# pragma GCC diagnostic pop
-#endif
-#include "rosidl_runtime_c/visibility_control.h"
-#include "unitree_go/msg/detail/interface_config__struct.h"
-#include "unitree_go/msg/detail/interface_config__functions.h"
-
-#include "rosidl_runtime_c/primitives_sequence.h"
-#include "rosidl_runtime_c/primitives_sequence_functions.h"
-
-
-ROSIDL_GENERATOR_C_EXPORT
-bool unitree_go__msg__interface_config__convert_from_py(PyObject * _pymsg, void * _ros_message)
-{
-  // check that the passed message is of the expected Python class
-  {
-    char full_classname_dest[49];
-    {
-      char * class_name = NULL;
-      char * module_name = NULL;
-      {
-        PyObject * class_attr = PyObject_GetAttrString(_pymsg, "__class__");
-        if (class_attr) {
-          PyObject * name_attr = PyObject_GetAttrString(class_attr, "__name__");
-          if (name_attr) {
-            class_name = (char *)PyUnicode_1BYTE_DATA(name_attr);
-            Py_DECREF(name_attr);
-          }
-          PyObject * module_attr = PyObject_GetAttrString(class_attr, "__module__");
-          if (module_attr) {
-            module_name = (char *)PyUnicode_1BYTE_DATA(module_attr);
-            Py_DECREF(module_attr);
-          }
-          Py_DECREF(class_attr);
-        }
-      }
-      if (!class_name || !module_name) {
-        return false;
-      }
-      snprintf(full_classname_dest, sizeof(full_classname_dest), "%s.%s", module_name, class_name);
-    }
-    assert(strncmp("unitree_go.msg._interface_config.InterfaceConfig", full_classname_dest, 48) == 0);
-  }
-  unitree_go__msg__InterfaceConfig * ros_message = _ros_message;
-  {  // mode
-    PyObject * field = PyObject_GetAttrString(_pymsg, "mode");
-    if (!field) {
-      return false;
-    }
-    assert(PyLong_Check(field));
-    ros_message->mode = (uint8_t)PyLong_AsUnsignedLong(field);
-    Py_DECREF(field);
-  }
-  {  // value
-    PyObject * field = PyObject_GetAttrString(_pymsg, "value");
-    if (!field) {
-      return false;
-    }
-    assert(PyLong_Check(field));
-    ros_message->value = (uint8_t)PyLong_AsUnsignedLong(field);
-    Py_DECREF(field);
-  }
-  {  // reserve
-    PyObject * field = PyObject_GetAttrString(_pymsg, "reserve");
-    if (!field) {
-      return false;
-    }
-    {
-      // TODO(dirk-thomas) use a better way to check the type before casting
-      assert(field->ob_type != NULL);
-      assert(field->ob_type->tp_name != NULL);
-      assert(strcmp(field->ob_type->tp_name, "numpy.ndarray") == 0);
-      PyArrayObject * seq_field = (PyArrayObject *)field;
-      Py_INCREF(seq_field);
-      assert(PyArray_NDIM(seq_field) == 1);
-      assert(PyArray_TYPE(seq_field) == NPY_UINT8);
-      Py_ssize_t size = 2;
-      uint8_t * dest = ros_message->reserve;
-      for (Py_ssize_t i = 0; i < size; ++i) {
-        uint8_t tmp = *(npy_uint8 *)PyArray_GETPTR1(seq_field, i);
-        memcpy(&dest[i], &tmp, sizeof(uint8_t));
-      }
-      Py_DECREF(seq_field);
-    }
-    Py_DECREF(field);
-  }
-
-  return true;
-}
-
-ROSIDL_GENERATOR_C_EXPORT
-PyObject * unitree_go__msg__interface_config__convert_to_py(void * raw_ros_message)
-{
-  /* NOTE(esteve): Call constructor of InterfaceConfig */
-  PyObject * _pymessage = NULL;
-  {
-    PyObject * pymessage_module = PyImport_ImportModule("unitree_go.msg._interface_config");
-    assert(pymessage_module);
-    PyObject * pymessage_class = PyObject_GetAttrString(pymessage_module, "InterfaceConfig");
-    assert(pymessage_class);
-    Py_DECREF(pymessage_module);
-    _pymessage = PyObject_CallObject(pymessage_class, NULL);
-    Py_DECREF(pymessage_class);
-    if (!_pymessage) {
-      return NULL;
-    }
-  }
-  unitree_go__msg__InterfaceConfig * ros_message = (unitree_go__msg__InterfaceConfig *)raw_ros_message;
-  {  // mode
-    PyObject * field = NULL;
-    field = PyLong_FromUnsignedLong(ros_message->mode);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "mode", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // value
-    PyObject * field = NULL;
-    field = PyLong_FromUnsignedLong(ros_message->value);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "value", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // reserve
-    PyObject * field = NULL;
-    field = PyObject_GetAttrString(_pymessage, "reserve");
-    if (!field) {
-      return NULL;
-    }
-    assert(field->ob_type != NULL);
-    assert(field->ob_type->tp_name != NULL);
-    assert(strcmp(field->ob_type->tp_name, "numpy.ndarray") == 0);
-    PyArrayObject * seq_field = (PyArrayObject *)field;
-    assert(PyArray_NDIM(seq_field) == 1);
-    assert(PyArray_TYPE(seq_field) == NPY_UINT8);
-    assert(sizeof(npy_uint8) == sizeof(uint8_t));
-    npy_uint8 * dst = (npy_uint8 *)PyArray_GETPTR1(seq_field, 0);
-    uint8_t * src = &(ros_message->reserve[0]);
-    memcpy(dst, src, 2 * sizeof(uint8_t));
-    Py_DECREF(field);
-  }
-
-  // ownership of _pymessage is transferred to the caller
-  return _pymessage;
-}
diff --git a/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_lidar_state.py b/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_lidar_state.py
deleted file mode 100644
index 6b6da0b..0000000
--- a/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_lidar_state.py
+++ /dev/null
@@ -1,461 +0,0 @@
-# generated from rosidl_generator_py/resource/_idl.py.em
-# with input from unitree_go:msg/LidarState.idl
-# generated code does not contain a copyright notice
-
-
-# Import statements for member types
-
-# Member 'imu_rpy'
-import numpy  # noqa: E402, I100
-
-import rosidl_parser.definition  # noqa: E402, I100
-
-
-class Metaclass_LidarState(type):
-    """Metaclass of message 'LidarState'."""
-
-    _CREATE_ROS_MESSAGE = None
-    _CONVERT_FROM_PY = None
-    _CONVERT_TO_PY = None
-    _DESTROY_ROS_MESSAGE = None
-    _TYPE_SUPPORT = None
-
-    __constants = {
-    }
-
-    @classmethod
-    def __import_type_support__(cls):
-        try:
-            from rosidl_generator_py import import_type_support
-            module = import_type_support('unitree_go')
-        except ImportError:
-            import logging
-            import traceback
-            logger = logging.getLogger(
-                'unitree_go.msg.LidarState')
-            logger.debug(
-                'Failed to import needed modules for type support:\n' +
-                traceback.format_exc())
-        else:
-            cls._CREATE_ROS_MESSAGE = module.create_ros_message_msg__msg__lidar_state
-            cls._CONVERT_FROM_PY = module.convert_from_py_msg__msg__lidar_state
-            cls._CONVERT_TO_PY = module.convert_to_py_msg__msg__lidar_state
-            cls._TYPE_SUPPORT = module.type_support_msg__msg__lidar_state
-            cls._DESTROY_ROS_MESSAGE = module.destroy_ros_message_msg__msg__lidar_state
-
-    @classmethod
-    def __prepare__(cls, name, bases, **kwargs):
-        # list constant names here so that they appear in the help text of
-        # the message class under "Data and other attributes defined here:"
-        # as well as populate each message instance
-        return {
-        }
-
-
-class LidarState(metaclass=Metaclass_LidarState):
-    """Message class 'LidarState'."""
-
-    __slots__ = [
-        '_stamp',
-        '_firmware_version',
-        '_software_version',
-        '_sdk_version',
-        '_sys_rotation_speed',
-        '_com_rotation_speed',
-        '_error_state',
-        '_cloud_frequency',
-        '_cloud_packet_loss_rate',
-        '_cloud_size',
-        '_cloud_scan_num',
-        '_imu_frequency',
-        '_imu_packet_loss_rate',
-        '_imu_rpy',
-        '_serial_recv_stamp',
-        '_serial_buffer_size',
-        '_serial_buffer_read',
-    ]
-
-    _fields_and_field_types = {
-        'stamp': 'double',
-        'firmware_version': 'string',
-        'software_version': 'string',
-        'sdk_version': 'string',
-        'sys_rotation_speed': 'float',
-        'com_rotation_speed': 'float',
-        'error_state': 'uint8',
-        'cloud_frequency': 'float',
-        'cloud_packet_loss_rate': 'float',
-        'cloud_size': 'uint32',
-        'cloud_scan_num': 'uint32',
-        'imu_frequency': 'float',
-        'imu_packet_loss_rate': 'float',
-        'imu_rpy': 'float[3]',
-        'serial_recv_stamp': 'double',
-        'serial_buffer_size': 'uint32',
-        'serial_buffer_read': 'uint32',
-    }
-
-    SLOT_TYPES = (
-        rosidl_parser.definition.BasicType('double'),  # noqa: E501
-        rosidl_parser.definition.UnboundedString(),  # noqa: E501
-        rosidl_parser.definition.UnboundedString(),  # noqa: E501
-        rosidl_parser.definition.UnboundedString(),  # noqa: E501
-        rosidl_parser.definition.BasicType('float'),  # noqa: E501
-        rosidl_parser.definition.BasicType('float'),  # noqa: E501
-        rosidl_parser.definition.BasicType('uint8'),  # noqa: E501
-        rosidl_parser.definition.BasicType('float'),  # noqa: E501
-        rosidl_parser.definition.BasicType('float'),  # noqa: E501
-        rosidl_parser.definition.BasicType('uint32'),  # noqa: E501
-        rosidl_parser.definition.BasicType('uint32'),  # noqa: E501
-        rosidl_parser.definition.BasicType('float'),  # noqa: E501
-        rosidl_parser.definition.BasicType('float'),  # noqa: E501
-        rosidl_parser.definition.Array(rosidl_parser.definition.BasicType('float'), 3),  # noqa: E501
-        rosidl_parser.definition.BasicType('double'),  # noqa: E501
-        rosidl_parser.definition.BasicType('uint32'),  # noqa: E501
-        rosidl_parser.definition.BasicType('uint32'),  # noqa: E501
-    )
-
-    def __init__(self, **kwargs):
-        assert all('_' + key in self.__slots__ for key in kwargs.keys()), \
-            'Invalid arguments passed to constructor: %s' % \
-            ', '.join(sorted(k for k in kwargs.keys() if '_' + k not in self.__slots__))
-        self.stamp = kwargs.get('stamp', float())
-        self.firmware_version = kwargs.get('firmware_version', str())
-        self.software_version = kwargs.get('software_version', str())
-        self.sdk_version = kwargs.get('sdk_version', str())
-        self.sys_rotation_speed = kwargs.get('sys_rotation_speed', float())
-        self.com_rotation_speed = kwargs.get('com_rotation_speed', float())
-        self.error_state = kwargs.get('error_state', int())
-        self.cloud_frequency = kwargs.get('cloud_frequency', float())
-        self.cloud_packet_loss_rate = kwargs.get('cloud_packet_loss_rate', float())
-        self.cloud_size = kwargs.get('cloud_size', int())
-        self.cloud_scan_num = kwargs.get('cloud_scan_num', int())
-        self.imu_frequency = kwargs.get('imu_frequency', float())
-        self.imu_packet_loss_rate = kwargs.get('imu_packet_loss_rate', float())
-        if 'imu_rpy' not in kwargs:
-            self.imu_rpy = numpy.zeros(3, dtype=numpy.float32)
-        else:
-            self.imu_rpy = numpy.array(kwargs.get('imu_rpy'), dtype=numpy.float32)
-            assert self.imu_rpy.shape == (3, )
-        self.serial_recv_stamp = kwargs.get('serial_recv_stamp', float())
-        self.serial_buffer_size = kwargs.get('serial_buffer_size', int())
-        self.serial_buffer_read = kwargs.get('serial_buffer_read', int())
-
-    def __repr__(self):
-        typename = self.__class__.__module__.split('.')
-        typename.pop()
-        typename.append(self.__class__.__name__)
-        args = []
-        for s, t in zip(self.__slots__, self.SLOT_TYPES):
-            field = getattr(self, s)
-            fieldstr = repr(field)
-            # We use Python array type for fields that can be directly stored
-            # in them, and "normal" sequences for everything else.  If it is
-            # a type that we store in an array, strip off the 'array' portion.
-            if (
-                isinstance(t, rosidl_parser.definition.AbstractSequence) and
-                isinstance(t.value_type, rosidl_parser.definition.BasicType) and
-                t.value_type.typename in ['float', 'double', 'int8', 'uint8', 'int16', 'uint16', 'int32', 'uint32', 'int64', 'uint64']
-            ):
-                if len(field) == 0:
-                    fieldstr = '[]'
-                else:
-                    assert fieldstr.startswith('array(')
-                    prefix = "array('X', "
-                    suffix = ')'
-                    fieldstr = fieldstr[len(prefix):-len(suffix)]
-            args.append(s[1:] + '=' + fieldstr)
-        return '%s(%s)' % ('.'.join(typename), ', '.join(args))
-
-    def __eq__(self, other):
-        if not isinstance(other, self.__class__):
-            return False
-        if self.stamp != other.stamp:
-            return False
-        if self.firmware_version != other.firmware_version:
-            return False
-        if self.software_version != other.software_version:
-            return False
-        if self.sdk_version != other.sdk_version:
-            return False
-        if self.sys_rotation_speed != other.sys_rotation_speed:
-            return False
-        if self.com_rotation_speed != other.com_rotation_speed:
-            return False
-        if self.error_state != other.error_state:
-            return False
-        if self.cloud_frequency != other.cloud_frequency:
-            return False
-        if self.cloud_packet_loss_rate != other.cloud_packet_loss_rate:
-            return False
-        if self.cloud_size != other.cloud_size:
-            return False
-        if self.cloud_scan_num != other.cloud_scan_num:
-            return False
-        if self.imu_frequency != other.imu_frequency:
-            return False
-        if self.imu_packet_loss_rate != other.imu_packet_loss_rate:
-            return False
-        if all(self.imu_rpy != other.imu_rpy):
-            return False
-        if self.serial_recv_stamp != other.serial_recv_stamp:
-            return False
-        if self.serial_buffer_size != other.serial_buffer_size:
-            return False
-        if self.serial_buffer_read != other.serial_buffer_read:
-            return False
-        return True
-
-    @classmethod
-    def get_fields_and_field_types(cls):
-        from copy import copy
-        return copy(cls._fields_and_field_types)
-
-    @property
-    def stamp(self):
-        """Message field 'stamp'."""
-        return self._stamp
-
-    @stamp.setter
-    def stamp(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, float), \
-                "The 'stamp' field must be of type 'float'"
-        self._stamp = value
-
-    @property
-    def firmware_version(self):
-        """Message field 'firmware_version'."""
-        return self._firmware_version
-
-    @firmware_version.setter
-    def firmware_version(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, str), \
-                "The 'firmware_version' field must be of type 'str'"
-        self._firmware_version = value
-
-    @property
-    def software_version(self):
-        """Message field 'software_version'."""
-        return self._software_version
-
-    @software_version.setter
-    def software_version(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, str), \
-                "The 'software_version' field must be of type 'str'"
-        self._software_version = value
-
-    @property
-    def sdk_version(self):
-        """Message field 'sdk_version'."""
-        return self._sdk_version
-
-    @sdk_version.setter
-    def sdk_version(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, str), \
-                "The 'sdk_version' field must be of type 'str'"
-        self._sdk_version = value
-
-    @property
-    def sys_rotation_speed(self):
-        """Message field 'sys_rotation_speed'."""
-        return self._sys_rotation_speed
-
-    @sys_rotation_speed.setter
-    def sys_rotation_speed(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, float), \
-                "The 'sys_rotation_speed' field must be of type 'float'"
-        self._sys_rotation_speed = value
-
-    @property
-    def com_rotation_speed(self):
-        """Message field 'com_rotation_speed'."""
-        return self._com_rotation_speed
-
-    @com_rotation_speed.setter
-    def com_rotation_speed(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, float), \
-                "The 'com_rotation_speed' field must be of type 'float'"
-        self._com_rotation_speed = value
-
-    @property
-    def error_state(self):
-        """Message field 'error_state'."""
-        return self._error_state
-
-    @error_state.setter
-    def error_state(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, int), \
-                "The 'error_state' field must be of type 'int'"
-            assert value >= 0 and value < 256, \
-                "The 'error_state' field must be an unsigned integer in [0, 255]"
-        self._error_state = value
-
-    @property
-    def cloud_frequency(self):
-        """Message field 'cloud_frequency'."""
-        return self._cloud_frequency
-
-    @cloud_frequency.setter
-    def cloud_frequency(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, float), \
-                "The 'cloud_frequency' field must be of type 'float'"
-        self._cloud_frequency = value
-
-    @property
-    def cloud_packet_loss_rate(self):
-        """Message field 'cloud_packet_loss_rate'."""
-        return self._cloud_packet_loss_rate
-
-    @cloud_packet_loss_rate.setter
-    def cloud_packet_loss_rate(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, float), \
-                "The 'cloud_packet_loss_rate' field must be of type 'float'"
-        self._cloud_packet_loss_rate = value
-
-    @property
-    def cloud_size(self):
-        """Message field 'cloud_size'."""
-        return self._cloud_size
-
-    @cloud_size.setter
-    def cloud_size(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, int), \
-                "The 'cloud_size' field must be of type 'int'"
-            assert value >= 0 and value < 4294967296, \
-                "The 'cloud_size' field must be an unsigned integer in [0, 4294967295]"
-        self._cloud_size = value
-
-    @property
-    def cloud_scan_num(self):
-        """Message field 'cloud_scan_num'."""
-        return self._cloud_scan_num
-
-    @cloud_scan_num.setter
-    def cloud_scan_num(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, int), \
-                "The 'cloud_scan_num' field must be of type 'int'"
-            assert value >= 0 and value < 4294967296, \
-                "The 'cloud_scan_num' field must be an unsigned integer in [0, 4294967295]"
-        self._cloud_scan_num = value
-
-    @property
-    def imu_frequency(self):
-        """Message field 'imu_frequency'."""
-        return self._imu_frequency
-
-    @imu_frequency.setter
-    def imu_frequency(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, float), \
-                "The 'imu_frequency' field must be of type 'float'"
-        self._imu_frequency = value
-
-    @property
-    def imu_packet_loss_rate(self):
-        """Message field 'imu_packet_loss_rate'."""
-        return self._imu_packet_loss_rate
-
-    @imu_packet_loss_rate.setter
-    def imu_packet_loss_rate(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, float), \
-                "The 'imu_packet_loss_rate' field must be of type 'float'"
-        self._imu_packet_loss_rate = value
-
-    @property
-    def imu_rpy(self):
-        """Message field 'imu_rpy'."""
-        return self._imu_rpy
-
-    @imu_rpy.setter
-    def imu_rpy(self, value):
-        if isinstance(value, numpy.ndarray):
-            assert value.dtype == numpy.float32, \
-                "The 'imu_rpy' numpy.ndarray() must have the dtype of 'numpy.float32'"
-            assert value.size == 3, \
-                "The 'imu_rpy' numpy.ndarray() must have a size of 3"
-            self._imu_rpy = value
-            return
-        if __debug__:
-            from collections.abc import Sequence
-            from collections.abc import Set
-            from collections import UserList
-            from collections import UserString
-            assert \
-                ((isinstance(value, Sequence) or
-                  isinstance(value, Set) or
-                  isinstance(value, UserList)) and
-                 not isinstance(value, str) and
-                 not isinstance(value, UserString) and
-                 len(value) == 3 and
-                 all(isinstance(v, float) for v in value) and
-                 True), \
-                "The 'imu_rpy' field must be a set or sequence with length 3 and each value of type 'float'"
-        self._imu_rpy = numpy.array(value, dtype=numpy.float32)
-
-    @property
-    def serial_recv_stamp(self):
-        """Message field 'serial_recv_stamp'."""
-        return self._serial_recv_stamp
-
-    @serial_recv_stamp.setter
-    def serial_recv_stamp(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, float), \
-                "The 'serial_recv_stamp' field must be of type 'float'"
-        self._serial_recv_stamp = value
-
-    @property
-    def serial_buffer_size(self):
-        """Message field 'serial_buffer_size'."""
-        return self._serial_buffer_size
-
-    @serial_buffer_size.setter
-    def serial_buffer_size(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, int), \
-                "The 'serial_buffer_size' field must be of type 'int'"
-            assert value >= 0 and value < 4294967296, \
-                "The 'serial_buffer_size' field must be an unsigned integer in [0, 4294967295]"
-        self._serial_buffer_size = value
-
-    @property
-    def serial_buffer_read(self):
-        """Message field 'serial_buffer_read'."""
-        return self._serial_buffer_read
-
-    @serial_buffer_read.setter
-    def serial_buffer_read(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, int), \
-                "The 'serial_buffer_read' field must be of type 'int'"
-            assert value >= 0 and value < 4294967296, \
-                "The 'serial_buffer_read' field must be an unsigned integer in [0, 4294967295]"
-        self._serial_buffer_read = value
diff --git a/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_lidar_state_s.c b/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_lidar_state_s.c
deleted file mode 100644
index fe94967..0000000
--- a/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_lidar_state_s.c
+++ /dev/null
@@ -1,482 +0,0 @@
-// generated from rosidl_generator_py/resource/_idl_support.c.em
-// with input from unitree_go:msg/LidarState.idl
-// generated code does not contain a copyright notice
-#define NPY_NO_DEPRECATED_API NPY_1_7_API_VERSION
-#include <Python.h>
-#include <stdbool.h>
-#ifndef _WIN32
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wunused-function"
-#endif
-#include "numpy/ndarrayobject.h"
-#ifndef _WIN32
-# pragma GCC diagnostic pop
-#endif
-#include "rosidl_runtime_c/visibility_control.h"
-#include "unitree_go/msg/detail/lidar_state__struct.h"
-#include "unitree_go/msg/detail/lidar_state__functions.h"
-
-#include "rosidl_runtime_c/string.h"
-#include "rosidl_runtime_c/string_functions.h"
-
-#include "rosidl_runtime_c/primitives_sequence.h"
-#include "rosidl_runtime_c/primitives_sequence_functions.h"
-
-
-ROSIDL_GENERATOR_C_EXPORT
-bool unitree_go__msg__lidar_state__convert_from_py(PyObject * _pymsg, void * _ros_message)
-{
-  // check that the passed message is of the expected Python class
-  {
-    char full_classname_dest[39];
-    {
-      char * class_name = NULL;
-      char * module_name = NULL;
-      {
-        PyObject * class_attr = PyObject_GetAttrString(_pymsg, "__class__");
-        if (class_attr) {
-          PyObject * name_attr = PyObject_GetAttrString(class_attr, "__name__");
-          if (name_attr) {
-            class_name = (char *)PyUnicode_1BYTE_DATA(name_attr);
-            Py_DECREF(name_attr);
-          }
-          PyObject * module_attr = PyObject_GetAttrString(class_attr, "__module__");
-          if (module_attr) {
-            module_name = (char *)PyUnicode_1BYTE_DATA(module_attr);
-            Py_DECREF(module_attr);
-          }
-          Py_DECREF(class_attr);
-        }
-      }
-      if (!class_name || !module_name) {
-        return false;
-      }
-      snprintf(full_classname_dest, sizeof(full_classname_dest), "%s.%s", module_name, class_name);
-    }
-    assert(strncmp("unitree_go.msg._lidar_state.LidarState", full_classname_dest, 38) == 0);
-  }
-  unitree_go__msg__LidarState * ros_message = _ros_message;
-  {  // stamp
-    PyObject * field = PyObject_GetAttrString(_pymsg, "stamp");
-    if (!field) {
-      return false;
-    }
-    assert(PyFloat_Check(field));
-    ros_message->stamp = PyFloat_AS_DOUBLE(field);
-    Py_DECREF(field);
-  }
-  {  // firmware_version
-    PyObject * field = PyObject_GetAttrString(_pymsg, "firmware_version");
-    if (!field) {
-      return false;
-    }
-    assert(PyUnicode_Check(field));
-    PyObject * encoded_field = PyUnicode_AsUTF8String(field);
-    if (!encoded_field) {
-      Py_DECREF(field);
-      return false;
-    }
-    rosidl_runtime_c__String__assign(&ros_message->firmware_version, PyBytes_AS_STRING(encoded_field));
-    Py_DECREF(encoded_field);
-    Py_DECREF(field);
-  }
-  {  // software_version
-    PyObject * field = PyObject_GetAttrString(_pymsg, "software_version");
-    if (!field) {
-      return false;
-    }
-    assert(PyUnicode_Check(field));
-    PyObject * encoded_field = PyUnicode_AsUTF8String(field);
-    if (!encoded_field) {
-      Py_DECREF(field);
-      return false;
-    }
-    rosidl_runtime_c__String__assign(&ros_message->software_version, PyBytes_AS_STRING(encoded_field));
-    Py_DECREF(encoded_field);
-    Py_DECREF(field);
-  }
-  {  // sdk_version
-    PyObject * field = PyObject_GetAttrString(_pymsg, "sdk_version");
-    if (!field) {
-      return false;
-    }
-    assert(PyUnicode_Check(field));
-    PyObject * encoded_field = PyUnicode_AsUTF8String(field);
-    if (!encoded_field) {
-      Py_DECREF(field);
-      return false;
-    }
-    rosidl_runtime_c__String__assign(&ros_message->sdk_version, PyBytes_AS_STRING(encoded_field));
-    Py_DECREF(encoded_field);
-    Py_DECREF(field);
-  }
-  {  // sys_rotation_speed
-    PyObject * field = PyObject_GetAttrString(_pymsg, "sys_rotation_speed");
-    if (!field) {
-      return false;
-    }
-    assert(PyFloat_Check(field));
-    ros_message->sys_rotation_speed = (float)PyFloat_AS_DOUBLE(field);
-    Py_DECREF(field);
-  }
-  {  // com_rotation_speed
-    PyObject * field = PyObject_GetAttrString(_pymsg, "com_rotation_speed");
-    if (!field) {
-      return false;
-    }
-    assert(PyFloat_Check(field));
-    ros_message->com_rotation_speed = (float)PyFloat_AS_DOUBLE(field);
-    Py_DECREF(field);
-  }
-  {  // error_state
-    PyObject * field = PyObject_GetAttrString(_pymsg, "error_state");
-    if (!field) {
-      return false;
-    }
-    assert(PyLong_Check(field));
-    ros_message->error_state = (uint8_t)PyLong_AsUnsignedLong(field);
-    Py_DECREF(field);
-  }
-  {  // cloud_frequency
-    PyObject * field = PyObject_GetAttrString(_pymsg, "cloud_frequency");
-    if (!field) {
-      return false;
-    }
-    assert(PyFloat_Check(field));
-    ros_message->cloud_frequency = (float)PyFloat_AS_DOUBLE(field);
-    Py_DECREF(field);
-  }
-  {  // cloud_packet_loss_rate
-    PyObject * field = PyObject_GetAttrString(_pymsg, "cloud_packet_loss_rate");
-    if (!field) {
-      return false;
-    }
-    assert(PyFloat_Check(field));
-    ros_message->cloud_packet_loss_rate = (float)PyFloat_AS_DOUBLE(field);
-    Py_DECREF(field);
-  }
-  {  // cloud_size
-    PyObject * field = PyObject_GetAttrString(_pymsg, "cloud_size");
-    if (!field) {
-      return false;
-    }
-    assert(PyLong_Check(field));
-    ros_message->cloud_size = PyLong_AsUnsignedLong(field);
-    Py_DECREF(field);
-  }
-  {  // cloud_scan_num
-    PyObject * field = PyObject_GetAttrString(_pymsg, "cloud_scan_num");
-    if (!field) {
-      return false;
-    }
-    assert(PyLong_Check(field));
-    ros_message->cloud_scan_num = PyLong_AsUnsignedLong(field);
-    Py_DECREF(field);
-  }
-  {  // imu_frequency
-    PyObject * field = PyObject_GetAttrString(_pymsg, "imu_frequency");
-    if (!field) {
-      return false;
-    }
-    assert(PyFloat_Check(field));
-    ros_message->imu_frequency = (float)PyFloat_AS_DOUBLE(field);
-    Py_DECREF(field);
-  }
-  {  // imu_packet_loss_rate
-    PyObject * field = PyObject_GetAttrString(_pymsg, "imu_packet_loss_rate");
-    if (!field) {
-      return false;
-    }
-    assert(PyFloat_Check(field));
-    ros_message->imu_packet_loss_rate = (float)PyFloat_AS_DOUBLE(field);
-    Py_DECREF(field);
-  }
-  {  // imu_rpy
-    PyObject * field = PyObject_GetAttrString(_pymsg, "imu_rpy");
-    if (!field) {
-      return false;
-    }
-    {
-      // TODO(dirk-thomas) use a better way to check the type before casting
-      assert(field->ob_type != NULL);
-      assert(field->ob_type->tp_name != NULL);
-      assert(strcmp(field->ob_type->tp_name, "numpy.ndarray") == 0);
-      PyArrayObject * seq_field = (PyArrayObject *)field;
-      Py_INCREF(seq_field);
-      assert(PyArray_NDIM(seq_field) == 1);
-      assert(PyArray_TYPE(seq_field) == NPY_FLOAT32);
-      Py_ssize_t size = 3;
-      float * dest = ros_message->imu_rpy;
-      for (Py_ssize_t i = 0; i < size; ++i) {
-        float tmp = *(npy_float32 *)PyArray_GETPTR1(seq_field, i);
-        memcpy(&dest[i], &tmp, sizeof(float));
-      }
-      Py_DECREF(seq_field);
-    }
-    Py_DECREF(field);
-  }
-  {  // serial_recv_stamp
-    PyObject * field = PyObject_GetAttrString(_pymsg, "serial_recv_stamp");
-    if (!field) {
-      return false;
-    }
-    assert(PyFloat_Check(field));
-    ros_message->serial_recv_stamp = PyFloat_AS_DOUBLE(field);
-    Py_DECREF(field);
-  }
-  {  // serial_buffer_size
-    PyObject * field = PyObject_GetAttrString(_pymsg, "serial_buffer_size");
-    if (!field) {
-      return false;
-    }
-    assert(PyLong_Check(field));
-    ros_message->serial_buffer_size = PyLong_AsUnsignedLong(field);
-    Py_DECREF(field);
-  }
-  {  // serial_buffer_read
-    PyObject * field = PyObject_GetAttrString(_pymsg, "serial_buffer_read");
-    if (!field) {
-      return false;
-    }
-    assert(PyLong_Check(field));
-    ros_message->serial_buffer_read = PyLong_AsUnsignedLong(field);
-    Py_DECREF(field);
-  }
-
-  return true;
-}
-
-ROSIDL_GENERATOR_C_EXPORT
-PyObject * unitree_go__msg__lidar_state__convert_to_py(void * raw_ros_message)
-{
-  /* NOTE(esteve): Call constructor of LidarState */
-  PyObject * _pymessage = NULL;
-  {
-    PyObject * pymessage_module = PyImport_ImportModule("unitree_go.msg._lidar_state");
-    assert(pymessage_module);
-    PyObject * pymessage_class = PyObject_GetAttrString(pymessage_module, "LidarState");
-    assert(pymessage_class);
-    Py_DECREF(pymessage_module);
-    _pymessage = PyObject_CallObject(pymessage_class, NULL);
-    Py_DECREF(pymessage_class);
-    if (!_pymessage) {
-      return NULL;
-    }
-  }
-  unitree_go__msg__LidarState * ros_message = (unitree_go__msg__LidarState *)raw_ros_message;
-  {  // stamp
-    PyObject * field = NULL;
-    field = PyFloat_FromDouble(ros_message->stamp);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "stamp", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // firmware_version
-    PyObject * field = NULL;
-    field = PyUnicode_DecodeUTF8(
-      ros_message->firmware_version.data,
-      strlen(ros_message->firmware_version.data),
-      "replace");
-    if (!field) {
-      return NULL;
-    }
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "firmware_version", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // software_version
-    PyObject * field = NULL;
-    field = PyUnicode_DecodeUTF8(
-      ros_message->software_version.data,
-      strlen(ros_message->software_version.data),
-      "replace");
-    if (!field) {
-      return NULL;
-    }
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "software_version", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // sdk_version
-    PyObject * field = NULL;
-    field = PyUnicode_DecodeUTF8(
-      ros_message->sdk_version.data,
-      strlen(ros_message->sdk_version.data),
-      "replace");
-    if (!field) {
-      return NULL;
-    }
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "sdk_version", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // sys_rotation_speed
-    PyObject * field = NULL;
-    field = PyFloat_FromDouble(ros_message->sys_rotation_speed);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "sys_rotation_speed", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // com_rotation_speed
-    PyObject * field = NULL;
-    field = PyFloat_FromDouble(ros_message->com_rotation_speed);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "com_rotation_speed", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // error_state
-    PyObject * field = NULL;
-    field = PyLong_FromUnsignedLong(ros_message->error_state);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "error_state", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // cloud_frequency
-    PyObject * field = NULL;
-    field = PyFloat_FromDouble(ros_message->cloud_frequency);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "cloud_frequency", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // cloud_packet_loss_rate
-    PyObject * field = NULL;
-    field = PyFloat_FromDouble(ros_message->cloud_packet_loss_rate);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "cloud_packet_loss_rate", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // cloud_size
-    PyObject * field = NULL;
-    field = PyLong_FromUnsignedLong(ros_message->cloud_size);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "cloud_size", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // cloud_scan_num
-    PyObject * field = NULL;
-    field = PyLong_FromUnsignedLong(ros_message->cloud_scan_num);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "cloud_scan_num", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // imu_frequency
-    PyObject * field = NULL;
-    field = PyFloat_FromDouble(ros_message->imu_frequency);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "imu_frequency", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // imu_packet_loss_rate
-    PyObject * field = NULL;
-    field = PyFloat_FromDouble(ros_message->imu_packet_loss_rate);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "imu_packet_loss_rate", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // imu_rpy
-    PyObject * field = NULL;
-    field = PyObject_GetAttrString(_pymessage, "imu_rpy");
-    if (!field) {
-      return NULL;
-    }
-    assert(field->ob_type != NULL);
-    assert(field->ob_type->tp_name != NULL);
-    assert(strcmp(field->ob_type->tp_name, "numpy.ndarray") == 0);
-    PyArrayObject * seq_field = (PyArrayObject *)field;
-    assert(PyArray_NDIM(seq_field) == 1);
-    assert(PyArray_TYPE(seq_field) == NPY_FLOAT32);
-    assert(sizeof(npy_float32) == sizeof(float));
-    npy_float32 * dst = (npy_float32 *)PyArray_GETPTR1(seq_field, 0);
-    float * src = &(ros_message->imu_rpy[0]);
-    memcpy(dst, src, 3 * sizeof(float));
-    Py_DECREF(field);
-  }
-  {  // serial_recv_stamp
-    PyObject * field = NULL;
-    field = PyFloat_FromDouble(ros_message->serial_recv_stamp);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "serial_recv_stamp", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // serial_buffer_size
-    PyObject * field = NULL;
-    field = PyLong_FromUnsignedLong(ros_message->serial_buffer_size);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "serial_buffer_size", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // serial_buffer_read
-    PyObject * field = NULL;
-    field = PyLong_FromUnsignedLong(ros_message->serial_buffer_read);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "serial_buffer_read", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-
-  // ownership of _pymessage is transferred to the caller
-  return _pymessage;
-}
diff --git a/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_low_cmd.py b/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_low_cmd.py
deleted file mode 100644
index 566e4de..0000000
--- a/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_low_cmd.py
+++ /dev/null
@@ -1,547 +0,0 @@
-# generated from rosidl_generator_py/resource/_idl.py.em
-# with input from unitree_go:msg/LowCmd.idl
-# generated code does not contain a copyright notice
-
-
-# Import statements for member types
-
-# Member 'head'
-# Member 'sn'
-# Member 'version'
-# Member 'wireless_remote'
-# Member 'led'
-# Member 'fan'
-import numpy  # noqa: E402, I100
-
-import rosidl_parser.definition  # noqa: E402, I100
-
-
-class Metaclass_LowCmd(type):
-    """Metaclass of message 'LowCmd'."""
-
-    _CREATE_ROS_MESSAGE = None
-    _CONVERT_FROM_PY = None
-    _CONVERT_TO_PY = None
-    _DESTROY_ROS_MESSAGE = None
-    _TYPE_SUPPORT = None
-
-    __constants = {
-    }
-
-    @classmethod
-    def __import_type_support__(cls):
-        try:
-            from rosidl_generator_py import import_type_support
-            module = import_type_support('unitree_go')
-        except ImportError:
-            import logging
-            import traceback
-            logger = logging.getLogger(
-                'unitree_go.msg.LowCmd')
-            logger.debug(
-                'Failed to import needed modules for type support:\n' +
-                traceback.format_exc())
-        else:
-            cls._CREATE_ROS_MESSAGE = module.create_ros_message_msg__msg__low_cmd
-            cls._CONVERT_FROM_PY = module.convert_from_py_msg__msg__low_cmd
-            cls._CONVERT_TO_PY = module.convert_to_py_msg__msg__low_cmd
-            cls._TYPE_SUPPORT = module.type_support_msg__msg__low_cmd
-            cls._DESTROY_ROS_MESSAGE = module.destroy_ros_message_msg__msg__low_cmd
-
-            from unitree_go.msg import BmsCmd
-            if BmsCmd.__class__._TYPE_SUPPORT is None:
-                BmsCmd.__class__.__import_type_support__()
-
-            from unitree_go.msg import MotorCmd
-            if MotorCmd.__class__._TYPE_SUPPORT is None:
-                MotorCmd.__class__.__import_type_support__()
-
-    @classmethod
-    def __prepare__(cls, name, bases, **kwargs):
-        # list constant names here so that they appear in the help text of
-        # the message class under "Data and other attributes defined here:"
-        # as well as populate each message instance
-        return {
-        }
-
-
-class LowCmd(metaclass=Metaclass_LowCmd):
-    """Message class 'LowCmd'."""
-
-    __slots__ = [
-        '_head',
-        '_level_flag',
-        '_frame_reserve',
-        '_sn',
-        '_version',
-        '_bandwidth',
-        '_motor_cmd',
-        '_bms_cmd',
-        '_wireless_remote',
-        '_led',
-        '_fan',
-        '_gpio',
-        '_reserve',
-        '_crc',
-    ]
-
-    _fields_and_field_types = {
-        'head': 'uint8[2]',
-        'level_flag': 'uint8',
-        'frame_reserve': 'uint8',
-        'sn': 'uint32[2]',
-        'version': 'uint32[2]',
-        'bandwidth': 'uint16',
-        'motor_cmd': 'unitree_go/MotorCmd[20]',
-        'bms_cmd': 'unitree_go/BmsCmd',
-        'wireless_remote': 'uint8[40]',
-        'led': 'uint8[12]',
-        'fan': 'uint8[2]',
-        'gpio': 'uint8',
-        'reserve': 'uint32',
-        'crc': 'uint32',
-    }
-
-    SLOT_TYPES = (
-        rosidl_parser.definition.Array(rosidl_parser.definition.BasicType('uint8'), 2),  # noqa: E501
-        rosidl_parser.definition.BasicType('uint8'),  # noqa: E501
-        rosidl_parser.definition.BasicType('uint8'),  # noqa: E501
-        rosidl_parser.definition.Array(rosidl_parser.definition.BasicType('uint32'), 2),  # noqa: E501
-        rosidl_parser.definition.Array(rosidl_parser.definition.BasicType('uint32'), 2),  # noqa: E501
-        rosidl_parser.definition.BasicType('uint16'),  # noqa: E501
-        rosidl_parser.definition.Array(rosidl_parser.definition.NamespacedType(['unitree_go', 'msg'], 'MotorCmd'), 20),  # noqa: E501
-        rosidl_parser.definition.NamespacedType(['unitree_go', 'msg'], 'BmsCmd'),  # noqa: E501
-        rosidl_parser.definition.Array(rosidl_parser.definition.BasicType('uint8'), 40),  # noqa: E501
-        rosidl_parser.definition.Array(rosidl_parser.definition.BasicType('uint8'), 12),  # noqa: E501
-        rosidl_parser.definition.Array(rosidl_parser.definition.BasicType('uint8'), 2),  # noqa: E501
-        rosidl_parser.definition.BasicType('uint8'),  # noqa: E501
-        rosidl_parser.definition.BasicType('uint32'),  # noqa: E501
-        rosidl_parser.definition.BasicType('uint32'),  # noqa: E501
-    )
-
-    def __init__(self, **kwargs):
-        assert all('_' + key in self.__slots__ for key in kwargs.keys()), \
-            'Invalid arguments passed to constructor: %s' % \
-            ', '.join(sorted(k for k in kwargs.keys() if '_' + k not in self.__slots__))
-        if 'head' not in kwargs:
-            self.head = numpy.zeros(2, dtype=numpy.uint8)
-        else:
-            self.head = numpy.array(kwargs.get('head'), dtype=numpy.uint8)
-            assert self.head.shape == (2, )
-        self.level_flag = kwargs.get('level_flag', int())
-        self.frame_reserve = kwargs.get('frame_reserve', int())
-        if 'sn' not in kwargs:
-            self.sn = numpy.zeros(2, dtype=numpy.uint32)
-        else:
-            self.sn = numpy.array(kwargs.get('sn'), dtype=numpy.uint32)
-            assert self.sn.shape == (2, )
-        if 'version' not in kwargs:
-            self.version = numpy.zeros(2, dtype=numpy.uint32)
-        else:
-            self.version = numpy.array(kwargs.get('version'), dtype=numpy.uint32)
-            assert self.version.shape == (2, )
-        self.bandwidth = kwargs.get('bandwidth', int())
-        from unitree_go.msg import MotorCmd
-        self.motor_cmd = kwargs.get(
-            'motor_cmd',
-            [MotorCmd() for x in range(20)]
-        )
-        from unitree_go.msg import BmsCmd
-        self.bms_cmd = kwargs.get('bms_cmd', BmsCmd())
-        if 'wireless_remote' not in kwargs:
-            self.wireless_remote = numpy.zeros(40, dtype=numpy.uint8)
-        else:
-            self.wireless_remote = numpy.array(kwargs.get('wireless_remote'), dtype=numpy.uint8)
-            assert self.wireless_remote.shape == (40, )
-        if 'led' not in kwargs:
-            self.led = numpy.zeros(12, dtype=numpy.uint8)
-        else:
-            self.led = numpy.array(kwargs.get('led'), dtype=numpy.uint8)
-            assert self.led.shape == (12, )
-        if 'fan' not in kwargs:
-            self.fan = numpy.zeros(2, dtype=numpy.uint8)
-        else:
-            self.fan = numpy.array(kwargs.get('fan'), dtype=numpy.uint8)
-            assert self.fan.shape == (2, )
-        self.gpio = kwargs.get('gpio', int())
-        self.reserve = kwargs.get('reserve', int())
-        self.crc = kwargs.get('crc', int())
-
-    def __repr__(self):
-        typename = self.__class__.__module__.split('.')
-        typename.pop()
-        typename.append(self.__class__.__name__)
-        args = []
-        for s, t in zip(self.__slots__, self.SLOT_TYPES):
-            field = getattr(self, s)
-            fieldstr = repr(field)
-            # We use Python array type for fields that can be directly stored
-            # in them, and "normal" sequences for everything else.  If it is
-            # a type that we store in an array, strip off the 'array' portion.
-            if (
-                isinstance(t, rosidl_parser.definition.AbstractSequence) and
-                isinstance(t.value_type, rosidl_parser.definition.BasicType) and
-                t.value_type.typename in ['float', 'double', 'int8', 'uint8', 'int16', 'uint16', 'int32', 'uint32', 'int64', 'uint64']
-            ):
-                if len(field) == 0:
-                    fieldstr = '[]'
-                else:
-                    assert fieldstr.startswith('array(')
-                    prefix = "array('X', "
-                    suffix = ')'
-                    fieldstr = fieldstr[len(prefix):-len(suffix)]
-            args.append(s[1:] + '=' + fieldstr)
-        return '%s(%s)' % ('.'.join(typename), ', '.join(args))
-
-    def __eq__(self, other):
-        if not isinstance(other, self.__class__):
-            return False
-        if all(self.head != other.head):
-            return False
-        if self.level_flag != other.level_flag:
-            return False
-        if self.frame_reserve != other.frame_reserve:
-            return False
-        if all(self.sn != other.sn):
-            return False
-        if all(self.version != other.version):
-            return False
-        if self.bandwidth != other.bandwidth:
-            return False
-        if self.motor_cmd != other.motor_cmd:
-            return False
-        if self.bms_cmd != other.bms_cmd:
-            return False
-        if all(self.wireless_remote != other.wireless_remote):
-            return False
-        if all(self.led != other.led):
-            return False
-        if all(self.fan != other.fan):
-            return False
-        if self.gpio != other.gpio:
-            return False
-        if self.reserve != other.reserve:
-            return False
-        if self.crc != other.crc:
-            return False
-        return True
-
-    @classmethod
-    def get_fields_and_field_types(cls):
-        from copy import copy
-        return copy(cls._fields_and_field_types)
-
-    @property
-    def head(self):
-        """Message field 'head'."""
-        return self._head
-
-    @head.setter
-    def head(self, value):
-        if isinstance(value, numpy.ndarray):
-            assert value.dtype == numpy.uint8, \
-                "The 'head' numpy.ndarray() must have the dtype of 'numpy.uint8'"
-            assert value.size == 2, \
-                "The 'head' numpy.ndarray() must have a size of 2"
-            self._head = value
-            return
-        if __debug__:
-            from collections.abc import Sequence
-            from collections.abc import Set
-            from collections import UserList
-            from collections import UserString
-            assert \
-                ((isinstance(value, Sequence) or
-                  isinstance(value, Set) or
-                  isinstance(value, UserList)) and
-                 not isinstance(value, str) and
-                 not isinstance(value, UserString) and
-                 len(value) == 2 and
-                 all(isinstance(v, int) for v in value) and
-                 all(val >= 0 and val < 256 for val in value)), \
-                "The 'head' field must be a set or sequence with length 2 and each value of type 'int' and each unsigned integer in [0, 255]"
-        self._head = numpy.array(value, dtype=numpy.uint8)
-
-    @property
-    def level_flag(self):
-        """Message field 'level_flag'."""
-        return self._level_flag
-
-    @level_flag.setter
-    def level_flag(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, int), \
-                "The 'level_flag' field must be of type 'int'"
-            assert value >= 0 and value < 256, \
-                "The 'level_flag' field must be an unsigned integer in [0, 255]"
-        self._level_flag = value
-
-    @property
-    def frame_reserve(self):
-        """Message field 'frame_reserve'."""
-        return self._frame_reserve
-
-    @frame_reserve.setter
-    def frame_reserve(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, int), \
-                "The 'frame_reserve' field must be of type 'int'"
-            assert value >= 0 and value < 256, \
-                "The 'frame_reserve' field must be an unsigned integer in [0, 255]"
-        self._frame_reserve = value
-
-    @property
-    def sn(self):
-        """Message field 'sn'."""
-        return self._sn
-
-    @sn.setter
-    def sn(self, value):
-        if isinstance(value, numpy.ndarray):
-            assert value.dtype == numpy.uint32, \
-                "The 'sn' numpy.ndarray() must have the dtype of 'numpy.uint32'"
-            assert value.size == 2, \
-                "The 'sn' numpy.ndarray() must have a size of 2"
-            self._sn = value
-            return
-        if __debug__:
-            from collections.abc import Sequence
-            from collections.abc import Set
-            from collections import UserList
-            from collections import UserString
-            assert \
-                ((isinstance(value, Sequence) or
-                  isinstance(value, Set) or
-                  isinstance(value, UserList)) and
-                 not isinstance(value, str) and
-                 not isinstance(value, UserString) and
-                 len(value) == 2 and
-                 all(isinstance(v, int) for v in value) and
-                 all(val >= 0 and val < 4294967296 for val in value)), \
-                "The 'sn' field must be a set or sequence with length 2 and each value of type 'int' and each unsigned integer in [0, 4294967295]"
-        self._sn = numpy.array(value, dtype=numpy.uint32)
-
-    @property
-    def version(self):
-        """Message field 'version'."""
-        return self._version
-
-    @version.setter
-    def version(self, value):
-        if isinstance(value, numpy.ndarray):
-            assert value.dtype == numpy.uint32, \
-                "The 'version' numpy.ndarray() must have the dtype of 'numpy.uint32'"
-            assert value.size == 2, \
-                "The 'version' numpy.ndarray() must have a size of 2"
-            self._version = value
-            return
-        if __debug__:
-            from collections.abc import Sequence
-            from collections.abc import Set
-            from collections import UserList
-            from collections import UserString
-            assert \
-                ((isinstance(value, Sequence) or
-                  isinstance(value, Set) or
-                  isinstance(value, UserList)) and
-                 not isinstance(value, str) and
-                 not isinstance(value, UserString) and
-                 len(value) == 2 and
-                 all(isinstance(v, int) for v in value) and
-                 all(val >= 0 and val < 4294967296 for val in value)), \
-                "The 'version' field must be a set or sequence with length 2 and each value of type 'int' and each unsigned integer in [0, 4294967295]"
-        self._version = numpy.array(value, dtype=numpy.uint32)
-
-    @property
-    def bandwidth(self):
-        """Message field 'bandwidth'."""
-        return self._bandwidth
-
-    @bandwidth.setter
-    def bandwidth(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, int), \
-                "The 'bandwidth' field must be of type 'int'"
-            assert value >= 0 and value < 65536, \
-                "The 'bandwidth' field must be an unsigned integer in [0, 65535]"
-        self._bandwidth = value
-
-    @property
-    def motor_cmd(self):
-        """Message field 'motor_cmd'."""
-        return self._motor_cmd
-
-    @motor_cmd.setter
-    def motor_cmd(self, value):
-        if __debug__:
-            from unitree_go.msg import MotorCmd
-            from collections.abc import Sequence
-            from collections.abc import Set
-            from collections import UserList
-            from collections import UserString
-            assert \
-                ((isinstance(value, Sequence) or
-                  isinstance(value, Set) or
-                  isinstance(value, UserList)) and
-                 not isinstance(value, str) and
-                 not isinstance(value, UserString) and
-                 len(value) == 20 and
-                 all(isinstance(v, MotorCmd) for v in value) and
-                 True), \
-                "The 'motor_cmd' field must be a set or sequence with length 20 and each value of type 'MotorCmd'"
-        self._motor_cmd = value
-
-    @property
-    def bms_cmd(self):
-        """Message field 'bms_cmd'."""
-        return self._bms_cmd
-
-    @bms_cmd.setter
-    def bms_cmd(self, value):
-        if __debug__:
-            from unitree_go.msg import BmsCmd
-            assert \
-                isinstance(value, BmsCmd), \
-                "The 'bms_cmd' field must be a sub message of type 'BmsCmd'"
-        self._bms_cmd = value
-
-    @property
-    def wireless_remote(self):
-        """Message field 'wireless_remote'."""
-        return self._wireless_remote
-
-    @wireless_remote.setter
-    def wireless_remote(self, value):
-        if isinstance(value, numpy.ndarray):
-            assert value.dtype == numpy.uint8, \
-                "The 'wireless_remote' numpy.ndarray() must have the dtype of 'numpy.uint8'"
-            assert value.size == 40, \
-                "The 'wireless_remote' numpy.ndarray() must have a size of 40"
-            self._wireless_remote = value
-            return
-        if __debug__:
-            from collections.abc import Sequence
-            from collections.abc import Set
-            from collections import UserList
-            from collections import UserString
-            assert \
-                ((isinstance(value, Sequence) or
-                  isinstance(value, Set) or
-                  isinstance(value, UserList)) and
-                 not isinstance(value, str) and
-                 not isinstance(value, UserString) and
-                 len(value) == 40 and
-                 all(isinstance(v, int) for v in value) and
-                 all(val >= 0 and val < 256 for val in value)), \
-                "The 'wireless_remote' field must be a set or sequence with length 40 and each value of type 'int' and each unsigned integer in [0, 255]"
-        self._wireless_remote = numpy.array(value, dtype=numpy.uint8)
-
-    @property
-    def led(self):
-        """Message field 'led'."""
-        return self._led
-
-    @led.setter
-    def led(self, value):
-        if isinstance(value, numpy.ndarray):
-            assert value.dtype == numpy.uint8, \
-                "The 'led' numpy.ndarray() must have the dtype of 'numpy.uint8'"
-            assert value.size == 12, \
-                "The 'led' numpy.ndarray() must have a size of 12"
-            self._led = value
-            return
-        if __debug__:
-            from collections.abc import Sequence
-            from collections.abc import Set
-            from collections import UserList
-            from collections import UserString
-            assert \
-                ((isinstance(value, Sequence) or
-                  isinstance(value, Set) or
-                  isinstance(value, UserList)) and
-                 not isinstance(value, str) and
-                 not isinstance(value, UserString) and
-                 len(value) == 12 and
-                 all(isinstance(v, int) for v in value) and
-                 all(val >= 0 and val < 256 for val in value)), \
-                "The 'led' field must be a set or sequence with length 12 and each value of type 'int' and each unsigned integer in [0, 255]"
-        self._led = numpy.array(value, dtype=numpy.uint8)
-
-    @property
-    def fan(self):
-        """Message field 'fan'."""
-        return self._fan
-
-    @fan.setter
-    def fan(self, value):
-        if isinstance(value, numpy.ndarray):
-            assert value.dtype == numpy.uint8, \
-                "The 'fan' numpy.ndarray() must have the dtype of 'numpy.uint8'"
-            assert value.size == 2, \
-                "The 'fan' numpy.ndarray() must have a size of 2"
-            self._fan = value
-            return
-        if __debug__:
-            from collections.abc import Sequence
-            from collections.abc import Set
-            from collections import UserList
-            from collections import UserString
-            assert \
-                ((isinstance(value, Sequence) or
-                  isinstance(value, Set) or
-                  isinstance(value, UserList)) and
-                 not isinstance(value, str) and
-                 not isinstance(value, UserString) and
-                 len(value) == 2 and
-                 all(isinstance(v, int) for v in value) and
-                 all(val >= 0 and val < 256 for val in value)), \
-                "The 'fan' field must be a set or sequence with length 2 and each value of type 'int' and each unsigned integer in [0, 255]"
-        self._fan = numpy.array(value, dtype=numpy.uint8)
-
-    @property
-    def gpio(self):
-        """Message field 'gpio'."""
-        return self._gpio
-
-    @gpio.setter
-    def gpio(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, int), \
-                "The 'gpio' field must be of type 'int'"
-            assert value >= 0 and value < 256, \
-                "The 'gpio' field must be an unsigned integer in [0, 255]"
-        self._gpio = value
-
-    @property
-    def reserve(self):
-        """Message field 'reserve'."""
-        return self._reserve
-
-    @reserve.setter
-    def reserve(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, int), \
-                "The 'reserve' field must be of type 'int'"
-            assert value >= 0 and value < 4294967296, \
-                "The 'reserve' field must be an unsigned integer in [0, 4294967295]"
-        self._reserve = value
-
-    @property
-    def crc(self):
-        """Message field 'crc'."""
-        return self._crc
-
-    @crc.setter
-    def crc(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, int), \
-                "The 'crc' field must be of type 'int'"
-            assert value >= 0 and value < 4294967296, \
-                "The 'crc' field must be an unsigned integer in [0, 4294967295]"
-        self._crc = value
diff --git a/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_low_cmd_s.c b/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_low_cmd_s.c
deleted file mode 100644
index d868365..0000000
--- a/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_low_cmd_s.c
+++ /dev/null
@@ -1,535 +0,0 @@
-// generated from rosidl_generator_py/resource/_idl_support.c.em
-// with input from unitree_go:msg/LowCmd.idl
-// generated code does not contain a copyright notice
-#define NPY_NO_DEPRECATED_API NPY_1_7_API_VERSION
-#include <Python.h>
-#include <stdbool.h>
-#ifndef _WIN32
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wunused-function"
-#endif
-#include "numpy/ndarrayobject.h"
-#ifndef _WIN32
-# pragma GCC diagnostic pop
-#endif
-#include "rosidl_runtime_c/visibility_control.h"
-#include "unitree_go/msg/detail/low_cmd__struct.h"
-#include "unitree_go/msg/detail/low_cmd__functions.h"
-
-#include "rosidl_runtime_c/primitives_sequence.h"
-#include "rosidl_runtime_c/primitives_sequence_functions.h"
-
-// Nested array functions includes
-#include "unitree_go/msg/detail/motor_cmd__functions.h"
-// end nested array functions include
-bool unitree_go__msg__motor_cmd__convert_from_py(PyObject * _pymsg, void * _ros_message);
-PyObject * unitree_go__msg__motor_cmd__convert_to_py(void * raw_ros_message);
-bool unitree_go__msg__bms_cmd__convert_from_py(PyObject * _pymsg, void * _ros_message);
-PyObject * unitree_go__msg__bms_cmd__convert_to_py(void * raw_ros_message);
-
-ROSIDL_GENERATOR_C_EXPORT
-bool unitree_go__msg__low_cmd__convert_from_py(PyObject * _pymsg, void * _ros_message)
-{
-  // check that the passed message is of the expected Python class
-  {
-    char full_classname_dest[31];
-    {
-      char * class_name = NULL;
-      char * module_name = NULL;
-      {
-        PyObject * class_attr = PyObject_GetAttrString(_pymsg, "__class__");
-        if (class_attr) {
-          PyObject * name_attr = PyObject_GetAttrString(class_attr, "__name__");
-          if (name_attr) {
-            class_name = (char *)PyUnicode_1BYTE_DATA(name_attr);
-            Py_DECREF(name_attr);
-          }
-          PyObject * module_attr = PyObject_GetAttrString(class_attr, "__module__");
-          if (module_attr) {
-            module_name = (char *)PyUnicode_1BYTE_DATA(module_attr);
-            Py_DECREF(module_attr);
-          }
-          Py_DECREF(class_attr);
-        }
-      }
-      if (!class_name || !module_name) {
-        return false;
-      }
-      snprintf(full_classname_dest, sizeof(full_classname_dest), "%s.%s", module_name, class_name);
-    }
-    assert(strncmp("unitree_go.msg._low_cmd.LowCmd", full_classname_dest, 30) == 0);
-  }
-  unitree_go__msg__LowCmd * ros_message = _ros_message;
-  {  // head
-    PyObject * field = PyObject_GetAttrString(_pymsg, "head");
-    if (!field) {
-      return false;
-    }
-    {
-      // TODO(dirk-thomas) use a better way to check the type before casting
-      assert(field->ob_type != NULL);
-      assert(field->ob_type->tp_name != NULL);
-      assert(strcmp(field->ob_type->tp_name, "numpy.ndarray") == 0);
-      PyArrayObject * seq_field = (PyArrayObject *)field;
-      Py_INCREF(seq_field);
-      assert(PyArray_NDIM(seq_field) == 1);
-      assert(PyArray_TYPE(seq_field) == NPY_UINT8);
-      Py_ssize_t size = 2;
-      uint8_t * dest = ros_message->head;
-      for (Py_ssize_t i = 0; i < size; ++i) {
-        uint8_t tmp = *(npy_uint8 *)PyArray_GETPTR1(seq_field, i);
-        memcpy(&dest[i], &tmp, sizeof(uint8_t));
-      }
-      Py_DECREF(seq_field);
-    }
-    Py_DECREF(field);
-  }
-  {  // level_flag
-    PyObject * field = PyObject_GetAttrString(_pymsg, "level_flag");
-    if (!field) {
-      return false;
-    }
-    assert(PyLong_Check(field));
-    ros_message->level_flag = (uint8_t)PyLong_AsUnsignedLong(field);
-    Py_DECREF(field);
-  }
-  {  // frame_reserve
-    PyObject * field = PyObject_GetAttrString(_pymsg, "frame_reserve");
-    if (!field) {
-      return false;
-    }
-    assert(PyLong_Check(field));
-    ros_message->frame_reserve = (uint8_t)PyLong_AsUnsignedLong(field);
-    Py_DECREF(field);
-  }
-  {  // sn
-    PyObject * field = PyObject_GetAttrString(_pymsg, "sn");
-    if (!field) {
-      return false;
-    }
-    {
-      // TODO(dirk-thomas) use a better way to check the type before casting
-      assert(field->ob_type != NULL);
-      assert(field->ob_type->tp_name != NULL);
-      assert(strcmp(field->ob_type->tp_name, "numpy.ndarray") == 0);
-      PyArrayObject * seq_field = (PyArrayObject *)field;
-      Py_INCREF(seq_field);
-      assert(PyArray_NDIM(seq_field) == 1);
-      assert(PyArray_TYPE(seq_field) == NPY_UINT32);
-      Py_ssize_t size = 2;
-      uint32_t * dest = ros_message->sn;
-      for (Py_ssize_t i = 0; i < size; ++i) {
-        uint32_t tmp = *(npy_uint32 *)PyArray_GETPTR1(seq_field, i);
-        memcpy(&dest[i], &tmp, sizeof(uint32_t));
-      }
-      Py_DECREF(seq_field);
-    }
-    Py_DECREF(field);
-  }
-  {  // version
-    PyObject * field = PyObject_GetAttrString(_pymsg, "version");
-    if (!field) {
-      return false;
-    }
-    {
-      // TODO(dirk-thomas) use a better way to check the type before casting
-      assert(field->ob_type != NULL);
-      assert(field->ob_type->tp_name != NULL);
-      assert(strcmp(field->ob_type->tp_name, "numpy.ndarray") == 0);
-      PyArrayObject * seq_field = (PyArrayObject *)field;
-      Py_INCREF(seq_field);
-      assert(PyArray_NDIM(seq_field) == 1);
-      assert(PyArray_TYPE(seq_field) == NPY_UINT32);
-      Py_ssize_t size = 2;
-      uint32_t * dest = ros_message->version;
-      for (Py_ssize_t i = 0; i < size; ++i) {
-        uint32_t tmp = *(npy_uint32 *)PyArray_GETPTR1(seq_field, i);
-        memcpy(&dest[i], &tmp, sizeof(uint32_t));
-      }
-      Py_DECREF(seq_field);
-    }
-    Py_DECREF(field);
-  }
-  {  // bandwidth
-    PyObject * field = PyObject_GetAttrString(_pymsg, "bandwidth");
-    if (!field) {
-      return false;
-    }
-    assert(PyLong_Check(field));
-    ros_message->bandwidth = (uint16_t)PyLong_AsUnsignedLong(field);
-    Py_DECREF(field);
-  }
-  {  // motor_cmd
-    PyObject * field = PyObject_GetAttrString(_pymsg, "motor_cmd");
-    if (!field) {
-      return false;
-    }
-    PyObject * seq_field = PySequence_Fast(field, "expected a sequence in 'motor_cmd'");
-    if (!seq_field) {
-      Py_DECREF(field);
-      return false;
-    }
-    Py_ssize_t size = 20;
-    unitree_go__msg__MotorCmd * dest = ros_message->motor_cmd;
-    for (Py_ssize_t i = 0; i < size; ++i) {
-      if (!unitree_go__msg__motor_cmd__convert_from_py(PySequence_Fast_GET_ITEM(seq_field, i), &dest[i])) {
-        Py_DECREF(seq_field);
-        Py_DECREF(field);
-        return false;
-      }
-    }
-    Py_DECREF(seq_field);
-    Py_DECREF(field);
-  }
-  {  // bms_cmd
-    PyObject * field = PyObject_GetAttrString(_pymsg, "bms_cmd");
-    if (!field) {
-      return false;
-    }
-    if (!unitree_go__msg__bms_cmd__convert_from_py(field, &ros_message->bms_cmd)) {
-      Py_DECREF(field);
-      return false;
-    }
-    Py_DECREF(field);
-  }
-  {  // wireless_remote
-    PyObject * field = PyObject_GetAttrString(_pymsg, "wireless_remote");
-    if (!field) {
-      return false;
-    }
-    {
-      // TODO(dirk-thomas) use a better way to check the type before casting
-      assert(field->ob_type != NULL);
-      assert(field->ob_type->tp_name != NULL);
-      assert(strcmp(field->ob_type->tp_name, "numpy.ndarray") == 0);
-      PyArrayObject * seq_field = (PyArrayObject *)field;
-      Py_INCREF(seq_field);
-      assert(PyArray_NDIM(seq_field) == 1);
-      assert(PyArray_TYPE(seq_field) == NPY_UINT8);
-      Py_ssize_t size = 40;
-      uint8_t * dest = ros_message->wireless_remote;
-      for (Py_ssize_t i = 0; i < size; ++i) {
-        uint8_t tmp = *(npy_uint8 *)PyArray_GETPTR1(seq_field, i);
-        memcpy(&dest[i], &tmp, sizeof(uint8_t));
-      }
-      Py_DECREF(seq_field);
-    }
-    Py_DECREF(field);
-  }
-  {  // led
-    PyObject * field = PyObject_GetAttrString(_pymsg, "led");
-    if (!field) {
-      return false;
-    }
-    {
-      // TODO(dirk-thomas) use a better way to check the type before casting
-      assert(field->ob_type != NULL);
-      assert(field->ob_type->tp_name != NULL);
-      assert(strcmp(field->ob_type->tp_name, "numpy.ndarray") == 0);
-      PyArrayObject * seq_field = (PyArrayObject *)field;
-      Py_INCREF(seq_field);
-      assert(PyArray_NDIM(seq_field) == 1);
-      assert(PyArray_TYPE(seq_field) == NPY_UINT8);
-      Py_ssize_t size = 12;
-      uint8_t * dest = ros_message->led;
-      for (Py_ssize_t i = 0; i < size; ++i) {
-        uint8_t tmp = *(npy_uint8 *)PyArray_GETPTR1(seq_field, i);
-        memcpy(&dest[i], &tmp, sizeof(uint8_t));
-      }
-      Py_DECREF(seq_field);
-    }
-    Py_DECREF(field);
-  }
-  {  // fan
-    PyObject * field = PyObject_GetAttrString(_pymsg, "fan");
-    if (!field) {
-      return false;
-    }
-    {
-      // TODO(dirk-thomas) use a better way to check the type before casting
-      assert(field->ob_type != NULL);
-      assert(field->ob_type->tp_name != NULL);
-      assert(strcmp(field->ob_type->tp_name, "numpy.ndarray") == 0);
-      PyArrayObject * seq_field = (PyArrayObject *)field;
-      Py_INCREF(seq_field);
-      assert(PyArray_NDIM(seq_field) == 1);
-      assert(PyArray_TYPE(seq_field) == NPY_UINT8);
-      Py_ssize_t size = 2;
-      uint8_t * dest = ros_message->fan;
-      for (Py_ssize_t i = 0; i < size; ++i) {
-        uint8_t tmp = *(npy_uint8 *)PyArray_GETPTR1(seq_field, i);
-        memcpy(&dest[i], &tmp, sizeof(uint8_t));
-      }
-      Py_DECREF(seq_field);
-    }
-    Py_DECREF(field);
-  }
-  {  // gpio
-    PyObject * field = PyObject_GetAttrString(_pymsg, "gpio");
-    if (!field) {
-      return false;
-    }
-    assert(PyLong_Check(field));
-    ros_message->gpio = (uint8_t)PyLong_AsUnsignedLong(field);
-    Py_DECREF(field);
-  }
-  {  // reserve
-    PyObject * field = PyObject_GetAttrString(_pymsg, "reserve");
-    if (!field) {
-      return false;
-    }
-    assert(PyLong_Check(field));
-    ros_message->reserve = PyLong_AsUnsignedLong(field);
-    Py_DECREF(field);
-  }
-  {  // crc
-    PyObject * field = PyObject_GetAttrString(_pymsg, "crc");
-    if (!field) {
-      return false;
-    }
-    assert(PyLong_Check(field));
-    ros_message->crc = PyLong_AsUnsignedLong(field);
-    Py_DECREF(field);
-  }
-
-  return true;
-}
-
-ROSIDL_GENERATOR_C_EXPORT
-PyObject * unitree_go__msg__low_cmd__convert_to_py(void * raw_ros_message)
-{
-  /* NOTE(esteve): Call constructor of LowCmd */
-  PyObject * _pymessage = NULL;
-  {
-    PyObject * pymessage_module = PyImport_ImportModule("unitree_go.msg._low_cmd");
-    assert(pymessage_module);
-    PyObject * pymessage_class = PyObject_GetAttrString(pymessage_module, "LowCmd");
-    assert(pymessage_class);
-    Py_DECREF(pymessage_module);
-    _pymessage = PyObject_CallObject(pymessage_class, NULL);
-    Py_DECREF(pymessage_class);
-    if (!_pymessage) {
-      return NULL;
-    }
-  }
-  unitree_go__msg__LowCmd * ros_message = (unitree_go__msg__LowCmd *)raw_ros_message;
-  {  // head
-    PyObject * field = NULL;
-    field = PyObject_GetAttrString(_pymessage, "head");
-    if (!field) {
-      return NULL;
-    }
-    assert(field->ob_type != NULL);
-    assert(field->ob_type->tp_name != NULL);
-    assert(strcmp(field->ob_type->tp_name, "numpy.ndarray") == 0);
-    PyArrayObject * seq_field = (PyArrayObject *)field;
-    assert(PyArray_NDIM(seq_field) == 1);
-    assert(PyArray_TYPE(seq_field) == NPY_UINT8);
-    assert(sizeof(npy_uint8) == sizeof(uint8_t));
-    npy_uint8 * dst = (npy_uint8 *)PyArray_GETPTR1(seq_field, 0);
-    uint8_t * src = &(ros_message->head[0]);
-    memcpy(dst, src, 2 * sizeof(uint8_t));
-    Py_DECREF(field);
-  }
-  {  // level_flag
-    PyObject * field = NULL;
-    field = PyLong_FromUnsignedLong(ros_message->level_flag);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "level_flag", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // frame_reserve
-    PyObject * field = NULL;
-    field = PyLong_FromUnsignedLong(ros_message->frame_reserve);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "frame_reserve", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // sn
-    PyObject * field = NULL;
-    field = PyObject_GetAttrString(_pymessage, "sn");
-    if (!field) {
-      return NULL;
-    }
-    assert(field->ob_type != NULL);
-    assert(field->ob_type->tp_name != NULL);
-    assert(strcmp(field->ob_type->tp_name, "numpy.ndarray") == 0);
-    PyArrayObject * seq_field = (PyArrayObject *)field;
-    assert(PyArray_NDIM(seq_field) == 1);
-    assert(PyArray_TYPE(seq_field) == NPY_UINT32);
-    assert(sizeof(npy_uint32) == sizeof(uint32_t));
-    npy_uint32 * dst = (npy_uint32 *)PyArray_GETPTR1(seq_field, 0);
-    uint32_t * src = &(ros_message->sn[0]);
-    memcpy(dst, src, 2 * sizeof(uint32_t));
-    Py_DECREF(field);
-  }
-  {  // version
-    PyObject * field = NULL;
-    field = PyObject_GetAttrString(_pymessage, "version");
-    if (!field) {
-      return NULL;
-    }
-    assert(field->ob_type != NULL);
-    assert(field->ob_type->tp_name != NULL);
-    assert(strcmp(field->ob_type->tp_name, "numpy.ndarray") == 0);
-    PyArrayObject * seq_field = (PyArrayObject *)field;
-    assert(PyArray_NDIM(seq_field) == 1);
-    assert(PyArray_TYPE(seq_field) == NPY_UINT32);
-    assert(sizeof(npy_uint32) == sizeof(uint32_t));
-    npy_uint32 * dst = (npy_uint32 *)PyArray_GETPTR1(seq_field, 0);
-    uint32_t * src = &(ros_message->version[0]);
-    memcpy(dst, src, 2 * sizeof(uint32_t));
-    Py_DECREF(field);
-  }
-  {  // bandwidth
-    PyObject * field = NULL;
-    field = PyLong_FromUnsignedLong(ros_message->bandwidth);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "bandwidth", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // motor_cmd
-    PyObject * field = NULL;
-    size_t size = 20;
-    field = PyList_New(size);
-    if (!field) {
-      return NULL;
-    }
-    unitree_go__msg__MotorCmd * item;
-    for (size_t i = 0; i < size; ++i) {
-      item = &(ros_message->motor_cmd[i]);
-      PyObject * pyitem = unitree_go__msg__motor_cmd__convert_to_py(item);
-      if (!pyitem) {
-        Py_DECREF(field);
-        return NULL;
-      }
-      int rc = PyList_SetItem(field, i, pyitem);
-      (void)rc;
-      assert(rc == 0);
-    }
-    assert(PySequence_Check(field));
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "motor_cmd", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // bms_cmd
-    PyObject * field = NULL;
-    field = unitree_go__msg__bms_cmd__convert_to_py(&ros_message->bms_cmd);
-    if (!field) {
-      return NULL;
-    }
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "bms_cmd", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // wireless_remote
-    PyObject * field = NULL;
-    field = PyObject_GetAttrString(_pymessage, "wireless_remote");
-    if (!field) {
-      return NULL;
-    }
-    assert(field->ob_type != NULL);
-    assert(field->ob_type->tp_name != NULL);
-    assert(strcmp(field->ob_type->tp_name, "numpy.ndarray") == 0);
-    PyArrayObject * seq_field = (PyArrayObject *)field;
-    assert(PyArray_NDIM(seq_field) == 1);
-    assert(PyArray_TYPE(seq_field) == NPY_UINT8);
-    assert(sizeof(npy_uint8) == sizeof(uint8_t));
-    npy_uint8 * dst = (npy_uint8 *)PyArray_GETPTR1(seq_field, 0);
-    uint8_t * src = &(ros_message->wireless_remote[0]);
-    memcpy(dst, src, 40 * sizeof(uint8_t));
-    Py_DECREF(field);
-  }
-  {  // led
-    PyObject * field = NULL;
-    field = PyObject_GetAttrString(_pymessage, "led");
-    if (!field) {
-      return NULL;
-    }
-    assert(field->ob_type != NULL);
-    assert(field->ob_type->tp_name != NULL);
-    assert(strcmp(field->ob_type->tp_name, "numpy.ndarray") == 0);
-    PyArrayObject * seq_field = (PyArrayObject *)field;
-    assert(PyArray_NDIM(seq_field) == 1);
-    assert(PyArray_TYPE(seq_field) == NPY_UINT8);
-    assert(sizeof(npy_uint8) == sizeof(uint8_t));
-    npy_uint8 * dst = (npy_uint8 *)PyArray_GETPTR1(seq_field, 0);
-    uint8_t * src = &(ros_message->led[0]);
-    memcpy(dst, src, 12 * sizeof(uint8_t));
-    Py_DECREF(field);
-  }
-  {  // fan
-    PyObject * field = NULL;
-    field = PyObject_GetAttrString(_pymessage, "fan");
-    if (!field) {
-      return NULL;
-    }
-    assert(field->ob_type != NULL);
-    assert(field->ob_type->tp_name != NULL);
-    assert(strcmp(field->ob_type->tp_name, "numpy.ndarray") == 0);
-    PyArrayObject * seq_field = (PyArrayObject *)field;
-    assert(PyArray_NDIM(seq_field) == 1);
-    assert(PyArray_TYPE(seq_field) == NPY_UINT8);
-    assert(sizeof(npy_uint8) == sizeof(uint8_t));
-    npy_uint8 * dst = (npy_uint8 *)PyArray_GETPTR1(seq_field, 0);
-    uint8_t * src = &(ros_message->fan[0]);
-    memcpy(dst, src, 2 * sizeof(uint8_t));
-    Py_DECREF(field);
-  }
-  {  // gpio
-    PyObject * field = NULL;
-    field = PyLong_FromUnsignedLong(ros_message->gpio);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "gpio", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // reserve
-    PyObject * field = NULL;
-    field = PyLong_FromUnsignedLong(ros_message->reserve);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "reserve", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // crc
-    PyObject * field = NULL;
-    field = PyLong_FromUnsignedLong(ros_message->crc);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "crc", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-
-  // ownership of _pymessage is transferred to the caller
-  return _pymessage;
-}
diff --git a/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_low_state.py b/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_low_state.py
deleted file mode 100644
index 6c02bc4..0000000
--- a/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_low_state.py
+++ /dev/null
@@ -1,734 +0,0 @@
-# generated from rosidl_generator_py/resource/_idl.py.em
-# with input from unitree_go:msg/LowState.idl
-# generated code does not contain a copyright notice
-
-
-# Import statements for member types
-
-# Member 'head'
-# Member 'sn'
-# Member 'version'
-# Member 'foot_force'
-# Member 'foot_force_est'
-# Member 'wireless_remote'
-# Member 'fan_frequency'
-import numpy  # noqa: E402, I100
-
-import rosidl_parser.definition  # noqa: E402, I100
-
-
-class Metaclass_LowState(type):
-    """Metaclass of message 'LowState'."""
-
-    _CREATE_ROS_MESSAGE = None
-    _CONVERT_FROM_PY = None
-    _CONVERT_TO_PY = None
-    _DESTROY_ROS_MESSAGE = None
-    _TYPE_SUPPORT = None
-
-    __constants = {
-    }
-
-    @classmethod
-    def __import_type_support__(cls):
-        try:
-            from rosidl_generator_py import import_type_support
-            module = import_type_support('unitree_go')
-        except ImportError:
-            import logging
-            import traceback
-            logger = logging.getLogger(
-                'unitree_go.msg.LowState')
-            logger.debug(
-                'Failed to import needed modules for type support:\n' +
-                traceback.format_exc())
-        else:
-            cls._CREATE_ROS_MESSAGE = module.create_ros_message_msg__msg__low_state
-            cls._CONVERT_FROM_PY = module.convert_from_py_msg__msg__low_state
-            cls._CONVERT_TO_PY = module.convert_to_py_msg__msg__low_state
-            cls._TYPE_SUPPORT = module.type_support_msg__msg__low_state
-            cls._DESTROY_ROS_MESSAGE = module.destroy_ros_message_msg__msg__low_state
-
-            from unitree_go.msg import BmsState
-            if BmsState.__class__._TYPE_SUPPORT is None:
-                BmsState.__class__.__import_type_support__()
-
-            from unitree_go.msg import IMUState
-            if IMUState.__class__._TYPE_SUPPORT is None:
-                IMUState.__class__.__import_type_support__()
-
-            from unitree_go.msg import MotorState
-            if MotorState.__class__._TYPE_SUPPORT is None:
-                MotorState.__class__.__import_type_support__()
-
-    @classmethod
-    def __prepare__(cls, name, bases, **kwargs):
-        # list constant names here so that they appear in the help text of
-        # the message class under "Data and other attributes defined here:"
-        # as well as populate each message instance
-        return {
-        }
-
-
-class LowState(metaclass=Metaclass_LowState):
-    """Message class 'LowState'."""
-
-    __slots__ = [
-        '_head',
-        '_level_flag',
-        '_frame_reserve',
-        '_sn',
-        '_version',
-        '_bandwidth',
-        '_imu_state',
-        '_motor_state',
-        '_bms_state',
-        '_foot_force',
-        '_foot_force_est',
-        '_tick',
-        '_wireless_remote',
-        '_bit_flag',
-        '_adc_reel',
-        '_temperature_ntc1',
-        '_temperature_ntc2',
-        '_power_v',
-        '_power_a',
-        '_fan_frequency',
-        '_reserve',
-        '_crc',
-    ]
-
-    _fields_and_field_types = {
-        'head': 'uint8[2]',
-        'level_flag': 'uint8',
-        'frame_reserve': 'uint8',
-        'sn': 'uint32[2]',
-        'version': 'uint32[2]',
-        'bandwidth': 'uint16',
-        'imu_state': 'unitree_go/IMUState',
-        'motor_state': 'unitree_go/MotorState[20]',
-        'bms_state': 'unitree_go/BmsState',
-        'foot_force': 'int16[4]',
-        'foot_force_est': 'int16[4]',
-        'tick': 'uint32',
-        'wireless_remote': 'uint8[40]',
-        'bit_flag': 'uint8',
-        'adc_reel': 'float',
-        'temperature_ntc1': 'int8',
-        'temperature_ntc2': 'int8',
-        'power_v': 'float',
-        'power_a': 'float',
-        'fan_frequency': 'uint16[4]',
-        'reserve': 'uint32',
-        'crc': 'uint32',
-    }
-
-    SLOT_TYPES = (
-        rosidl_parser.definition.Array(rosidl_parser.definition.BasicType('uint8'), 2),  # noqa: E501
-        rosidl_parser.definition.BasicType('uint8'),  # noqa: E501
-        rosidl_parser.definition.BasicType('uint8'),  # noqa: E501
-        rosidl_parser.definition.Array(rosidl_parser.definition.BasicType('uint32'), 2),  # noqa: E501
-        rosidl_parser.definition.Array(rosidl_parser.definition.BasicType('uint32'), 2),  # noqa: E501
-        rosidl_parser.definition.BasicType('uint16'),  # noqa: E501
-        rosidl_parser.definition.NamespacedType(['unitree_go', 'msg'], 'IMUState'),  # noqa: E501
-        rosidl_parser.definition.Array(rosidl_parser.definition.NamespacedType(['unitree_go', 'msg'], 'MotorState'), 20),  # noqa: E501
-        rosidl_parser.definition.NamespacedType(['unitree_go', 'msg'], 'BmsState'),  # noqa: E501
-        rosidl_parser.definition.Array(rosidl_parser.definition.BasicType('int16'), 4),  # noqa: E501
-        rosidl_parser.definition.Array(rosidl_parser.definition.BasicType('int16'), 4),  # noqa: E501
-        rosidl_parser.definition.BasicType('uint32'),  # noqa: E501
-        rosidl_parser.definition.Array(rosidl_parser.definition.BasicType('uint8'), 40),  # noqa: E501
-        rosidl_parser.definition.BasicType('uint8'),  # noqa: E501
-        rosidl_parser.definition.BasicType('float'),  # noqa: E501
-        rosidl_parser.definition.BasicType('int8'),  # noqa: E501
-        rosidl_parser.definition.BasicType('int8'),  # noqa: E501
-        rosidl_parser.definition.BasicType('float'),  # noqa: E501
-        rosidl_parser.definition.BasicType('float'),  # noqa: E501
-        rosidl_parser.definition.Array(rosidl_parser.definition.BasicType('uint16'), 4),  # noqa: E501
-        rosidl_parser.definition.BasicType('uint32'),  # noqa: E501
-        rosidl_parser.definition.BasicType('uint32'),  # noqa: E501
-    )
-
-    def __init__(self, **kwargs):
-        assert all('_' + key in self.__slots__ for key in kwargs.keys()), \
-            'Invalid arguments passed to constructor: %s' % \
-            ', '.join(sorted(k for k in kwargs.keys() if '_' + k not in self.__slots__))
-        if 'head' not in kwargs:
-            self.head = numpy.zeros(2, dtype=numpy.uint8)
-        else:
-            self.head = numpy.array(kwargs.get('head'), dtype=numpy.uint8)
-            assert self.head.shape == (2, )
-        self.level_flag = kwargs.get('level_flag', int())
-        self.frame_reserve = kwargs.get('frame_reserve', int())
-        if 'sn' not in kwargs:
-            self.sn = numpy.zeros(2, dtype=numpy.uint32)
-        else:
-            self.sn = numpy.array(kwargs.get('sn'), dtype=numpy.uint32)
-            assert self.sn.shape == (2, )
-        if 'version' not in kwargs:
-            self.version = numpy.zeros(2, dtype=numpy.uint32)
-        else:
-            self.version = numpy.array(kwargs.get('version'), dtype=numpy.uint32)
-            assert self.version.shape == (2, )
-        self.bandwidth = kwargs.get('bandwidth', int())
-        from unitree_go.msg import IMUState
-        self.imu_state = kwargs.get('imu_state', IMUState())
-        from unitree_go.msg import MotorState
-        self.motor_state = kwargs.get(
-            'motor_state',
-            [MotorState() for x in range(20)]
-        )
-        from unitree_go.msg import BmsState
-        self.bms_state = kwargs.get('bms_state', BmsState())
-        if 'foot_force' not in kwargs:
-            self.foot_force = numpy.zeros(4, dtype=numpy.int16)
-        else:
-            self.foot_force = numpy.array(kwargs.get('foot_force'), dtype=numpy.int16)
-            assert self.foot_force.shape == (4, )
-        if 'foot_force_est' not in kwargs:
-            self.foot_force_est = numpy.zeros(4, dtype=numpy.int16)
-        else:
-            self.foot_force_est = numpy.array(kwargs.get('foot_force_est'), dtype=numpy.int16)
-            assert self.foot_force_est.shape == (4, )
-        self.tick = kwargs.get('tick', int())
-        if 'wireless_remote' not in kwargs:
-            self.wireless_remote = numpy.zeros(40, dtype=numpy.uint8)
-        else:
-            self.wireless_remote = numpy.array(kwargs.get('wireless_remote'), dtype=numpy.uint8)
-            assert self.wireless_remote.shape == (40, )
-        self.bit_flag = kwargs.get('bit_flag', int())
-        self.adc_reel = kwargs.get('adc_reel', float())
-        self.temperature_ntc1 = kwargs.get('temperature_ntc1', int())
-        self.temperature_ntc2 = kwargs.get('temperature_ntc2', int())
-        self.power_v = kwargs.get('power_v', float())
-        self.power_a = kwargs.get('power_a', float())
-        if 'fan_frequency' not in kwargs:
-            self.fan_frequency = numpy.zeros(4, dtype=numpy.uint16)
-        else:
-            self.fan_frequency = numpy.array(kwargs.get('fan_frequency'), dtype=numpy.uint16)
-            assert self.fan_frequency.shape == (4, )
-        self.reserve = kwargs.get('reserve', int())
-        self.crc = kwargs.get('crc', int())
-
-    def __repr__(self):
-        typename = self.__class__.__module__.split('.')
-        typename.pop()
-        typename.append(self.__class__.__name__)
-        args = []
-        for s, t in zip(self.__slots__, self.SLOT_TYPES):
-            field = getattr(self, s)
-            fieldstr = repr(field)
-            # We use Python array type for fields that can be directly stored
-            # in them, and "normal" sequences for everything else.  If it is
-            # a type that we store in an array, strip off the 'array' portion.
-            if (
-                isinstance(t, rosidl_parser.definition.AbstractSequence) and
-                isinstance(t.value_type, rosidl_parser.definition.BasicType) and
-                t.value_type.typename in ['float', 'double', 'int8', 'uint8', 'int16', 'uint16', 'int32', 'uint32', 'int64', 'uint64']
-            ):
-                if len(field) == 0:
-                    fieldstr = '[]'
-                else:
-                    assert fieldstr.startswith('array(')
-                    prefix = "array('X', "
-                    suffix = ')'
-                    fieldstr = fieldstr[len(prefix):-len(suffix)]
-            args.append(s[1:] + '=' + fieldstr)
-        return '%s(%s)' % ('.'.join(typename), ', '.join(args))
-
-    def __eq__(self, other):
-        if not isinstance(other, self.__class__):
-            return False
-        if all(self.head != other.head):
-            return False
-        if self.level_flag != other.level_flag:
-            return False
-        if self.frame_reserve != other.frame_reserve:
-            return False
-        if all(self.sn != other.sn):
-            return False
-        if all(self.version != other.version):
-            return False
-        if self.bandwidth != other.bandwidth:
-            return False
-        if self.imu_state != other.imu_state:
-            return False
-        if self.motor_state != other.motor_state:
-            return False
-        if self.bms_state != other.bms_state:
-            return False
-        if all(self.foot_force != other.foot_force):
-            return False
-        if all(self.foot_force_est != other.foot_force_est):
-            return False
-        if self.tick != other.tick:
-            return False
-        if all(self.wireless_remote != other.wireless_remote):
-            return False
-        if self.bit_flag != other.bit_flag:
-            return False
-        if self.adc_reel != other.adc_reel:
-            return False
-        if self.temperature_ntc1 != other.temperature_ntc1:
-            return False
-        if self.temperature_ntc2 != other.temperature_ntc2:
-            return False
-        if self.power_v != other.power_v:
-            return False
-        if self.power_a != other.power_a:
-            return False
-        if all(self.fan_frequency != other.fan_frequency):
-            return False
-        if self.reserve != other.reserve:
-            return False
-        if self.crc != other.crc:
-            return False
-        return True
-
-    @classmethod
-    def get_fields_and_field_types(cls):
-        from copy import copy
-        return copy(cls._fields_and_field_types)
-
-    @property
-    def head(self):
-        """Message field 'head'."""
-        return self._head
-
-    @head.setter
-    def head(self, value):
-        if isinstance(value, numpy.ndarray):
-            assert value.dtype == numpy.uint8, \
-                "The 'head' numpy.ndarray() must have the dtype of 'numpy.uint8'"
-            assert value.size == 2, \
-                "The 'head' numpy.ndarray() must have a size of 2"
-            self._head = value
-            return
-        if __debug__:
-            from collections.abc import Sequence
-            from collections.abc import Set
-            from collections import UserList
-            from collections import UserString
-            assert \
-                ((isinstance(value, Sequence) or
-                  isinstance(value, Set) or
-                  isinstance(value, UserList)) and
-                 not isinstance(value, str) and
-                 not isinstance(value, UserString) and
-                 len(value) == 2 and
-                 all(isinstance(v, int) for v in value) and
-                 all(val >= 0 and val < 256 for val in value)), \
-                "The 'head' field must be a set or sequence with length 2 and each value of type 'int' and each unsigned integer in [0, 255]"
-        self._head = numpy.array(value, dtype=numpy.uint8)
-
-    @property
-    def level_flag(self):
-        """Message field 'level_flag'."""
-        return self._level_flag
-
-    @level_flag.setter
-    def level_flag(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, int), \
-                "The 'level_flag' field must be of type 'int'"
-            assert value >= 0 and value < 256, \
-                "The 'level_flag' field must be an unsigned integer in [0, 255]"
-        self._level_flag = value
-
-    @property
-    def frame_reserve(self):
-        """Message field 'frame_reserve'."""
-        return self._frame_reserve
-
-    @frame_reserve.setter
-    def frame_reserve(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, int), \
-                "The 'frame_reserve' field must be of type 'int'"
-            assert value >= 0 and value < 256, \
-                "The 'frame_reserve' field must be an unsigned integer in [0, 255]"
-        self._frame_reserve = value
-
-    @property
-    def sn(self):
-        """Message field 'sn'."""
-        return self._sn
-
-    @sn.setter
-    def sn(self, value):
-        if isinstance(value, numpy.ndarray):
-            assert value.dtype == numpy.uint32, \
-                "The 'sn' numpy.ndarray() must have the dtype of 'numpy.uint32'"
-            assert value.size == 2, \
-                "The 'sn' numpy.ndarray() must have a size of 2"
-            self._sn = value
-            return
-        if __debug__:
-            from collections.abc import Sequence
-            from collections.abc import Set
-            from collections import UserList
-            from collections import UserString
-            assert \
-                ((isinstance(value, Sequence) or
-                  isinstance(value, Set) or
-                  isinstance(value, UserList)) and
-                 not isinstance(value, str) and
-                 not isinstance(value, UserString) and
-                 len(value) == 2 and
-                 all(isinstance(v, int) for v in value) and
-                 all(val >= 0 and val < 4294967296 for val in value)), \
-                "The 'sn' field must be a set or sequence with length 2 and each value of type 'int' and each unsigned integer in [0, 4294967295]"
-        self._sn = numpy.array(value, dtype=numpy.uint32)
-
-    @property
-    def version(self):
-        """Message field 'version'."""
-        return self._version
-
-    @version.setter
-    def version(self, value):
-        if isinstance(value, numpy.ndarray):
-            assert value.dtype == numpy.uint32, \
-                "The 'version' numpy.ndarray() must have the dtype of 'numpy.uint32'"
-            assert value.size == 2, \
-                "The 'version' numpy.ndarray() must have a size of 2"
-            self._version = value
-            return
-        if __debug__:
-            from collections.abc import Sequence
-            from collections.abc import Set
-            from collections import UserList
-            from collections import UserString
-            assert \
-                ((isinstance(value, Sequence) or
-                  isinstance(value, Set) or
-                  isinstance(value, UserList)) and
-                 not isinstance(value, str) and
-                 not isinstance(value, UserString) and
-                 len(value) == 2 and
-                 all(isinstance(v, int) for v in value) and
-                 all(val >= 0 and val < 4294967296 for val in value)), \
-                "The 'version' field must be a set or sequence with length 2 and each value of type 'int' and each unsigned integer in [0, 4294967295]"
-        self._version = numpy.array(value, dtype=numpy.uint32)
-
-    @property
-    def bandwidth(self):
-        """Message field 'bandwidth'."""
-        return self._bandwidth
-
-    @bandwidth.setter
-    def bandwidth(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, int), \
-                "The 'bandwidth' field must be of type 'int'"
-            assert value >= 0 and value < 65536, \
-                "The 'bandwidth' field must be an unsigned integer in [0, 65535]"
-        self._bandwidth = value
-
-    @property
-    def imu_state(self):
-        """Message field 'imu_state'."""
-        return self._imu_state
-
-    @imu_state.setter
-    def imu_state(self, value):
-        if __debug__:
-            from unitree_go.msg import IMUState
-            assert \
-                isinstance(value, IMUState), \
-                "The 'imu_state' field must be a sub message of type 'IMUState'"
-        self._imu_state = value
-
-    @property
-    def motor_state(self):
-        """Message field 'motor_state'."""
-        return self._motor_state
-
-    @motor_state.setter
-    def motor_state(self, value):
-        if __debug__:
-            from unitree_go.msg import MotorState
-            from collections.abc import Sequence
-            from collections.abc import Set
-            from collections import UserList
-            from collections import UserString
-            assert \
-                ((isinstance(value, Sequence) or
-                  isinstance(value, Set) or
-                  isinstance(value, UserList)) and
-                 not isinstance(value, str) and
-                 not isinstance(value, UserString) and
-                 len(value) == 20 and
-                 all(isinstance(v, MotorState) for v in value) and
-                 True), \
-                "The 'motor_state' field must be a set or sequence with length 20 and each value of type 'MotorState'"
-        self._motor_state = value
-
-    @property
-    def bms_state(self):
-        """Message field 'bms_state'."""
-        return self._bms_state
-
-    @bms_state.setter
-    def bms_state(self, value):
-        if __debug__:
-            from unitree_go.msg import BmsState
-            assert \
-                isinstance(value, BmsState), \
-                "The 'bms_state' field must be a sub message of type 'BmsState'"
-        self._bms_state = value
-
-    @property
-    def foot_force(self):
-        """Message field 'foot_force'."""
-        return self._foot_force
-
-    @foot_force.setter
-    def foot_force(self, value):
-        if isinstance(value, numpy.ndarray):
-            assert value.dtype == numpy.int16, \
-                "The 'foot_force' numpy.ndarray() must have the dtype of 'numpy.int16'"
-            assert value.size == 4, \
-                "The 'foot_force' numpy.ndarray() must have a size of 4"
-            self._foot_force = value
-            return
-        if __debug__:
-            from collections.abc import Sequence
-            from collections.abc import Set
-            from collections import UserList
-            from collections import UserString
-            assert \
-                ((isinstance(value, Sequence) or
-                  isinstance(value, Set) or
-                  isinstance(value, UserList)) and
-                 not isinstance(value, str) and
-                 not isinstance(value, UserString) and
-                 len(value) == 4 and
-                 all(isinstance(v, int) for v in value) and
-                 all(val >= -32768 and val < 32768 for val in value)), \
-                "The 'foot_force' field must be a set or sequence with length 4 and each value of type 'int' and each integer in [-32768, 32767]"
-        self._foot_force = numpy.array(value, dtype=numpy.int16)
-
-    @property
-    def foot_force_est(self):
-        """Message field 'foot_force_est'."""
-        return self._foot_force_est
-
-    @foot_force_est.setter
-    def foot_force_est(self, value):
-        if isinstance(value, numpy.ndarray):
-            assert value.dtype == numpy.int16, \
-                "The 'foot_force_est' numpy.ndarray() must have the dtype of 'numpy.int16'"
-            assert value.size == 4, \
-                "The 'foot_force_est' numpy.ndarray() must have a size of 4"
-            self._foot_force_est = value
-            return
-        if __debug__:
-            from collections.abc import Sequence
-            from collections.abc import Set
-            from collections import UserList
-            from collections import UserString
-            assert \
-                ((isinstance(value, Sequence) or
-                  isinstance(value, Set) or
-                  isinstance(value, UserList)) and
-                 not isinstance(value, str) and
-                 not isinstance(value, UserString) and
-                 len(value) == 4 and
-                 all(isinstance(v, int) for v in value) and
-                 all(val >= -32768 and val < 32768 for val in value)), \
-                "The 'foot_force_est' field must be a set or sequence with length 4 and each value of type 'int' and each integer in [-32768, 32767]"
-        self._foot_force_est = numpy.array(value, dtype=numpy.int16)
-
-    @property
-    def tick(self):
-        """Message field 'tick'."""
-        return self._tick
-
-    @tick.setter
-    def tick(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, int), \
-                "The 'tick' field must be of type 'int'"
-            assert value >= 0 and value < 4294967296, \
-                "The 'tick' field must be an unsigned integer in [0, 4294967295]"
-        self._tick = value
-
-    @property
-    def wireless_remote(self):
-        """Message field 'wireless_remote'."""
-        return self._wireless_remote
-
-    @wireless_remote.setter
-    def wireless_remote(self, value):
-        if isinstance(value, numpy.ndarray):
-            assert value.dtype == numpy.uint8, \
-                "The 'wireless_remote' numpy.ndarray() must have the dtype of 'numpy.uint8'"
-            assert value.size == 40, \
-                "The 'wireless_remote' numpy.ndarray() must have a size of 40"
-            self._wireless_remote = value
-            return
-        if __debug__:
-            from collections.abc import Sequence
-            from collections.abc import Set
-            from collections import UserList
-            from collections import UserString
-            assert \
-                ((isinstance(value, Sequence) or
-                  isinstance(value, Set) or
-                  isinstance(value, UserList)) and
-                 not isinstance(value, str) and
-                 not isinstance(value, UserString) and
-                 len(value) == 40 and
-                 all(isinstance(v, int) for v in value) and
-                 all(val >= 0 and val < 256 for val in value)), \
-                "The 'wireless_remote' field must be a set or sequence with length 40 and each value of type 'int' and each unsigned integer in [0, 255]"
-        self._wireless_remote = numpy.array(value, dtype=numpy.uint8)
-
-    @property
-    def bit_flag(self):
-        """Message field 'bit_flag'."""
-        return self._bit_flag
-
-    @bit_flag.setter
-    def bit_flag(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, int), \
-                "The 'bit_flag' field must be of type 'int'"
-            assert value >= 0 and value < 256, \
-                "The 'bit_flag' field must be an unsigned integer in [0, 255]"
-        self._bit_flag = value
-
-    @property
-    def adc_reel(self):
-        """Message field 'adc_reel'."""
-        return self._adc_reel
-
-    @adc_reel.setter
-    def adc_reel(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, float), \
-                "The 'adc_reel' field must be of type 'float'"
-        self._adc_reel = value
-
-    @property
-    def temperature_ntc1(self):
-        """Message field 'temperature_ntc1'."""
-        return self._temperature_ntc1
-
-    @temperature_ntc1.setter
-    def temperature_ntc1(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, int), \
-                "The 'temperature_ntc1' field must be of type 'int'"
-            assert value >= -128 and value < 128, \
-                "The 'temperature_ntc1' field must be an integer in [-128, 127]"
-        self._temperature_ntc1 = value
-
-    @property
-    def temperature_ntc2(self):
-        """Message field 'temperature_ntc2'."""
-        return self._temperature_ntc2
-
-    @temperature_ntc2.setter
-    def temperature_ntc2(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, int), \
-                "The 'temperature_ntc2' field must be of type 'int'"
-            assert value >= -128 and value < 128, \
-                "The 'temperature_ntc2' field must be an integer in [-128, 127]"
-        self._temperature_ntc2 = value
-
-    @property
-    def power_v(self):
-        """Message field 'power_v'."""
-        return self._power_v
-
-    @power_v.setter
-    def power_v(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, float), \
-                "The 'power_v' field must be of type 'float'"
-        self._power_v = value
-
-    @property
-    def power_a(self):
-        """Message field 'power_a'."""
-        return self._power_a
-
-    @power_a.setter
-    def power_a(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, float), \
-                "The 'power_a' field must be of type 'float'"
-        self._power_a = value
-
-    @property
-    def fan_frequency(self):
-        """Message field 'fan_frequency'."""
-        return self._fan_frequency
-
-    @fan_frequency.setter
-    def fan_frequency(self, value):
-        if isinstance(value, numpy.ndarray):
-            assert value.dtype == numpy.uint16, \
-                "The 'fan_frequency' numpy.ndarray() must have the dtype of 'numpy.uint16'"
-            assert value.size == 4, \
-                "The 'fan_frequency' numpy.ndarray() must have a size of 4"
-            self._fan_frequency = value
-            return
-        if __debug__:
-            from collections.abc import Sequence
-            from collections.abc import Set
-            from collections import UserList
-            from collections import UserString
-            assert \
-                ((isinstance(value, Sequence) or
-                  isinstance(value, Set) or
-                  isinstance(value, UserList)) and
-                 not isinstance(value, str) and
-                 not isinstance(value, UserString) and
-                 len(value) == 4 and
-                 all(isinstance(v, int) for v in value) and
-                 all(val >= 0 and val < 65536 for val in value)), \
-                "The 'fan_frequency' field must be a set or sequence with length 4 and each value of type 'int' and each unsigned integer in [0, 65535]"
-        self._fan_frequency = numpy.array(value, dtype=numpy.uint16)
-
-    @property
-    def reserve(self):
-        """Message field 'reserve'."""
-        return self._reserve
-
-    @reserve.setter
-    def reserve(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, int), \
-                "The 'reserve' field must be of type 'int'"
-            assert value >= 0 and value < 4294967296, \
-                "The 'reserve' field must be an unsigned integer in [0, 4294967295]"
-        self._reserve = value
-
-    @property
-    def crc(self):
-        """Message field 'crc'."""
-        return self._crc
-
-    @crc.setter
-    def crc(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, int), \
-                "The 'crc' field must be of type 'int'"
-            assert value >= 0 and value < 4294967296, \
-                "The 'crc' field must be an unsigned integer in [0, 4294967295]"
-        self._crc = value
diff --git a/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_low_state_s.c b/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_low_state_s.c
deleted file mode 100644
index ad3c234..0000000
--- a/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_low_state_s.c
+++ /dev/null
@@ -1,724 +0,0 @@
-// generated from rosidl_generator_py/resource/_idl_support.c.em
-// with input from unitree_go:msg/LowState.idl
-// generated code does not contain a copyright notice
-#define NPY_NO_DEPRECATED_API NPY_1_7_API_VERSION
-#include <Python.h>
-#include <stdbool.h>
-#ifndef _WIN32
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wunused-function"
-#endif
-#include "numpy/ndarrayobject.h"
-#ifndef _WIN32
-# pragma GCC diagnostic pop
-#endif
-#include "rosidl_runtime_c/visibility_control.h"
-#include "unitree_go/msg/detail/low_state__struct.h"
-#include "unitree_go/msg/detail/low_state__functions.h"
-
-#include "rosidl_runtime_c/primitives_sequence.h"
-#include "rosidl_runtime_c/primitives_sequence_functions.h"
-
-// Nested array functions includes
-#include "unitree_go/msg/detail/motor_state__functions.h"
-// end nested array functions include
-bool unitree_go__msg__imu_state__convert_from_py(PyObject * _pymsg, void * _ros_message);
-PyObject * unitree_go__msg__imu_state__convert_to_py(void * raw_ros_message);
-bool unitree_go__msg__motor_state__convert_from_py(PyObject * _pymsg, void * _ros_message);
-PyObject * unitree_go__msg__motor_state__convert_to_py(void * raw_ros_message);
-bool unitree_go__msg__bms_state__convert_from_py(PyObject * _pymsg, void * _ros_message);
-PyObject * unitree_go__msg__bms_state__convert_to_py(void * raw_ros_message);
-
-ROSIDL_GENERATOR_C_EXPORT
-bool unitree_go__msg__low_state__convert_from_py(PyObject * _pymsg, void * _ros_message)
-{
-  // check that the passed message is of the expected Python class
-  {
-    char full_classname_dest[35];
-    {
-      char * class_name = NULL;
-      char * module_name = NULL;
-      {
-        PyObject * class_attr = PyObject_GetAttrString(_pymsg, "__class__");
-        if (class_attr) {
-          PyObject * name_attr = PyObject_GetAttrString(class_attr, "__name__");
-          if (name_attr) {
-            class_name = (char *)PyUnicode_1BYTE_DATA(name_attr);
-            Py_DECREF(name_attr);
-          }
-          PyObject * module_attr = PyObject_GetAttrString(class_attr, "__module__");
-          if (module_attr) {
-            module_name = (char *)PyUnicode_1BYTE_DATA(module_attr);
-            Py_DECREF(module_attr);
-          }
-          Py_DECREF(class_attr);
-        }
-      }
-      if (!class_name || !module_name) {
-        return false;
-      }
-      snprintf(full_classname_dest, sizeof(full_classname_dest), "%s.%s", module_name, class_name);
-    }
-    assert(strncmp("unitree_go.msg._low_state.LowState", full_classname_dest, 34) == 0);
-  }
-  unitree_go__msg__LowState * ros_message = _ros_message;
-  {  // head
-    PyObject * field = PyObject_GetAttrString(_pymsg, "head");
-    if (!field) {
-      return false;
-    }
-    {
-      // TODO(dirk-thomas) use a better way to check the type before casting
-      assert(field->ob_type != NULL);
-      assert(field->ob_type->tp_name != NULL);
-      assert(strcmp(field->ob_type->tp_name, "numpy.ndarray") == 0);
-      PyArrayObject * seq_field = (PyArrayObject *)field;
-      Py_INCREF(seq_field);
-      assert(PyArray_NDIM(seq_field) == 1);
-      assert(PyArray_TYPE(seq_field) == NPY_UINT8);
-      Py_ssize_t size = 2;
-      uint8_t * dest = ros_message->head;
-      for (Py_ssize_t i = 0; i < size; ++i) {
-        uint8_t tmp = *(npy_uint8 *)PyArray_GETPTR1(seq_field, i);
-        memcpy(&dest[i], &tmp, sizeof(uint8_t));
-      }
-      Py_DECREF(seq_field);
-    }
-    Py_DECREF(field);
-  }
-  {  // level_flag
-    PyObject * field = PyObject_GetAttrString(_pymsg, "level_flag");
-    if (!field) {
-      return false;
-    }
-    assert(PyLong_Check(field));
-    ros_message->level_flag = (uint8_t)PyLong_AsUnsignedLong(field);
-    Py_DECREF(field);
-  }
-  {  // frame_reserve
-    PyObject * field = PyObject_GetAttrString(_pymsg, "frame_reserve");
-    if (!field) {
-      return false;
-    }
-    assert(PyLong_Check(field));
-    ros_message->frame_reserve = (uint8_t)PyLong_AsUnsignedLong(field);
-    Py_DECREF(field);
-  }
-  {  // sn
-    PyObject * field = PyObject_GetAttrString(_pymsg, "sn");
-    if (!field) {
-      return false;
-    }
-    {
-      // TODO(dirk-thomas) use a better way to check the type before casting
-      assert(field->ob_type != NULL);
-      assert(field->ob_type->tp_name != NULL);
-      assert(strcmp(field->ob_type->tp_name, "numpy.ndarray") == 0);
-      PyArrayObject * seq_field = (PyArrayObject *)field;
-      Py_INCREF(seq_field);
-      assert(PyArray_NDIM(seq_field) == 1);
-      assert(PyArray_TYPE(seq_field) == NPY_UINT32);
-      Py_ssize_t size = 2;
-      uint32_t * dest = ros_message->sn;
-      for (Py_ssize_t i = 0; i < size; ++i) {
-        uint32_t tmp = *(npy_uint32 *)PyArray_GETPTR1(seq_field, i);
-        memcpy(&dest[i], &tmp, sizeof(uint32_t));
-      }
-      Py_DECREF(seq_field);
-    }
-    Py_DECREF(field);
-  }
-  {  // version
-    PyObject * field = PyObject_GetAttrString(_pymsg, "version");
-    if (!field) {
-      return false;
-    }
-    {
-      // TODO(dirk-thomas) use a better way to check the type before casting
-      assert(field->ob_type != NULL);
-      assert(field->ob_type->tp_name != NULL);
-      assert(strcmp(field->ob_type->tp_name, "numpy.ndarray") == 0);
-      PyArrayObject * seq_field = (PyArrayObject *)field;
-      Py_INCREF(seq_field);
-      assert(PyArray_NDIM(seq_field) == 1);
-      assert(PyArray_TYPE(seq_field) == NPY_UINT32);
-      Py_ssize_t size = 2;
-      uint32_t * dest = ros_message->version;
-      for (Py_ssize_t i = 0; i < size; ++i) {
-        uint32_t tmp = *(npy_uint32 *)PyArray_GETPTR1(seq_field, i);
-        memcpy(&dest[i], &tmp, sizeof(uint32_t));
-      }
-      Py_DECREF(seq_field);
-    }
-    Py_DECREF(field);
-  }
-  {  // bandwidth
-    PyObject * field = PyObject_GetAttrString(_pymsg, "bandwidth");
-    if (!field) {
-      return false;
-    }
-    assert(PyLong_Check(field));
-    ros_message->bandwidth = (uint16_t)PyLong_AsUnsignedLong(field);
-    Py_DECREF(field);
-  }
-  {  // imu_state
-    PyObject * field = PyObject_GetAttrString(_pymsg, "imu_state");
-    if (!field) {
-      return false;
-    }
-    if (!unitree_go__msg__imu_state__convert_from_py(field, &ros_message->imu_state)) {
-      Py_DECREF(field);
-      return false;
-    }
-    Py_DECREF(field);
-  }
-  {  // motor_state
-    PyObject * field = PyObject_GetAttrString(_pymsg, "motor_state");
-    if (!field) {
-      return false;
-    }
-    PyObject * seq_field = PySequence_Fast(field, "expected a sequence in 'motor_state'");
-    if (!seq_field) {
-      Py_DECREF(field);
-      return false;
-    }
-    Py_ssize_t size = 20;
-    unitree_go__msg__MotorState * dest = ros_message->motor_state;
-    for (Py_ssize_t i = 0; i < size; ++i) {
-      if (!unitree_go__msg__motor_state__convert_from_py(PySequence_Fast_GET_ITEM(seq_field, i), &dest[i])) {
-        Py_DECREF(seq_field);
-        Py_DECREF(field);
-        return false;
-      }
-    }
-    Py_DECREF(seq_field);
-    Py_DECREF(field);
-  }
-  {  // bms_state
-    PyObject * field = PyObject_GetAttrString(_pymsg, "bms_state");
-    if (!field) {
-      return false;
-    }
-    if (!unitree_go__msg__bms_state__convert_from_py(field, &ros_message->bms_state)) {
-      Py_DECREF(field);
-      return false;
-    }
-    Py_DECREF(field);
-  }
-  {  // foot_force
-    PyObject * field = PyObject_GetAttrString(_pymsg, "foot_force");
-    if (!field) {
-      return false;
-    }
-    {
-      // TODO(dirk-thomas) use a better way to check the type before casting
-      assert(field->ob_type != NULL);
-      assert(field->ob_type->tp_name != NULL);
-      assert(strcmp(field->ob_type->tp_name, "numpy.ndarray") == 0);
-      PyArrayObject * seq_field = (PyArrayObject *)field;
-      Py_INCREF(seq_field);
-      assert(PyArray_NDIM(seq_field) == 1);
-      assert(PyArray_TYPE(seq_field) == NPY_INT16);
-      Py_ssize_t size = 4;
-      int16_t * dest = ros_message->foot_force;
-      for (Py_ssize_t i = 0; i < size; ++i) {
-        int16_t tmp = *(npy_int16 *)PyArray_GETPTR1(seq_field, i);
-        memcpy(&dest[i], &tmp, sizeof(int16_t));
-      }
-      Py_DECREF(seq_field);
-    }
-    Py_DECREF(field);
-  }
-  {  // foot_force_est
-    PyObject * field = PyObject_GetAttrString(_pymsg, "foot_force_est");
-    if (!field) {
-      return false;
-    }
-    {
-      // TODO(dirk-thomas) use a better way to check the type before casting
-      assert(field->ob_type != NULL);
-      assert(field->ob_type->tp_name != NULL);
-      assert(strcmp(field->ob_type->tp_name, "numpy.ndarray") == 0);
-      PyArrayObject * seq_field = (PyArrayObject *)field;
-      Py_INCREF(seq_field);
-      assert(PyArray_NDIM(seq_field) == 1);
-      assert(PyArray_TYPE(seq_field) == NPY_INT16);
-      Py_ssize_t size = 4;
-      int16_t * dest = ros_message->foot_force_est;
-      for (Py_ssize_t i = 0; i < size; ++i) {
-        int16_t tmp = *(npy_int16 *)PyArray_GETPTR1(seq_field, i);
-        memcpy(&dest[i], &tmp, sizeof(int16_t));
-      }
-      Py_DECREF(seq_field);
-    }
-    Py_DECREF(field);
-  }
-  {  // tick
-    PyObject * field = PyObject_GetAttrString(_pymsg, "tick");
-    if (!field) {
-      return false;
-    }
-    assert(PyLong_Check(field));
-    ros_message->tick = PyLong_AsUnsignedLong(field);
-    Py_DECREF(field);
-  }
-  {  // wireless_remote
-    PyObject * field = PyObject_GetAttrString(_pymsg, "wireless_remote");
-    if (!field) {
-      return false;
-    }
-    {
-      // TODO(dirk-thomas) use a better way to check the type before casting
-      assert(field->ob_type != NULL);
-      assert(field->ob_type->tp_name != NULL);
-      assert(strcmp(field->ob_type->tp_name, "numpy.ndarray") == 0);
-      PyArrayObject * seq_field = (PyArrayObject *)field;
-      Py_INCREF(seq_field);
-      assert(PyArray_NDIM(seq_field) == 1);
-      assert(PyArray_TYPE(seq_field) == NPY_UINT8);
-      Py_ssize_t size = 40;
-      uint8_t * dest = ros_message->wireless_remote;
-      for (Py_ssize_t i = 0; i < size; ++i) {
-        uint8_t tmp = *(npy_uint8 *)PyArray_GETPTR1(seq_field, i);
-        memcpy(&dest[i], &tmp, sizeof(uint8_t));
-      }
-      Py_DECREF(seq_field);
-    }
-    Py_DECREF(field);
-  }
-  {  // bit_flag
-    PyObject * field = PyObject_GetAttrString(_pymsg, "bit_flag");
-    if (!field) {
-      return false;
-    }
-    assert(PyLong_Check(field));
-    ros_message->bit_flag = (uint8_t)PyLong_AsUnsignedLong(field);
-    Py_DECREF(field);
-  }
-  {  // adc_reel
-    PyObject * field = PyObject_GetAttrString(_pymsg, "adc_reel");
-    if (!field) {
-      return false;
-    }
-    assert(PyFloat_Check(field));
-    ros_message->adc_reel = (float)PyFloat_AS_DOUBLE(field);
-    Py_DECREF(field);
-  }
-  {  // temperature_ntc1
-    PyObject * field = PyObject_GetAttrString(_pymsg, "temperature_ntc1");
-    if (!field) {
-      return false;
-    }
-    assert(PyLong_Check(field));
-    ros_message->temperature_ntc1 = (int8_t)PyLong_AsLong(field);
-    Py_DECREF(field);
-  }
-  {  // temperature_ntc2
-    PyObject * field = PyObject_GetAttrString(_pymsg, "temperature_ntc2");
-    if (!field) {
-      return false;
-    }
-    assert(PyLong_Check(field));
-    ros_message->temperature_ntc2 = (int8_t)PyLong_AsLong(field);
-    Py_DECREF(field);
-  }
-  {  // power_v
-    PyObject * field = PyObject_GetAttrString(_pymsg, "power_v");
-    if (!field) {
-      return false;
-    }
-    assert(PyFloat_Check(field));
-    ros_message->power_v = (float)PyFloat_AS_DOUBLE(field);
-    Py_DECREF(field);
-  }
-  {  // power_a
-    PyObject * field = PyObject_GetAttrString(_pymsg, "power_a");
-    if (!field) {
-      return false;
-    }
-    assert(PyFloat_Check(field));
-    ros_message->power_a = (float)PyFloat_AS_DOUBLE(field);
-    Py_DECREF(field);
-  }
-  {  // fan_frequency
-    PyObject * field = PyObject_GetAttrString(_pymsg, "fan_frequency");
-    if (!field) {
-      return false;
-    }
-    {
-      // TODO(dirk-thomas) use a better way to check the type before casting
-      assert(field->ob_type != NULL);
-      assert(field->ob_type->tp_name != NULL);
-      assert(strcmp(field->ob_type->tp_name, "numpy.ndarray") == 0);
-      PyArrayObject * seq_field = (PyArrayObject *)field;
-      Py_INCREF(seq_field);
-      assert(PyArray_NDIM(seq_field) == 1);
-      assert(PyArray_TYPE(seq_field) == NPY_UINT16);
-      Py_ssize_t size = 4;
-      uint16_t * dest = ros_message->fan_frequency;
-      for (Py_ssize_t i = 0; i < size; ++i) {
-        uint16_t tmp = *(npy_uint16 *)PyArray_GETPTR1(seq_field, i);
-        memcpy(&dest[i], &tmp, sizeof(uint16_t));
-      }
-      Py_DECREF(seq_field);
-    }
-    Py_DECREF(field);
-  }
-  {  // reserve
-    PyObject * field = PyObject_GetAttrString(_pymsg, "reserve");
-    if (!field) {
-      return false;
-    }
-    assert(PyLong_Check(field));
-    ros_message->reserve = PyLong_AsUnsignedLong(field);
-    Py_DECREF(field);
-  }
-  {  // crc
-    PyObject * field = PyObject_GetAttrString(_pymsg, "crc");
-    if (!field) {
-      return false;
-    }
-    assert(PyLong_Check(field));
-    ros_message->crc = PyLong_AsUnsignedLong(field);
-    Py_DECREF(field);
-  }
-
-  return true;
-}
-
-ROSIDL_GENERATOR_C_EXPORT
-PyObject * unitree_go__msg__low_state__convert_to_py(void * raw_ros_message)
-{
-  /* NOTE(esteve): Call constructor of LowState */
-  PyObject * _pymessage = NULL;
-  {
-    PyObject * pymessage_module = PyImport_ImportModule("unitree_go.msg._low_state");
-    assert(pymessage_module);
-    PyObject * pymessage_class = PyObject_GetAttrString(pymessage_module, "LowState");
-    assert(pymessage_class);
-    Py_DECREF(pymessage_module);
-    _pymessage = PyObject_CallObject(pymessage_class, NULL);
-    Py_DECREF(pymessage_class);
-    if (!_pymessage) {
-      return NULL;
-    }
-  }
-  unitree_go__msg__LowState * ros_message = (unitree_go__msg__LowState *)raw_ros_message;
-  {  // head
-    PyObject * field = NULL;
-    field = PyObject_GetAttrString(_pymessage, "head");
-    if (!field) {
-      return NULL;
-    }
-    assert(field->ob_type != NULL);
-    assert(field->ob_type->tp_name != NULL);
-    assert(strcmp(field->ob_type->tp_name, "numpy.ndarray") == 0);
-    PyArrayObject * seq_field = (PyArrayObject *)field;
-    assert(PyArray_NDIM(seq_field) == 1);
-    assert(PyArray_TYPE(seq_field) == NPY_UINT8);
-    assert(sizeof(npy_uint8) == sizeof(uint8_t));
-    npy_uint8 * dst = (npy_uint8 *)PyArray_GETPTR1(seq_field, 0);
-    uint8_t * src = &(ros_message->head[0]);
-    memcpy(dst, src, 2 * sizeof(uint8_t));
-    Py_DECREF(field);
-  }
-  {  // level_flag
-    PyObject * field = NULL;
-    field = PyLong_FromUnsignedLong(ros_message->level_flag);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "level_flag", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // frame_reserve
-    PyObject * field = NULL;
-    field = PyLong_FromUnsignedLong(ros_message->frame_reserve);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "frame_reserve", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // sn
-    PyObject * field = NULL;
-    field = PyObject_GetAttrString(_pymessage, "sn");
-    if (!field) {
-      return NULL;
-    }
-    assert(field->ob_type != NULL);
-    assert(field->ob_type->tp_name != NULL);
-    assert(strcmp(field->ob_type->tp_name, "numpy.ndarray") == 0);
-    PyArrayObject * seq_field = (PyArrayObject *)field;
-    assert(PyArray_NDIM(seq_field) == 1);
-    assert(PyArray_TYPE(seq_field) == NPY_UINT32);
-    assert(sizeof(npy_uint32) == sizeof(uint32_t));
-    npy_uint32 * dst = (npy_uint32 *)PyArray_GETPTR1(seq_field, 0);
-    uint32_t * src = &(ros_message->sn[0]);
-    memcpy(dst, src, 2 * sizeof(uint32_t));
-    Py_DECREF(field);
-  }
-  {  // version
-    PyObject * field = NULL;
-    field = PyObject_GetAttrString(_pymessage, "version");
-    if (!field) {
-      return NULL;
-    }
-    assert(field->ob_type != NULL);
-    assert(field->ob_type->tp_name != NULL);
-    assert(strcmp(field->ob_type->tp_name, "numpy.ndarray") == 0);
-    PyArrayObject * seq_field = (PyArrayObject *)field;
-    assert(PyArray_NDIM(seq_field) == 1);
-    assert(PyArray_TYPE(seq_field) == NPY_UINT32);
-    assert(sizeof(npy_uint32) == sizeof(uint32_t));
-    npy_uint32 * dst = (npy_uint32 *)PyArray_GETPTR1(seq_field, 0);
-    uint32_t * src = &(ros_message->version[0]);
-    memcpy(dst, src, 2 * sizeof(uint32_t));
-    Py_DECREF(field);
-  }
-  {  // bandwidth
-    PyObject * field = NULL;
-    field = PyLong_FromUnsignedLong(ros_message->bandwidth);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "bandwidth", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // imu_state
-    PyObject * field = NULL;
-    field = unitree_go__msg__imu_state__convert_to_py(&ros_message->imu_state);
-    if (!field) {
-      return NULL;
-    }
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "imu_state", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // motor_state
-    PyObject * field = NULL;
-    size_t size = 20;
-    field = PyList_New(size);
-    if (!field) {
-      return NULL;
-    }
-    unitree_go__msg__MotorState * item;
-    for (size_t i = 0; i < size; ++i) {
-      item = &(ros_message->motor_state[i]);
-      PyObject * pyitem = unitree_go__msg__motor_state__convert_to_py(item);
-      if (!pyitem) {
-        Py_DECREF(field);
-        return NULL;
-      }
-      int rc = PyList_SetItem(field, i, pyitem);
-      (void)rc;
-      assert(rc == 0);
-    }
-    assert(PySequence_Check(field));
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "motor_state", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // bms_state
-    PyObject * field = NULL;
-    field = unitree_go__msg__bms_state__convert_to_py(&ros_message->bms_state);
-    if (!field) {
-      return NULL;
-    }
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "bms_state", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // foot_force
-    PyObject * field = NULL;
-    field = PyObject_GetAttrString(_pymessage, "foot_force");
-    if (!field) {
-      return NULL;
-    }
-    assert(field->ob_type != NULL);
-    assert(field->ob_type->tp_name != NULL);
-    assert(strcmp(field->ob_type->tp_name, "numpy.ndarray") == 0);
-    PyArrayObject * seq_field = (PyArrayObject *)field;
-    assert(PyArray_NDIM(seq_field) == 1);
-    assert(PyArray_TYPE(seq_field) == NPY_INT16);
-    assert(sizeof(npy_int16) == sizeof(int16_t));
-    npy_int16 * dst = (npy_int16 *)PyArray_GETPTR1(seq_field, 0);
-    int16_t * src = &(ros_message->foot_force[0]);
-    memcpy(dst, src, 4 * sizeof(int16_t));
-    Py_DECREF(field);
-  }
-  {  // foot_force_est
-    PyObject * field = NULL;
-    field = PyObject_GetAttrString(_pymessage, "foot_force_est");
-    if (!field) {
-      return NULL;
-    }
-    assert(field->ob_type != NULL);
-    assert(field->ob_type->tp_name != NULL);
-    assert(strcmp(field->ob_type->tp_name, "numpy.ndarray") == 0);
-    PyArrayObject * seq_field = (PyArrayObject *)field;
-    assert(PyArray_NDIM(seq_field) == 1);
-    assert(PyArray_TYPE(seq_field) == NPY_INT16);
-    assert(sizeof(npy_int16) == sizeof(int16_t));
-    npy_int16 * dst = (npy_int16 *)PyArray_GETPTR1(seq_field, 0);
-    int16_t * src = &(ros_message->foot_force_est[0]);
-    memcpy(dst, src, 4 * sizeof(int16_t));
-    Py_DECREF(field);
-  }
-  {  // tick
-    PyObject * field = NULL;
-    field = PyLong_FromUnsignedLong(ros_message->tick);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "tick", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // wireless_remote
-    PyObject * field = NULL;
-    field = PyObject_GetAttrString(_pymessage, "wireless_remote");
-    if (!field) {
-      return NULL;
-    }
-    assert(field->ob_type != NULL);
-    assert(field->ob_type->tp_name != NULL);
-    assert(strcmp(field->ob_type->tp_name, "numpy.ndarray") == 0);
-    PyArrayObject * seq_field = (PyArrayObject *)field;
-    assert(PyArray_NDIM(seq_field) == 1);
-    assert(PyArray_TYPE(seq_field) == NPY_UINT8);
-    assert(sizeof(npy_uint8) == sizeof(uint8_t));
-    npy_uint8 * dst = (npy_uint8 *)PyArray_GETPTR1(seq_field, 0);
-    uint8_t * src = &(ros_message->wireless_remote[0]);
-    memcpy(dst, src, 40 * sizeof(uint8_t));
-    Py_DECREF(field);
-  }
-  {  // bit_flag
-    PyObject * field = NULL;
-    field = PyLong_FromUnsignedLong(ros_message->bit_flag);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "bit_flag", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // adc_reel
-    PyObject * field = NULL;
-    field = PyFloat_FromDouble(ros_message->adc_reel);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "adc_reel", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // temperature_ntc1
-    PyObject * field = NULL;
-    field = PyLong_FromLong(ros_message->temperature_ntc1);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "temperature_ntc1", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // temperature_ntc2
-    PyObject * field = NULL;
-    field = PyLong_FromLong(ros_message->temperature_ntc2);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "temperature_ntc2", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // power_v
-    PyObject * field = NULL;
-    field = PyFloat_FromDouble(ros_message->power_v);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "power_v", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // power_a
-    PyObject * field = NULL;
-    field = PyFloat_FromDouble(ros_message->power_a);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "power_a", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // fan_frequency
-    PyObject * field = NULL;
-    field = PyObject_GetAttrString(_pymessage, "fan_frequency");
-    if (!field) {
-      return NULL;
-    }
-    assert(field->ob_type != NULL);
-    assert(field->ob_type->tp_name != NULL);
-    assert(strcmp(field->ob_type->tp_name, "numpy.ndarray") == 0);
-    PyArrayObject * seq_field = (PyArrayObject *)field;
-    assert(PyArray_NDIM(seq_field) == 1);
-    assert(PyArray_TYPE(seq_field) == NPY_UINT16);
-    assert(sizeof(npy_uint16) == sizeof(uint16_t));
-    npy_uint16 * dst = (npy_uint16 *)PyArray_GETPTR1(seq_field, 0);
-    uint16_t * src = &(ros_message->fan_frequency[0]);
-    memcpy(dst, src, 4 * sizeof(uint16_t));
-    Py_DECREF(field);
-  }
-  {  // reserve
-    PyObject * field = NULL;
-    field = PyLong_FromUnsignedLong(ros_message->reserve);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "reserve", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // crc
-    PyObject * field = NULL;
-    field = PyLong_FromUnsignedLong(ros_message->crc);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "crc", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-
-  // ownership of _pymessage is transferred to the caller
-  return _pymessage;
-}
diff --git a/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_motor_cmd.py b/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_motor_cmd.py
deleted file mode 100644
index f580bd6..0000000
--- a/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_motor_cmd.py
+++ /dev/null
@@ -1,263 +0,0 @@
-# generated from rosidl_generator_py/resource/_idl.py.em
-# with input from unitree_go:msg/MotorCmd.idl
-# generated code does not contain a copyright notice
-
-
-# Import statements for member types
-
-# Member 'reserve'
-import numpy  # noqa: E402, I100
-
-import rosidl_parser.definition  # noqa: E402, I100
-
-
-class Metaclass_MotorCmd(type):
-    """Metaclass of message 'MotorCmd'."""
-
-    _CREATE_ROS_MESSAGE = None
-    _CONVERT_FROM_PY = None
-    _CONVERT_TO_PY = None
-    _DESTROY_ROS_MESSAGE = None
-    _TYPE_SUPPORT = None
-
-    __constants = {
-    }
-
-    @classmethod
-    def __import_type_support__(cls):
-        try:
-            from rosidl_generator_py import import_type_support
-            module = import_type_support('unitree_go')
-        except ImportError:
-            import logging
-            import traceback
-            logger = logging.getLogger(
-                'unitree_go.msg.MotorCmd')
-            logger.debug(
-                'Failed to import needed modules for type support:\n' +
-                traceback.format_exc())
-        else:
-            cls._CREATE_ROS_MESSAGE = module.create_ros_message_msg__msg__motor_cmd
-            cls._CONVERT_FROM_PY = module.convert_from_py_msg__msg__motor_cmd
-            cls._CONVERT_TO_PY = module.convert_to_py_msg__msg__motor_cmd
-            cls._TYPE_SUPPORT = module.type_support_msg__msg__motor_cmd
-            cls._DESTROY_ROS_MESSAGE = module.destroy_ros_message_msg__msg__motor_cmd
-
-    @classmethod
-    def __prepare__(cls, name, bases, **kwargs):
-        # list constant names here so that they appear in the help text of
-        # the message class under "Data and other attributes defined here:"
-        # as well as populate each message instance
-        return {
-        }
-
-
-class MotorCmd(metaclass=Metaclass_MotorCmd):
-    """Message class 'MotorCmd'."""
-
-    __slots__ = [
-        '_mode',
-        '_q',
-        '_dq',
-        '_tau',
-        '_kp',
-        '_kd',
-        '_reserve',
-    ]
-
-    _fields_and_field_types = {
-        'mode': 'uint8',
-        'q': 'float',
-        'dq': 'float',
-        'tau': 'float',
-        'kp': 'float',
-        'kd': 'float',
-        'reserve': 'uint32[3]',
-    }
-
-    SLOT_TYPES = (
-        rosidl_parser.definition.BasicType('uint8'),  # noqa: E501
-        rosidl_parser.definition.BasicType('float'),  # noqa: E501
-        rosidl_parser.definition.BasicType('float'),  # noqa: E501
-        rosidl_parser.definition.BasicType('float'),  # noqa: E501
-        rosidl_parser.definition.BasicType('float'),  # noqa: E501
-        rosidl_parser.definition.BasicType('float'),  # noqa: E501
-        rosidl_parser.definition.Array(rosidl_parser.definition.BasicType('uint32'), 3),  # noqa: E501
-    )
-
-    def __init__(self, **kwargs):
-        assert all('_' + key in self.__slots__ for key in kwargs.keys()), \
-            'Invalid arguments passed to constructor: %s' % \
-            ', '.join(sorted(k for k in kwargs.keys() if '_' + k not in self.__slots__))
-        self.mode = kwargs.get('mode', int())
-        self.q = kwargs.get('q', float())
-        self.dq = kwargs.get('dq', float())
-        self.tau = kwargs.get('tau', float())
-        self.kp = kwargs.get('kp', float())
-        self.kd = kwargs.get('kd', float())
-        if 'reserve' not in kwargs:
-            self.reserve = numpy.zeros(3, dtype=numpy.uint32)
-        else:
-            self.reserve = numpy.array(kwargs.get('reserve'), dtype=numpy.uint32)
-            assert self.reserve.shape == (3, )
-
-    def __repr__(self):
-        typename = self.__class__.__module__.split('.')
-        typename.pop()
-        typename.append(self.__class__.__name__)
-        args = []
-        for s, t in zip(self.__slots__, self.SLOT_TYPES):
-            field = getattr(self, s)
-            fieldstr = repr(field)
-            # We use Python array type for fields that can be directly stored
-            # in them, and "normal" sequences for everything else.  If it is
-            # a type that we store in an array, strip off the 'array' portion.
-            if (
-                isinstance(t, rosidl_parser.definition.AbstractSequence) and
-                isinstance(t.value_type, rosidl_parser.definition.BasicType) and
-                t.value_type.typename in ['float', 'double', 'int8', 'uint8', 'int16', 'uint16', 'int32', 'uint32', 'int64', 'uint64']
-            ):
-                if len(field) == 0:
-                    fieldstr = '[]'
-                else:
-                    assert fieldstr.startswith('array(')
-                    prefix = "array('X', "
-                    suffix = ')'
-                    fieldstr = fieldstr[len(prefix):-len(suffix)]
-            args.append(s[1:] + '=' + fieldstr)
-        return '%s(%s)' % ('.'.join(typename), ', '.join(args))
-
-    def __eq__(self, other):
-        if not isinstance(other, self.__class__):
-            return False
-        if self.mode != other.mode:
-            return False
-        if self.q != other.q:
-            return False
-        if self.dq != other.dq:
-            return False
-        if self.tau != other.tau:
-            return False
-        if self.kp != other.kp:
-            return False
-        if self.kd != other.kd:
-            return False
-        if all(self.reserve != other.reserve):
-            return False
-        return True
-
-    @classmethod
-    def get_fields_and_field_types(cls):
-        from copy import copy
-        return copy(cls._fields_and_field_types)
-
-    @property
-    def mode(self):
-        """Message field 'mode'."""
-        return self._mode
-
-    @mode.setter
-    def mode(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, int), \
-                "The 'mode' field must be of type 'int'"
-            assert value >= 0 and value < 256, \
-                "The 'mode' field must be an unsigned integer in [0, 255]"
-        self._mode = value
-
-    @property
-    def q(self):
-        """Message field 'q'."""
-        return self._q
-
-    @q.setter
-    def q(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, float), \
-                "The 'q' field must be of type 'float'"
-        self._q = value
-
-    @property
-    def dq(self):
-        """Message field 'dq'."""
-        return self._dq
-
-    @dq.setter
-    def dq(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, float), \
-                "The 'dq' field must be of type 'float'"
-        self._dq = value
-
-    @property
-    def tau(self):
-        """Message field 'tau'."""
-        return self._tau
-
-    @tau.setter
-    def tau(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, float), \
-                "The 'tau' field must be of type 'float'"
-        self._tau = value
-
-    @property
-    def kp(self):
-        """Message field 'kp'."""
-        return self._kp
-
-    @kp.setter
-    def kp(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, float), \
-                "The 'kp' field must be of type 'float'"
-        self._kp = value
-
-    @property
-    def kd(self):
-        """Message field 'kd'."""
-        return self._kd
-
-    @kd.setter
-    def kd(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, float), \
-                "The 'kd' field must be of type 'float'"
-        self._kd = value
-
-    @property
-    def reserve(self):
-        """Message field 'reserve'."""
-        return self._reserve
-
-    @reserve.setter
-    def reserve(self, value):
-        if isinstance(value, numpy.ndarray):
-            assert value.dtype == numpy.uint32, \
-                "The 'reserve' numpy.ndarray() must have the dtype of 'numpy.uint32'"
-            assert value.size == 3, \
-                "The 'reserve' numpy.ndarray() must have a size of 3"
-            self._reserve = value
-            return
-        if __debug__:
-            from collections.abc import Sequence
-            from collections.abc import Set
-            from collections import UserList
-            from collections import UserString
-            assert \
-                ((isinstance(value, Sequence) or
-                  isinstance(value, Set) or
-                  isinstance(value, UserList)) and
-                 not isinstance(value, str) and
-                 not isinstance(value, UserString) and
-                 len(value) == 3 and
-                 all(isinstance(v, int) for v in value) and
-                 all(val >= 0 and val < 4294967296 for val in value)), \
-                "The 'reserve' field must be a set or sequence with length 3 and each value of type 'int' and each unsigned integer in [0, 4294967295]"
-        self._reserve = numpy.array(value, dtype=numpy.uint32)
diff --git a/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_motor_cmd_s.c b/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_motor_cmd_s.c
deleted file mode 100644
index 64fa078..0000000
--- a/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_motor_cmd_s.c
+++ /dev/null
@@ -1,243 +0,0 @@
-// generated from rosidl_generator_py/resource/_idl_support.c.em
-// with input from unitree_go:msg/MotorCmd.idl
-// generated code does not contain a copyright notice
-#define NPY_NO_DEPRECATED_API NPY_1_7_API_VERSION
-#include <Python.h>
-#include <stdbool.h>
-#ifndef _WIN32
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wunused-function"
-#endif
-#include "numpy/ndarrayobject.h"
-#ifndef _WIN32
-# pragma GCC diagnostic pop
-#endif
-#include "rosidl_runtime_c/visibility_control.h"
-#include "unitree_go/msg/detail/motor_cmd__struct.h"
-#include "unitree_go/msg/detail/motor_cmd__functions.h"
-
-#include "rosidl_runtime_c/primitives_sequence.h"
-#include "rosidl_runtime_c/primitives_sequence_functions.h"
-
-
-ROSIDL_GENERATOR_C_EXPORT
-bool unitree_go__msg__motor_cmd__convert_from_py(PyObject * _pymsg, void * _ros_message)
-{
-  // check that the passed message is of the expected Python class
-  {
-    char full_classname_dest[35];
-    {
-      char * class_name = NULL;
-      char * module_name = NULL;
-      {
-        PyObject * class_attr = PyObject_GetAttrString(_pymsg, "__class__");
-        if (class_attr) {
-          PyObject * name_attr = PyObject_GetAttrString(class_attr, "__name__");
-          if (name_attr) {
-            class_name = (char *)PyUnicode_1BYTE_DATA(name_attr);
-            Py_DECREF(name_attr);
-          }
-          PyObject * module_attr = PyObject_GetAttrString(class_attr, "__module__");
-          if (module_attr) {
-            module_name = (char *)PyUnicode_1BYTE_DATA(module_attr);
-            Py_DECREF(module_attr);
-          }
-          Py_DECREF(class_attr);
-        }
-      }
-      if (!class_name || !module_name) {
-        return false;
-      }
-      snprintf(full_classname_dest, sizeof(full_classname_dest), "%s.%s", module_name, class_name);
-    }
-    assert(strncmp("unitree_go.msg._motor_cmd.MotorCmd", full_classname_dest, 34) == 0);
-  }
-  unitree_go__msg__MotorCmd * ros_message = _ros_message;
-  {  // mode
-    PyObject * field = PyObject_GetAttrString(_pymsg, "mode");
-    if (!field) {
-      return false;
-    }
-    assert(PyLong_Check(field));
-    ros_message->mode = (uint8_t)PyLong_AsUnsignedLong(field);
-    Py_DECREF(field);
-  }
-  {  // q
-    PyObject * field = PyObject_GetAttrString(_pymsg, "q");
-    if (!field) {
-      return false;
-    }
-    assert(PyFloat_Check(field));
-    ros_message->q = (float)PyFloat_AS_DOUBLE(field);
-    Py_DECREF(field);
-  }
-  {  // dq
-    PyObject * field = PyObject_GetAttrString(_pymsg, "dq");
-    if (!field) {
-      return false;
-    }
-    assert(PyFloat_Check(field));
-    ros_message->dq = (float)PyFloat_AS_DOUBLE(field);
-    Py_DECREF(field);
-  }
-  {  // tau
-    PyObject * field = PyObject_GetAttrString(_pymsg, "tau");
-    if (!field) {
-      return false;
-    }
-    assert(PyFloat_Check(field));
-    ros_message->tau = (float)PyFloat_AS_DOUBLE(field);
-    Py_DECREF(field);
-  }
-  {  // kp
-    PyObject * field = PyObject_GetAttrString(_pymsg, "kp");
-    if (!field) {
-      return false;
-    }
-    assert(PyFloat_Check(field));
-    ros_message->kp = (float)PyFloat_AS_DOUBLE(field);
-    Py_DECREF(field);
-  }
-  {  // kd
-    PyObject * field = PyObject_GetAttrString(_pymsg, "kd");
-    if (!field) {
-      return false;
-    }
-    assert(PyFloat_Check(field));
-    ros_message->kd = (float)PyFloat_AS_DOUBLE(field);
-    Py_DECREF(field);
-  }
-  {  // reserve
-    PyObject * field = PyObject_GetAttrString(_pymsg, "reserve");
-    if (!field) {
-      return false;
-    }
-    {
-      // TODO(dirk-thomas) use a better way to check the type before casting
-      assert(field->ob_type != NULL);
-      assert(field->ob_type->tp_name != NULL);
-      assert(strcmp(field->ob_type->tp_name, "numpy.ndarray") == 0);
-      PyArrayObject * seq_field = (PyArrayObject *)field;
-      Py_INCREF(seq_field);
-      assert(PyArray_NDIM(seq_field) == 1);
-      assert(PyArray_TYPE(seq_field) == NPY_UINT32);
-      Py_ssize_t size = 3;
-      uint32_t * dest = ros_message->reserve;
-      for (Py_ssize_t i = 0; i < size; ++i) {
-        uint32_t tmp = *(npy_uint32 *)PyArray_GETPTR1(seq_field, i);
-        memcpy(&dest[i], &tmp, sizeof(uint32_t));
-      }
-      Py_DECREF(seq_field);
-    }
-    Py_DECREF(field);
-  }
-
-  return true;
-}
-
-ROSIDL_GENERATOR_C_EXPORT
-PyObject * unitree_go__msg__motor_cmd__convert_to_py(void * raw_ros_message)
-{
-  /* NOTE(esteve): Call constructor of MotorCmd */
-  PyObject * _pymessage = NULL;
-  {
-    PyObject * pymessage_module = PyImport_ImportModule("unitree_go.msg._motor_cmd");
-    assert(pymessage_module);
-    PyObject * pymessage_class = PyObject_GetAttrString(pymessage_module, "MotorCmd");
-    assert(pymessage_class);
-    Py_DECREF(pymessage_module);
-    _pymessage = PyObject_CallObject(pymessage_class, NULL);
-    Py_DECREF(pymessage_class);
-    if (!_pymessage) {
-      return NULL;
-    }
-  }
-  unitree_go__msg__MotorCmd * ros_message = (unitree_go__msg__MotorCmd *)raw_ros_message;
-  {  // mode
-    PyObject * field = NULL;
-    field = PyLong_FromUnsignedLong(ros_message->mode);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "mode", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // q
-    PyObject * field = NULL;
-    field = PyFloat_FromDouble(ros_message->q);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "q", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // dq
-    PyObject * field = NULL;
-    field = PyFloat_FromDouble(ros_message->dq);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "dq", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // tau
-    PyObject * field = NULL;
-    field = PyFloat_FromDouble(ros_message->tau);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "tau", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // kp
-    PyObject * field = NULL;
-    field = PyFloat_FromDouble(ros_message->kp);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "kp", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // kd
-    PyObject * field = NULL;
-    field = PyFloat_FromDouble(ros_message->kd);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "kd", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // reserve
-    PyObject * field = NULL;
-    field = PyObject_GetAttrString(_pymessage, "reserve");
-    if (!field) {
-      return NULL;
-    }
-    assert(field->ob_type != NULL);
-    assert(field->ob_type->tp_name != NULL);
-    assert(strcmp(field->ob_type->tp_name, "numpy.ndarray") == 0);
-    PyArrayObject * seq_field = (PyArrayObject *)field;
-    assert(PyArray_NDIM(seq_field) == 1);
-    assert(PyArray_TYPE(seq_field) == NPY_UINT32);
-    assert(sizeof(npy_uint32) == sizeof(uint32_t));
-    npy_uint32 * dst = (npy_uint32 *)PyArray_GETPTR1(seq_field, 0);
-    uint32_t * src = &(ros_message->reserve[0]);
-    memcpy(dst, src, 3 * sizeof(uint32_t));
-    Py_DECREF(field);
-  }
-
-  // ownership of _pymessage is transferred to the caller
-  return _pymessage;
-}
diff --git a/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_motor_state.py b/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_motor_state.py
deleted file mode 100644
index 739e8f0..0000000
--- a/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_motor_state.py
+++ /dev/null
@@ -1,343 +0,0 @@
-# generated from rosidl_generator_py/resource/_idl.py.em
-# with input from unitree_go:msg/MotorState.idl
-# generated code does not contain a copyright notice
-
-
-# Import statements for member types
-
-# Member 'reserve'
-import numpy  # noqa: E402, I100
-
-import rosidl_parser.definition  # noqa: E402, I100
-
-
-class Metaclass_MotorState(type):
-    """Metaclass of message 'MotorState'."""
-
-    _CREATE_ROS_MESSAGE = None
-    _CONVERT_FROM_PY = None
-    _CONVERT_TO_PY = None
-    _DESTROY_ROS_MESSAGE = None
-    _TYPE_SUPPORT = None
-
-    __constants = {
-    }
-
-    @classmethod
-    def __import_type_support__(cls):
-        try:
-            from rosidl_generator_py import import_type_support
-            module = import_type_support('unitree_go')
-        except ImportError:
-            import logging
-            import traceback
-            logger = logging.getLogger(
-                'unitree_go.msg.MotorState')
-            logger.debug(
-                'Failed to import needed modules for type support:\n' +
-                traceback.format_exc())
-        else:
-            cls._CREATE_ROS_MESSAGE = module.create_ros_message_msg__msg__motor_state
-            cls._CONVERT_FROM_PY = module.convert_from_py_msg__msg__motor_state
-            cls._CONVERT_TO_PY = module.convert_to_py_msg__msg__motor_state
-            cls._TYPE_SUPPORT = module.type_support_msg__msg__motor_state
-            cls._DESTROY_ROS_MESSAGE = module.destroy_ros_message_msg__msg__motor_state
-
-    @classmethod
-    def __prepare__(cls, name, bases, **kwargs):
-        # list constant names here so that they appear in the help text of
-        # the message class under "Data and other attributes defined here:"
-        # as well as populate each message instance
-        return {
-        }
-
-
-class MotorState(metaclass=Metaclass_MotorState):
-    """Message class 'MotorState'."""
-
-    __slots__ = [
-        '_mode',
-        '_q',
-        '_dq',
-        '_ddq',
-        '_tau_est',
-        '_q_raw',
-        '_dq_raw',
-        '_ddq_raw',
-        '_temperature',
-        '_lost',
-        '_reserve',
-    ]
-
-    _fields_and_field_types = {
-        'mode': 'uint8',
-        'q': 'float',
-        'dq': 'float',
-        'ddq': 'float',
-        'tau_est': 'float',
-        'q_raw': 'float',
-        'dq_raw': 'float',
-        'ddq_raw': 'float',
-        'temperature': 'int8',
-        'lost': 'uint32',
-        'reserve': 'uint32[2]',
-    }
-
-    SLOT_TYPES = (
-        rosidl_parser.definition.BasicType('uint8'),  # noqa: E501
-        rosidl_parser.definition.BasicType('float'),  # noqa: E501
-        rosidl_parser.definition.BasicType('float'),  # noqa: E501
-        rosidl_parser.definition.BasicType('float'),  # noqa: E501
-        rosidl_parser.definition.BasicType('float'),  # noqa: E501
-        rosidl_parser.definition.BasicType('float'),  # noqa: E501
-        rosidl_parser.definition.BasicType('float'),  # noqa: E501
-        rosidl_parser.definition.BasicType('float'),  # noqa: E501
-        rosidl_parser.definition.BasicType('int8'),  # noqa: E501
-        rosidl_parser.definition.BasicType('uint32'),  # noqa: E501
-        rosidl_parser.definition.Array(rosidl_parser.definition.BasicType('uint32'), 2),  # noqa: E501
-    )
-
-    def __init__(self, **kwargs):
-        assert all('_' + key in self.__slots__ for key in kwargs.keys()), \
-            'Invalid arguments passed to constructor: %s' % \
-            ', '.join(sorted(k for k in kwargs.keys() if '_' + k not in self.__slots__))
-        self.mode = kwargs.get('mode', int())
-        self.q = kwargs.get('q', float())
-        self.dq = kwargs.get('dq', float())
-        self.ddq = kwargs.get('ddq', float())
-        self.tau_est = kwargs.get('tau_est', float())
-        self.q_raw = kwargs.get('q_raw', float())
-        self.dq_raw = kwargs.get('dq_raw', float())
-        self.ddq_raw = kwargs.get('ddq_raw', float())
-        self.temperature = kwargs.get('temperature', int())
-        self.lost = kwargs.get('lost', int())
-        if 'reserve' not in kwargs:
-            self.reserve = numpy.zeros(2, dtype=numpy.uint32)
-        else:
-            self.reserve = numpy.array(kwargs.get('reserve'), dtype=numpy.uint32)
-            assert self.reserve.shape == (2, )
-
-    def __repr__(self):
-        typename = self.__class__.__module__.split('.')
-        typename.pop()
-        typename.append(self.__class__.__name__)
-        args = []
-        for s, t in zip(self.__slots__, self.SLOT_TYPES):
-            field = getattr(self, s)
-            fieldstr = repr(field)
-            # We use Python array type for fields that can be directly stored
-            # in them, and "normal" sequences for everything else.  If it is
-            # a type that we store in an array, strip off the 'array' portion.
-            if (
-                isinstance(t, rosidl_parser.definition.AbstractSequence) and
-                isinstance(t.value_type, rosidl_parser.definition.BasicType) and
-                t.value_type.typename in ['float', 'double', 'int8', 'uint8', 'int16', 'uint16', 'int32', 'uint32', 'int64', 'uint64']
-            ):
-                if len(field) == 0:
-                    fieldstr = '[]'
-                else:
-                    assert fieldstr.startswith('array(')
-                    prefix = "array('X', "
-                    suffix = ')'
-                    fieldstr = fieldstr[len(prefix):-len(suffix)]
-            args.append(s[1:] + '=' + fieldstr)
-        return '%s(%s)' % ('.'.join(typename), ', '.join(args))
-
-    def __eq__(self, other):
-        if not isinstance(other, self.__class__):
-            return False
-        if self.mode != other.mode:
-            return False
-        if self.q != other.q:
-            return False
-        if self.dq != other.dq:
-            return False
-        if self.ddq != other.ddq:
-            return False
-        if self.tau_est != other.tau_est:
-            return False
-        if self.q_raw != other.q_raw:
-            return False
-        if self.dq_raw != other.dq_raw:
-            return False
-        if self.ddq_raw != other.ddq_raw:
-            return False
-        if self.temperature != other.temperature:
-            return False
-        if self.lost != other.lost:
-            return False
-        if all(self.reserve != other.reserve):
-            return False
-        return True
-
-    @classmethod
-    def get_fields_and_field_types(cls):
-        from copy import copy
-        return copy(cls._fields_and_field_types)
-
-    @property
-    def mode(self):
-        """Message field 'mode'."""
-        return self._mode
-
-    @mode.setter
-    def mode(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, int), \
-                "The 'mode' field must be of type 'int'"
-            assert value >= 0 and value < 256, \
-                "The 'mode' field must be an unsigned integer in [0, 255]"
-        self._mode = value
-
-    @property
-    def q(self):
-        """Message field 'q'."""
-        return self._q
-
-    @q.setter
-    def q(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, float), \
-                "The 'q' field must be of type 'float'"
-        self._q = value
-
-    @property
-    def dq(self):
-        """Message field 'dq'."""
-        return self._dq
-
-    @dq.setter
-    def dq(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, float), \
-                "The 'dq' field must be of type 'float'"
-        self._dq = value
-
-    @property
-    def ddq(self):
-        """Message field 'ddq'."""
-        return self._ddq
-
-    @ddq.setter
-    def ddq(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, float), \
-                "The 'ddq' field must be of type 'float'"
-        self._ddq = value
-
-    @property
-    def tau_est(self):
-        """Message field 'tau_est'."""
-        return self._tau_est
-
-    @tau_est.setter
-    def tau_est(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, float), \
-                "The 'tau_est' field must be of type 'float'"
-        self._tau_est = value
-
-    @property
-    def q_raw(self):
-        """Message field 'q_raw'."""
-        return self._q_raw
-
-    @q_raw.setter
-    def q_raw(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, float), \
-                "The 'q_raw' field must be of type 'float'"
-        self._q_raw = value
-
-    @property
-    def dq_raw(self):
-        """Message field 'dq_raw'."""
-        return self._dq_raw
-
-    @dq_raw.setter
-    def dq_raw(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, float), \
-                "The 'dq_raw' field must be of type 'float'"
-        self._dq_raw = value
-
-    @property
-    def ddq_raw(self):
-        """Message field 'ddq_raw'."""
-        return self._ddq_raw
-
-    @ddq_raw.setter
-    def ddq_raw(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, float), \
-                "The 'ddq_raw' field must be of type 'float'"
-        self._ddq_raw = value
-
-    @property
-    def temperature(self):
-        """Message field 'temperature'."""
-        return self._temperature
-
-    @temperature.setter
-    def temperature(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, int), \
-                "The 'temperature' field must be of type 'int'"
-            assert value >= -128 and value < 128, \
-                "The 'temperature' field must be an integer in [-128, 127]"
-        self._temperature = value
-
-    @property
-    def lost(self):
-        """Message field 'lost'."""
-        return self._lost
-
-    @lost.setter
-    def lost(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, int), \
-                "The 'lost' field must be of type 'int'"
-            assert value >= 0 and value < 4294967296, \
-                "The 'lost' field must be an unsigned integer in [0, 4294967295]"
-        self._lost = value
-
-    @property
-    def reserve(self):
-        """Message field 'reserve'."""
-        return self._reserve
-
-    @reserve.setter
-    def reserve(self, value):
-        if isinstance(value, numpy.ndarray):
-            assert value.dtype == numpy.uint32, \
-                "The 'reserve' numpy.ndarray() must have the dtype of 'numpy.uint32'"
-            assert value.size == 2, \
-                "The 'reserve' numpy.ndarray() must have a size of 2"
-            self._reserve = value
-            return
-        if __debug__:
-            from collections.abc import Sequence
-            from collections.abc import Set
-            from collections import UserList
-            from collections import UserString
-            assert \
-                ((isinstance(value, Sequence) or
-                  isinstance(value, Set) or
-                  isinstance(value, UserList)) and
-                 not isinstance(value, str) and
-                 not isinstance(value, UserString) and
-                 len(value) == 2 and
-                 all(isinstance(v, int) for v in value) and
-                 all(val >= 0 and val < 4294967296 for val in value)), \
-                "The 'reserve' field must be a set or sequence with length 2 and each value of type 'int' and each unsigned integer in [0, 4294967295]"
-        self._reserve = numpy.array(value, dtype=numpy.uint32)
diff --git a/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_motor_state_s.c b/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_motor_state_s.c
deleted file mode 100644
index 56d9526..0000000
--- a/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_motor_state_s.c
+++ /dev/null
@@ -1,323 +0,0 @@
-// generated from rosidl_generator_py/resource/_idl_support.c.em
-// with input from unitree_go:msg/MotorState.idl
-// generated code does not contain a copyright notice
-#define NPY_NO_DEPRECATED_API NPY_1_7_API_VERSION
-#include <Python.h>
-#include <stdbool.h>
-#ifndef _WIN32
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wunused-function"
-#endif
-#include "numpy/ndarrayobject.h"
-#ifndef _WIN32
-# pragma GCC diagnostic pop
-#endif
-#include "rosidl_runtime_c/visibility_control.h"
-#include "unitree_go/msg/detail/motor_state__struct.h"
-#include "unitree_go/msg/detail/motor_state__functions.h"
-
-#include "rosidl_runtime_c/primitives_sequence.h"
-#include "rosidl_runtime_c/primitives_sequence_functions.h"
-
-
-ROSIDL_GENERATOR_C_EXPORT
-bool unitree_go__msg__motor_state__convert_from_py(PyObject * _pymsg, void * _ros_message)
-{
-  // check that the passed message is of the expected Python class
-  {
-    char full_classname_dest[39];
-    {
-      char * class_name = NULL;
-      char * module_name = NULL;
-      {
-        PyObject * class_attr = PyObject_GetAttrString(_pymsg, "__class__");
-        if (class_attr) {
-          PyObject * name_attr = PyObject_GetAttrString(class_attr, "__name__");
-          if (name_attr) {
-            class_name = (char *)PyUnicode_1BYTE_DATA(name_attr);
-            Py_DECREF(name_attr);
-          }
-          PyObject * module_attr = PyObject_GetAttrString(class_attr, "__module__");
-          if (module_attr) {
-            module_name = (char *)PyUnicode_1BYTE_DATA(module_attr);
-            Py_DECREF(module_attr);
-          }
-          Py_DECREF(class_attr);
-        }
-      }
-      if (!class_name || !module_name) {
-        return false;
-      }
-      snprintf(full_classname_dest, sizeof(full_classname_dest), "%s.%s", module_name, class_name);
-    }
-    assert(strncmp("unitree_go.msg._motor_state.MotorState", full_classname_dest, 38) == 0);
-  }
-  unitree_go__msg__MotorState * ros_message = _ros_message;
-  {  // mode
-    PyObject * field = PyObject_GetAttrString(_pymsg, "mode");
-    if (!field) {
-      return false;
-    }
-    assert(PyLong_Check(field));
-    ros_message->mode = (uint8_t)PyLong_AsUnsignedLong(field);
-    Py_DECREF(field);
-  }
-  {  // q
-    PyObject * field = PyObject_GetAttrString(_pymsg, "q");
-    if (!field) {
-      return false;
-    }
-    assert(PyFloat_Check(field));
-    ros_message->q = (float)PyFloat_AS_DOUBLE(field);
-    Py_DECREF(field);
-  }
-  {  // dq
-    PyObject * field = PyObject_GetAttrString(_pymsg, "dq");
-    if (!field) {
-      return false;
-    }
-    assert(PyFloat_Check(field));
-    ros_message->dq = (float)PyFloat_AS_DOUBLE(field);
-    Py_DECREF(field);
-  }
-  {  // ddq
-    PyObject * field = PyObject_GetAttrString(_pymsg, "ddq");
-    if (!field) {
-      return false;
-    }
-    assert(PyFloat_Check(field));
-    ros_message->ddq = (float)PyFloat_AS_DOUBLE(field);
-    Py_DECREF(field);
-  }
-  {  // tau_est
-    PyObject * field = PyObject_GetAttrString(_pymsg, "tau_est");
-    if (!field) {
-      return false;
-    }
-    assert(PyFloat_Check(field));
-    ros_message->tau_est = (float)PyFloat_AS_DOUBLE(field);
-    Py_DECREF(field);
-  }
-  {  // q_raw
-    PyObject * field = PyObject_GetAttrString(_pymsg, "q_raw");
-    if (!field) {
-      return false;
-    }
-    assert(PyFloat_Check(field));
-    ros_message->q_raw = (float)PyFloat_AS_DOUBLE(field);
-    Py_DECREF(field);
-  }
-  {  // dq_raw
-    PyObject * field = PyObject_GetAttrString(_pymsg, "dq_raw");
-    if (!field) {
-      return false;
-    }
-    assert(PyFloat_Check(field));
-    ros_message->dq_raw = (float)PyFloat_AS_DOUBLE(field);
-    Py_DECREF(field);
-  }
-  {  // ddq_raw
-    PyObject * field = PyObject_GetAttrString(_pymsg, "ddq_raw");
-    if (!field) {
-      return false;
-    }
-    assert(PyFloat_Check(field));
-    ros_message->ddq_raw = (float)PyFloat_AS_DOUBLE(field);
-    Py_DECREF(field);
-  }
-  {  // temperature
-    PyObject * field = PyObject_GetAttrString(_pymsg, "temperature");
-    if (!field) {
-      return false;
-    }
-    assert(PyLong_Check(field));
-    ros_message->temperature = (int8_t)PyLong_AsLong(field);
-    Py_DECREF(field);
-  }
-  {  // lost
-    PyObject * field = PyObject_GetAttrString(_pymsg, "lost");
-    if (!field) {
-      return false;
-    }
-    assert(PyLong_Check(field));
-    ros_message->lost = PyLong_AsUnsignedLong(field);
-    Py_DECREF(field);
-  }
-  {  // reserve
-    PyObject * field = PyObject_GetAttrString(_pymsg, "reserve");
-    if (!field) {
-      return false;
-    }
-    {
-      // TODO(dirk-thomas) use a better way to check the type before casting
-      assert(field->ob_type != NULL);
-      assert(field->ob_type->tp_name != NULL);
-      assert(strcmp(field->ob_type->tp_name, "numpy.ndarray") == 0);
-      PyArrayObject * seq_field = (PyArrayObject *)field;
-      Py_INCREF(seq_field);
-      assert(PyArray_NDIM(seq_field) == 1);
-      assert(PyArray_TYPE(seq_field) == NPY_UINT32);
-      Py_ssize_t size = 2;
-      uint32_t * dest = ros_message->reserve;
-      for (Py_ssize_t i = 0; i < size; ++i) {
-        uint32_t tmp = *(npy_uint32 *)PyArray_GETPTR1(seq_field, i);
-        memcpy(&dest[i], &tmp, sizeof(uint32_t));
-      }
-      Py_DECREF(seq_field);
-    }
-    Py_DECREF(field);
-  }
-
-  return true;
-}
-
-ROSIDL_GENERATOR_C_EXPORT
-PyObject * unitree_go__msg__motor_state__convert_to_py(void * raw_ros_message)
-{
-  /* NOTE(esteve): Call constructor of MotorState */
-  PyObject * _pymessage = NULL;
-  {
-    PyObject * pymessage_module = PyImport_ImportModule("unitree_go.msg._motor_state");
-    assert(pymessage_module);
-    PyObject * pymessage_class = PyObject_GetAttrString(pymessage_module, "MotorState");
-    assert(pymessage_class);
-    Py_DECREF(pymessage_module);
-    _pymessage = PyObject_CallObject(pymessage_class, NULL);
-    Py_DECREF(pymessage_class);
-    if (!_pymessage) {
-      return NULL;
-    }
-  }
-  unitree_go__msg__MotorState * ros_message = (unitree_go__msg__MotorState *)raw_ros_message;
-  {  // mode
-    PyObject * field = NULL;
-    field = PyLong_FromUnsignedLong(ros_message->mode);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "mode", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // q
-    PyObject * field = NULL;
-    field = PyFloat_FromDouble(ros_message->q);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "q", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // dq
-    PyObject * field = NULL;
-    field = PyFloat_FromDouble(ros_message->dq);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "dq", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // ddq
-    PyObject * field = NULL;
-    field = PyFloat_FromDouble(ros_message->ddq);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "ddq", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // tau_est
-    PyObject * field = NULL;
-    field = PyFloat_FromDouble(ros_message->tau_est);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "tau_est", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // q_raw
-    PyObject * field = NULL;
-    field = PyFloat_FromDouble(ros_message->q_raw);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "q_raw", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // dq_raw
-    PyObject * field = NULL;
-    field = PyFloat_FromDouble(ros_message->dq_raw);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "dq_raw", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // ddq_raw
-    PyObject * field = NULL;
-    field = PyFloat_FromDouble(ros_message->ddq_raw);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "ddq_raw", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // temperature
-    PyObject * field = NULL;
-    field = PyLong_FromLong(ros_message->temperature);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "temperature", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // lost
-    PyObject * field = NULL;
-    field = PyLong_FromUnsignedLong(ros_message->lost);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "lost", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // reserve
-    PyObject * field = NULL;
-    field = PyObject_GetAttrString(_pymessage, "reserve");
-    if (!field) {
-      return NULL;
-    }
-    assert(field->ob_type != NULL);
-    assert(field->ob_type->tp_name != NULL);
-    assert(strcmp(field->ob_type->tp_name, "numpy.ndarray") == 0);
-    PyArrayObject * seq_field = (PyArrayObject *)field;
-    assert(PyArray_NDIM(seq_field) == 1);
-    assert(PyArray_TYPE(seq_field) == NPY_UINT32);
-    assert(sizeof(npy_uint32) == sizeof(uint32_t));
-    npy_uint32 * dst = (npy_uint32 *)PyArray_GETPTR1(seq_field, 0);
-    uint32_t * src = &(ros_message->reserve[0]);
-    memcpy(dst, src, 2 * sizeof(uint32_t));
-    Py_DECREF(field);
-  }
-
-  // ownership of _pymessage is transferred to the caller
-  return _pymessage;
-}
diff --git a/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_path_point.py b/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_path_point.py
deleted file mode 100644
index 1d70220..0000000
--- a/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_path_point.py
+++ /dev/null
@@ -1,236 +0,0 @@
-# generated from rosidl_generator_py/resource/_idl.py.em
-# with input from unitree_go:msg/PathPoint.idl
-# generated code does not contain a copyright notice
-
-
-# Import statements for member types
-
-import rosidl_parser.definition  # noqa: E402, I100
-
-
-class Metaclass_PathPoint(type):
-    """Metaclass of message 'PathPoint'."""
-
-    _CREATE_ROS_MESSAGE = None
-    _CONVERT_FROM_PY = None
-    _CONVERT_TO_PY = None
-    _DESTROY_ROS_MESSAGE = None
-    _TYPE_SUPPORT = None
-
-    __constants = {
-    }
-
-    @classmethod
-    def __import_type_support__(cls):
-        try:
-            from rosidl_generator_py import import_type_support
-            module = import_type_support('unitree_go')
-        except ImportError:
-            import logging
-            import traceback
-            logger = logging.getLogger(
-                'unitree_go.msg.PathPoint')
-            logger.debug(
-                'Failed to import needed modules for type support:\n' +
-                traceback.format_exc())
-        else:
-            cls._CREATE_ROS_MESSAGE = module.create_ros_message_msg__msg__path_point
-            cls._CONVERT_FROM_PY = module.convert_from_py_msg__msg__path_point
-            cls._CONVERT_TO_PY = module.convert_to_py_msg__msg__path_point
-            cls._TYPE_SUPPORT = module.type_support_msg__msg__path_point
-            cls._DESTROY_ROS_MESSAGE = module.destroy_ros_message_msg__msg__path_point
-
-    @classmethod
-    def __prepare__(cls, name, bases, **kwargs):
-        # list constant names here so that they appear in the help text of
-        # the message class under "Data and other attributes defined here:"
-        # as well as populate each message instance
-        return {
-        }
-
-
-class PathPoint(metaclass=Metaclass_PathPoint):
-    """Message class 'PathPoint'."""
-
-    __slots__ = [
-        '_t_from_start',
-        '_x',
-        '_y',
-        '_yaw',
-        '_vx',
-        '_vy',
-        '_vyaw',
-    ]
-
-    _fields_and_field_types = {
-        't_from_start': 'float',
-        'x': 'float',
-        'y': 'float',
-        'yaw': 'float',
-        'vx': 'float',
-        'vy': 'float',
-        'vyaw': 'float',
-    }
-
-    SLOT_TYPES = (
-        rosidl_parser.definition.BasicType('float'),  # noqa: E501
-        rosidl_parser.definition.BasicType('float'),  # noqa: E501
-        rosidl_parser.definition.BasicType('float'),  # noqa: E501
-        rosidl_parser.definition.BasicType('float'),  # noqa: E501
-        rosidl_parser.definition.BasicType('float'),  # noqa: E501
-        rosidl_parser.definition.BasicType('float'),  # noqa: E501
-        rosidl_parser.definition.BasicType('float'),  # noqa: E501
-    )
-
-    def __init__(self, **kwargs):
-        assert all('_' + key in self.__slots__ for key in kwargs.keys()), \
-            'Invalid arguments passed to constructor: %s' % \
-            ', '.join(sorted(k for k in kwargs.keys() if '_' + k not in self.__slots__))
-        self.t_from_start = kwargs.get('t_from_start', float())
-        self.x = kwargs.get('x', float())
-        self.y = kwargs.get('y', float())
-        self.yaw = kwargs.get('yaw', float())
-        self.vx = kwargs.get('vx', float())
-        self.vy = kwargs.get('vy', float())
-        self.vyaw = kwargs.get('vyaw', float())
-
-    def __repr__(self):
-        typename = self.__class__.__module__.split('.')
-        typename.pop()
-        typename.append(self.__class__.__name__)
-        args = []
-        for s, t in zip(self.__slots__, self.SLOT_TYPES):
-            field = getattr(self, s)
-            fieldstr = repr(field)
-            # We use Python array type for fields that can be directly stored
-            # in them, and "normal" sequences for everything else.  If it is
-            # a type that we store in an array, strip off the 'array' portion.
-            if (
-                isinstance(t, rosidl_parser.definition.AbstractSequence) and
-                isinstance(t.value_type, rosidl_parser.definition.BasicType) and
-                t.value_type.typename in ['float', 'double', 'int8', 'uint8', 'int16', 'uint16', 'int32', 'uint32', 'int64', 'uint64']
-            ):
-                if len(field) == 0:
-                    fieldstr = '[]'
-                else:
-                    assert fieldstr.startswith('array(')
-                    prefix = "array('X', "
-                    suffix = ')'
-                    fieldstr = fieldstr[len(prefix):-len(suffix)]
-            args.append(s[1:] + '=' + fieldstr)
-        return '%s(%s)' % ('.'.join(typename), ', '.join(args))
-
-    def __eq__(self, other):
-        if not isinstance(other, self.__class__):
-            return False
-        if self.t_from_start != other.t_from_start:
-            return False
-        if self.x != other.x:
-            return False
-        if self.y != other.y:
-            return False
-        if self.yaw != other.yaw:
-            return False
-        if self.vx != other.vx:
-            return False
-        if self.vy != other.vy:
-            return False
-        if self.vyaw != other.vyaw:
-            return False
-        return True
-
-    @classmethod
-    def get_fields_and_field_types(cls):
-        from copy import copy
-        return copy(cls._fields_and_field_types)
-
-    @property
-    def t_from_start(self):
-        """Message field 't_from_start'."""
-        return self._t_from_start
-
-    @t_from_start.setter
-    def t_from_start(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, float), \
-                "The 't_from_start' field must be of type 'float'"
-        self._t_from_start = value
-
-    @property
-    def x(self):
-        """Message field 'x'."""
-        return self._x
-
-    @x.setter
-    def x(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, float), \
-                "The 'x' field must be of type 'float'"
-        self._x = value
-
-    @property
-    def y(self):
-        """Message field 'y'."""
-        return self._y
-
-    @y.setter
-    def y(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, float), \
-                "The 'y' field must be of type 'float'"
-        self._y = value
-
-    @property
-    def yaw(self):
-        """Message field 'yaw'."""
-        return self._yaw
-
-    @yaw.setter
-    def yaw(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, float), \
-                "The 'yaw' field must be of type 'float'"
-        self._yaw = value
-
-    @property
-    def vx(self):
-        """Message field 'vx'."""
-        return self._vx
-
-    @vx.setter
-    def vx(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, float), \
-                "The 'vx' field must be of type 'float'"
-        self._vx = value
-
-    @property
-    def vy(self):
-        """Message field 'vy'."""
-        return self._vy
-
-    @vy.setter
-    def vy(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, float), \
-                "The 'vy' field must be of type 'float'"
-        self._vy = value
-
-    @property
-    def vyaw(self):
-        """Message field 'vyaw'."""
-        return self._vyaw
-
-    @vyaw.setter
-    def vyaw(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, float), \
-                "The 'vyaw' field must be of type 'float'"
-        self._vyaw = value
diff --git a/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_path_point_s.c b/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_path_point_s.c
deleted file mode 100644
index 6be16c7..0000000
--- a/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_path_point_s.c
+++ /dev/null
@@ -1,218 +0,0 @@
-// generated from rosidl_generator_py/resource/_idl_support.c.em
-// with input from unitree_go:msg/PathPoint.idl
-// generated code does not contain a copyright notice
-#define NPY_NO_DEPRECATED_API NPY_1_7_API_VERSION
-#include <Python.h>
-#include <stdbool.h>
-#ifndef _WIN32
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wunused-function"
-#endif
-#include "numpy/ndarrayobject.h"
-#ifndef _WIN32
-# pragma GCC diagnostic pop
-#endif
-#include "rosidl_runtime_c/visibility_control.h"
-#include "unitree_go/msg/detail/path_point__struct.h"
-#include "unitree_go/msg/detail/path_point__functions.h"
-
-
-ROSIDL_GENERATOR_C_EXPORT
-bool unitree_go__msg__path_point__convert_from_py(PyObject * _pymsg, void * _ros_message)
-{
-  // check that the passed message is of the expected Python class
-  {
-    char full_classname_dest[37];
-    {
-      char * class_name = NULL;
-      char * module_name = NULL;
-      {
-        PyObject * class_attr = PyObject_GetAttrString(_pymsg, "__class__");
-        if (class_attr) {
-          PyObject * name_attr = PyObject_GetAttrString(class_attr, "__name__");
-          if (name_attr) {
-            class_name = (char *)PyUnicode_1BYTE_DATA(name_attr);
-            Py_DECREF(name_attr);
-          }
-          PyObject * module_attr = PyObject_GetAttrString(class_attr, "__module__");
-          if (module_attr) {
-            module_name = (char *)PyUnicode_1BYTE_DATA(module_attr);
-            Py_DECREF(module_attr);
-          }
-          Py_DECREF(class_attr);
-        }
-      }
-      if (!class_name || !module_name) {
-        return false;
-      }
-      snprintf(full_classname_dest, sizeof(full_classname_dest), "%s.%s", module_name, class_name);
-    }
-    assert(strncmp("unitree_go.msg._path_point.PathPoint", full_classname_dest, 36) == 0);
-  }
-  unitree_go__msg__PathPoint * ros_message = _ros_message;
-  {  // t_from_start
-    PyObject * field = PyObject_GetAttrString(_pymsg, "t_from_start");
-    if (!field) {
-      return false;
-    }
-    assert(PyFloat_Check(field));
-    ros_message->t_from_start = (float)PyFloat_AS_DOUBLE(field);
-    Py_DECREF(field);
-  }
-  {  // x
-    PyObject * field = PyObject_GetAttrString(_pymsg, "x");
-    if (!field) {
-      return false;
-    }
-    assert(PyFloat_Check(field));
-    ros_message->x = (float)PyFloat_AS_DOUBLE(field);
-    Py_DECREF(field);
-  }
-  {  // y
-    PyObject * field = PyObject_GetAttrString(_pymsg, "y");
-    if (!field) {
-      return false;
-    }
-    assert(PyFloat_Check(field));
-    ros_message->y = (float)PyFloat_AS_DOUBLE(field);
-    Py_DECREF(field);
-  }
-  {  // yaw
-    PyObject * field = PyObject_GetAttrString(_pymsg, "yaw");
-    if (!field) {
-      return false;
-    }
-    assert(PyFloat_Check(field));
-    ros_message->yaw = (float)PyFloat_AS_DOUBLE(field);
-    Py_DECREF(field);
-  }
-  {  // vx
-    PyObject * field = PyObject_GetAttrString(_pymsg, "vx");
-    if (!field) {
-      return false;
-    }
-    assert(PyFloat_Check(field));
-    ros_message->vx = (float)PyFloat_AS_DOUBLE(field);
-    Py_DECREF(field);
-  }
-  {  // vy
-    PyObject * field = PyObject_GetAttrString(_pymsg, "vy");
-    if (!field) {
-      return false;
-    }
-    assert(PyFloat_Check(field));
-    ros_message->vy = (float)PyFloat_AS_DOUBLE(field);
-    Py_DECREF(field);
-  }
-  {  // vyaw
-    PyObject * field = PyObject_GetAttrString(_pymsg, "vyaw");
-    if (!field) {
-      return false;
-    }
-    assert(PyFloat_Check(field));
-    ros_message->vyaw = (float)PyFloat_AS_DOUBLE(field);
-    Py_DECREF(field);
-  }
-
-  return true;
-}
-
-ROSIDL_GENERATOR_C_EXPORT
-PyObject * unitree_go__msg__path_point__convert_to_py(void * raw_ros_message)
-{
-  /* NOTE(esteve): Call constructor of PathPoint */
-  PyObject * _pymessage = NULL;
-  {
-    PyObject * pymessage_module = PyImport_ImportModule("unitree_go.msg._path_point");
-    assert(pymessage_module);
-    PyObject * pymessage_class = PyObject_GetAttrString(pymessage_module, "PathPoint");
-    assert(pymessage_class);
-    Py_DECREF(pymessage_module);
-    _pymessage = PyObject_CallObject(pymessage_class, NULL);
-    Py_DECREF(pymessage_class);
-    if (!_pymessage) {
-      return NULL;
-    }
-  }
-  unitree_go__msg__PathPoint * ros_message = (unitree_go__msg__PathPoint *)raw_ros_message;
-  {  // t_from_start
-    PyObject * field = NULL;
-    field = PyFloat_FromDouble(ros_message->t_from_start);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "t_from_start", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // x
-    PyObject * field = NULL;
-    field = PyFloat_FromDouble(ros_message->x);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "x", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // y
-    PyObject * field = NULL;
-    field = PyFloat_FromDouble(ros_message->y);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "y", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // yaw
-    PyObject * field = NULL;
-    field = PyFloat_FromDouble(ros_message->yaw);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "yaw", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // vx
-    PyObject * field = NULL;
-    field = PyFloat_FromDouble(ros_message->vx);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "vx", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // vy
-    PyObject * field = NULL;
-    field = PyFloat_FromDouble(ros_message->vy);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "vy", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // vyaw
-    PyObject * field = NULL;
-    field = PyFloat_FromDouble(ros_message->vyaw);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "vyaw", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-
-  // ownership of _pymessage is transferred to the caller
-  return _pymessage;
-}
diff --git a/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_req.py b/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_req.py
deleted file mode 100644
index 0827644..0000000
--- a/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_req.py
+++ /dev/null
@@ -1,141 +0,0 @@
-# generated from rosidl_generator_py/resource/_idl.py.em
-# with input from unitree_go:msg/Req.idl
-# generated code does not contain a copyright notice
-
-
-# Import statements for member types
-
-import rosidl_parser.definition  # noqa: E402, I100
-
-
-class Metaclass_Req(type):
-    """Metaclass of message 'Req'."""
-
-    _CREATE_ROS_MESSAGE = None
-    _CONVERT_FROM_PY = None
-    _CONVERT_TO_PY = None
-    _DESTROY_ROS_MESSAGE = None
-    _TYPE_SUPPORT = None
-
-    __constants = {
-    }
-
-    @classmethod
-    def __import_type_support__(cls):
-        try:
-            from rosidl_generator_py import import_type_support
-            module = import_type_support('unitree_go')
-        except ImportError:
-            import logging
-            import traceback
-            logger = logging.getLogger(
-                'unitree_go.msg.Req')
-            logger.debug(
-                'Failed to import needed modules for type support:\n' +
-                traceback.format_exc())
-        else:
-            cls._CREATE_ROS_MESSAGE = module.create_ros_message_msg__msg__req
-            cls._CONVERT_FROM_PY = module.convert_from_py_msg__msg__req
-            cls._CONVERT_TO_PY = module.convert_to_py_msg__msg__req
-            cls._TYPE_SUPPORT = module.type_support_msg__msg__req
-            cls._DESTROY_ROS_MESSAGE = module.destroy_ros_message_msg__msg__req
-
-    @classmethod
-    def __prepare__(cls, name, bases, **kwargs):
-        # list constant names here so that they appear in the help text of
-        # the message class under "Data and other attributes defined here:"
-        # as well as populate each message instance
-        return {
-        }
-
-
-class Req(metaclass=Metaclass_Req):
-    """Message class 'Req'."""
-
-    __slots__ = [
-        '_uuid',
-        '_body',
-    ]
-
-    _fields_and_field_types = {
-        'uuid': 'string',
-        'body': 'string',
-    }
-
-    SLOT_TYPES = (
-        rosidl_parser.definition.UnboundedString(),  # noqa: E501
-        rosidl_parser.definition.UnboundedString(),  # noqa: E501
-    )
-
-    def __init__(self, **kwargs):
-        assert all('_' + key in self.__slots__ for key in kwargs.keys()), \
-            'Invalid arguments passed to constructor: %s' % \
-            ', '.join(sorted(k for k in kwargs.keys() if '_' + k not in self.__slots__))
-        self.uuid = kwargs.get('uuid', str())
-        self.body = kwargs.get('body', str())
-
-    def __repr__(self):
-        typename = self.__class__.__module__.split('.')
-        typename.pop()
-        typename.append(self.__class__.__name__)
-        args = []
-        for s, t in zip(self.__slots__, self.SLOT_TYPES):
-            field = getattr(self, s)
-            fieldstr = repr(field)
-            # We use Python array type for fields that can be directly stored
-            # in them, and "normal" sequences for everything else.  If it is
-            # a type that we store in an array, strip off the 'array' portion.
-            if (
-                isinstance(t, rosidl_parser.definition.AbstractSequence) and
-                isinstance(t.value_type, rosidl_parser.definition.BasicType) and
-                t.value_type.typename in ['float', 'double', 'int8', 'uint8', 'int16', 'uint16', 'int32', 'uint32', 'int64', 'uint64']
-            ):
-                if len(field) == 0:
-                    fieldstr = '[]'
-                else:
-                    assert fieldstr.startswith('array(')
-                    prefix = "array('X', "
-                    suffix = ')'
-                    fieldstr = fieldstr[len(prefix):-len(suffix)]
-            args.append(s[1:] + '=' + fieldstr)
-        return '%s(%s)' % ('.'.join(typename), ', '.join(args))
-
-    def __eq__(self, other):
-        if not isinstance(other, self.__class__):
-            return False
-        if self.uuid != other.uuid:
-            return False
-        if self.body != other.body:
-            return False
-        return True
-
-    @classmethod
-    def get_fields_and_field_types(cls):
-        from copy import copy
-        return copy(cls._fields_and_field_types)
-
-    @property
-    def uuid(self):
-        """Message field 'uuid'."""
-        return self._uuid
-
-    @uuid.setter
-    def uuid(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, str), \
-                "The 'uuid' field must be of type 'str'"
-        self._uuid = value
-
-    @property
-    def body(self):
-        """Message field 'body'."""
-        return self._body
-
-    @body.setter
-    def body(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, str), \
-                "The 'body' field must be of type 'str'"
-        self._body = value
diff --git a/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_req_s.c b/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_req_s.c
deleted file mode 100644
index 856782f..0000000
--- a/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_req_s.c
+++ /dev/null
@@ -1,145 +0,0 @@
-// generated from rosidl_generator_py/resource/_idl_support.c.em
-// with input from unitree_go:msg/Req.idl
-// generated code does not contain a copyright notice
-#define NPY_NO_DEPRECATED_API NPY_1_7_API_VERSION
-#include <Python.h>
-#include <stdbool.h>
-#ifndef _WIN32
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wunused-function"
-#endif
-#include "numpy/ndarrayobject.h"
-#ifndef _WIN32
-# pragma GCC diagnostic pop
-#endif
-#include "rosidl_runtime_c/visibility_control.h"
-#include "unitree_go/msg/detail/req__struct.h"
-#include "unitree_go/msg/detail/req__functions.h"
-
-#include "rosidl_runtime_c/string.h"
-#include "rosidl_runtime_c/string_functions.h"
-
-
-ROSIDL_GENERATOR_C_EXPORT
-bool unitree_go__msg__req__convert_from_py(PyObject * _pymsg, void * _ros_message)
-{
-  // check that the passed message is of the expected Python class
-  {
-    char full_classname_dest[24];
-    {
-      char * class_name = NULL;
-      char * module_name = NULL;
-      {
-        PyObject * class_attr = PyObject_GetAttrString(_pymsg, "__class__");
-        if (class_attr) {
-          PyObject * name_attr = PyObject_GetAttrString(class_attr, "__name__");
-          if (name_attr) {
-            class_name = (char *)PyUnicode_1BYTE_DATA(name_attr);
-            Py_DECREF(name_attr);
-          }
-          PyObject * module_attr = PyObject_GetAttrString(class_attr, "__module__");
-          if (module_attr) {
-            module_name = (char *)PyUnicode_1BYTE_DATA(module_attr);
-            Py_DECREF(module_attr);
-          }
-          Py_DECREF(class_attr);
-        }
-      }
-      if (!class_name || !module_name) {
-        return false;
-      }
-      snprintf(full_classname_dest, sizeof(full_classname_dest), "%s.%s", module_name, class_name);
-    }
-    assert(strncmp("unitree_go.msg._req.Req", full_classname_dest, 23) == 0);
-  }
-  unitree_go__msg__Req * ros_message = _ros_message;
-  {  // uuid
-    PyObject * field = PyObject_GetAttrString(_pymsg, "uuid");
-    if (!field) {
-      return false;
-    }
-    assert(PyUnicode_Check(field));
-    PyObject * encoded_field = PyUnicode_AsUTF8String(field);
-    if (!encoded_field) {
-      Py_DECREF(field);
-      return false;
-    }
-    rosidl_runtime_c__String__assign(&ros_message->uuid, PyBytes_AS_STRING(encoded_field));
-    Py_DECREF(encoded_field);
-    Py_DECREF(field);
-  }
-  {  // body
-    PyObject * field = PyObject_GetAttrString(_pymsg, "body");
-    if (!field) {
-      return false;
-    }
-    assert(PyUnicode_Check(field));
-    PyObject * encoded_field = PyUnicode_AsUTF8String(field);
-    if (!encoded_field) {
-      Py_DECREF(field);
-      return false;
-    }
-    rosidl_runtime_c__String__assign(&ros_message->body, PyBytes_AS_STRING(encoded_field));
-    Py_DECREF(encoded_field);
-    Py_DECREF(field);
-  }
-
-  return true;
-}
-
-ROSIDL_GENERATOR_C_EXPORT
-PyObject * unitree_go__msg__req__convert_to_py(void * raw_ros_message)
-{
-  /* NOTE(esteve): Call constructor of Req */
-  PyObject * _pymessage = NULL;
-  {
-    PyObject * pymessage_module = PyImport_ImportModule("unitree_go.msg._req");
-    assert(pymessage_module);
-    PyObject * pymessage_class = PyObject_GetAttrString(pymessage_module, "Req");
-    assert(pymessage_class);
-    Py_DECREF(pymessage_module);
-    _pymessage = PyObject_CallObject(pymessage_class, NULL);
-    Py_DECREF(pymessage_class);
-    if (!_pymessage) {
-      return NULL;
-    }
-  }
-  unitree_go__msg__Req * ros_message = (unitree_go__msg__Req *)raw_ros_message;
-  {  // uuid
-    PyObject * field = NULL;
-    field = PyUnicode_DecodeUTF8(
-      ros_message->uuid.data,
-      strlen(ros_message->uuid.data),
-      "replace");
-    if (!field) {
-      return NULL;
-    }
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "uuid", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // body
-    PyObject * field = NULL;
-    field = PyUnicode_DecodeUTF8(
-      ros_message->body.data,
-      strlen(ros_message->body.data),
-      "replace");
-    if (!field) {
-      return NULL;
-    }
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "body", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-
-  // ownership of _pymessage is transferred to the caller
-  return _pymessage;
-}
diff --git a/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_res.py b/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_res.py
deleted file mode 100644
index da1126d..0000000
--- a/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_res.py
+++ /dev/null
@@ -1,178 +0,0 @@
-# generated from rosidl_generator_py/resource/_idl.py.em
-# with input from unitree_go:msg/Res.idl
-# generated code does not contain a copyright notice
-
-
-# Import statements for member types
-
-# Member 'data'
-import array  # noqa: E402, I100
-
-import rosidl_parser.definition  # noqa: E402, I100
-
-
-class Metaclass_Res(type):
-    """Metaclass of message 'Res'."""
-
-    _CREATE_ROS_MESSAGE = None
-    _CONVERT_FROM_PY = None
-    _CONVERT_TO_PY = None
-    _DESTROY_ROS_MESSAGE = None
-    _TYPE_SUPPORT = None
-
-    __constants = {
-    }
-
-    @classmethod
-    def __import_type_support__(cls):
-        try:
-            from rosidl_generator_py import import_type_support
-            module = import_type_support('unitree_go')
-        except ImportError:
-            import logging
-            import traceback
-            logger = logging.getLogger(
-                'unitree_go.msg.Res')
-            logger.debug(
-                'Failed to import needed modules for type support:\n' +
-                traceback.format_exc())
-        else:
-            cls._CREATE_ROS_MESSAGE = module.create_ros_message_msg__msg__res
-            cls._CONVERT_FROM_PY = module.convert_from_py_msg__msg__res
-            cls._CONVERT_TO_PY = module.convert_to_py_msg__msg__res
-            cls._TYPE_SUPPORT = module.type_support_msg__msg__res
-            cls._DESTROY_ROS_MESSAGE = module.destroy_ros_message_msg__msg__res
-
-    @classmethod
-    def __prepare__(cls, name, bases, **kwargs):
-        # list constant names here so that they appear in the help text of
-        # the message class under "Data and other attributes defined here:"
-        # as well as populate each message instance
-        return {
-        }
-
-
-class Res(metaclass=Metaclass_Res):
-    """Message class 'Res'."""
-
-    __slots__ = [
-        '_uuid',
-        '_data',
-        '_body',
-    ]
-
-    _fields_and_field_types = {
-        'uuid': 'string',
-        'data': 'sequence<uint8>',
-        'body': 'string',
-    }
-
-    SLOT_TYPES = (
-        rosidl_parser.definition.UnboundedString(),  # noqa: E501
-        rosidl_parser.definition.UnboundedSequence(rosidl_parser.definition.BasicType('uint8')),  # noqa: E501
-        rosidl_parser.definition.UnboundedString(),  # noqa: E501
-    )
-
-    def __init__(self, **kwargs):
-        assert all('_' + key in self.__slots__ for key in kwargs.keys()), \
-            'Invalid arguments passed to constructor: %s' % \
-            ', '.join(sorted(k for k in kwargs.keys() if '_' + k not in self.__slots__))
-        self.uuid = kwargs.get('uuid', str())
-        self.data = array.array('B', kwargs.get('data', []))
-        self.body = kwargs.get('body', str())
-
-    def __repr__(self):
-        typename = self.__class__.__module__.split('.')
-        typename.pop()
-        typename.append(self.__class__.__name__)
-        args = []
-        for s, t in zip(self.__slots__, self.SLOT_TYPES):
-            field = getattr(self, s)
-            fieldstr = repr(field)
-            # We use Python array type for fields that can be directly stored
-            # in them, and "normal" sequences for everything else.  If it is
-            # a type that we store in an array, strip off the 'array' portion.
-            if (
-                isinstance(t, rosidl_parser.definition.AbstractSequence) and
-                isinstance(t.value_type, rosidl_parser.definition.BasicType) and
-                t.value_type.typename in ['float', 'double', 'int8', 'uint8', 'int16', 'uint16', 'int32', 'uint32', 'int64', 'uint64']
-            ):
-                if len(field) == 0:
-                    fieldstr = '[]'
-                else:
-                    assert fieldstr.startswith('array(')
-                    prefix = "array('X', "
-                    suffix = ')'
-                    fieldstr = fieldstr[len(prefix):-len(suffix)]
-            args.append(s[1:] + '=' + fieldstr)
-        return '%s(%s)' % ('.'.join(typename), ', '.join(args))
-
-    def __eq__(self, other):
-        if not isinstance(other, self.__class__):
-            return False
-        if self.uuid != other.uuid:
-            return False
-        if self.data != other.data:
-            return False
-        if self.body != other.body:
-            return False
-        return True
-
-    @classmethod
-    def get_fields_and_field_types(cls):
-        from copy import copy
-        return copy(cls._fields_and_field_types)
-
-    @property
-    def uuid(self):
-        """Message field 'uuid'."""
-        return self._uuid
-
-    @uuid.setter
-    def uuid(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, str), \
-                "The 'uuid' field must be of type 'str'"
-        self._uuid = value
-
-    @property
-    def data(self):
-        """Message field 'data'."""
-        return self._data
-
-    @data.setter
-    def data(self, value):
-        if isinstance(value, array.array):
-            assert value.typecode == 'B', \
-                "The 'data' array.array() must have the type code of 'B'"
-            self._data = value
-            return
-        if __debug__:
-            from collections.abc import Sequence
-            from collections.abc import Set
-            from collections import UserList
-            from collections import UserString
-            assert \
-                ((isinstance(value, Sequence) or
-                  isinstance(value, Set) or
-                  isinstance(value, UserList)) and
-                 not isinstance(value, str) and
-                 not isinstance(value, UserString) and
-                 all(isinstance(v, int) for v in value) and
-                 all(val >= 0 and val < 256 for val in value)), \
-                "The 'data' field must be a set or sequence and each value of type 'int' and each unsigned integer in [0, 255]"
-        self._data = array.array('B', value)
-
-    @property
-    def body(self):
-        """Message field 'body'."""
-        return self._body
-
-    @body.setter
-    def body(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, str), \
-                "The 'body' field must be of type 'str'"
-        self._body = value
diff --git a/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_res_s.c b/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_res_s.c
deleted file mode 100644
index 4e40f1d..0000000
--- a/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_res_s.c
+++ /dev/null
@@ -1,268 +0,0 @@
-// generated from rosidl_generator_py/resource/_idl_support.c.em
-// with input from unitree_go:msg/Res.idl
-// generated code does not contain a copyright notice
-#define NPY_NO_DEPRECATED_API NPY_1_7_API_VERSION
-#include <Python.h>
-#include <stdbool.h>
-#ifndef _WIN32
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wunused-function"
-#endif
-#include "numpy/ndarrayobject.h"
-#ifndef _WIN32
-# pragma GCC diagnostic pop
-#endif
-#include "rosidl_runtime_c/visibility_control.h"
-#include "unitree_go/msg/detail/res__struct.h"
-#include "unitree_go/msg/detail/res__functions.h"
-
-#include "rosidl_runtime_c/string.h"
-#include "rosidl_runtime_c/string_functions.h"
-
-#include "rosidl_runtime_c/primitives_sequence.h"
-#include "rosidl_runtime_c/primitives_sequence_functions.h"
-
-
-ROSIDL_GENERATOR_C_EXPORT
-bool unitree_go__msg__res__convert_from_py(PyObject * _pymsg, void * _ros_message)
-{
-  // check that the passed message is of the expected Python class
-  {
-    char full_classname_dest[24];
-    {
-      char * class_name = NULL;
-      char * module_name = NULL;
-      {
-        PyObject * class_attr = PyObject_GetAttrString(_pymsg, "__class__");
-        if (class_attr) {
-          PyObject * name_attr = PyObject_GetAttrString(class_attr, "__name__");
-          if (name_attr) {
-            class_name = (char *)PyUnicode_1BYTE_DATA(name_attr);
-            Py_DECREF(name_attr);
-          }
-          PyObject * module_attr = PyObject_GetAttrString(class_attr, "__module__");
-          if (module_attr) {
-            module_name = (char *)PyUnicode_1BYTE_DATA(module_attr);
-            Py_DECREF(module_attr);
-          }
-          Py_DECREF(class_attr);
-        }
-      }
-      if (!class_name || !module_name) {
-        return false;
-      }
-      snprintf(full_classname_dest, sizeof(full_classname_dest), "%s.%s", module_name, class_name);
-    }
-    assert(strncmp("unitree_go.msg._res.Res", full_classname_dest, 23) == 0);
-  }
-  unitree_go__msg__Res * ros_message = _ros_message;
-  {  // uuid
-    PyObject * field = PyObject_GetAttrString(_pymsg, "uuid");
-    if (!field) {
-      return false;
-    }
-    assert(PyUnicode_Check(field));
-    PyObject * encoded_field = PyUnicode_AsUTF8String(field);
-    if (!encoded_field) {
-      Py_DECREF(field);
-      return false;
-    }
-    rosidl_runtime_c__String__assign(&ros_message->uuid, PyBytes_AS_STRING(encoded_field));
-    Py_DECREF(encoded_field);
-    Py_DECREF(field);
-  }
-  {  // data
-    PyObject * field = PyObject_GetAttrString(_pymsg, "data");
-    if (!field) {
-      return false;
-    }
-    if (PyObject_CheckBuffer(field)) {
-      // Optimization for converting arrays of primitives
-      Py_buffer view;
-      int rc = PyObject_GetBuffer(field, &view, PyBUF_SIMPLE);
-      if (rc < 0) {
-        Py_DECREF(field);
-        return false;
-      }
-      Py_ssize_t size = view.len / sizeof(uint8_t);
-      if (!rosidl_runtime_c__uint8__Sequence__init(&(ros_message->data), size)) {
-        PyErr_SetString(PyExc_RuntimeError, "unable to create uint8__Sequence ros_message");
-        PyBuffer_Release(&view);
-        Py_DECREF(field);
-        return false;
-      }
-      uint8_t * dest = ros_message->data.data;
-      rc = PyBuffer_ToContiguous(dest, &view, view.len, 'C');
-      if (rc < 0) {
-        PyBuffer_Release(&view);
-        Py_DECREF(field);
-        return false;
-      }
-      PyBuffer_Release(&view);
-    } else {
-      PyObject * seq_field = PySequence_Fast(field, "expected a sequence in 'data'");
-      if (!seq_field) {
-        Py_DECREF(field);
-        return false;
-      }
-      Py_ssize_t size = PySequence_Size(field);
-      if (-1 == size) {
-        Py_DECREF(seq_field);
-        Py_DECREF(field);
-        return false;
-      }
-      if (!rosidl_runtime_c__uint8__Sequence__init(&(ros_message->data), size)) {
-        PyErr_SetString(PyExc_RuntimeError, "unable to create uint8__Sequence ros_message");
-        Py_DECREF(seq_field);
-        Py_DECREF(field);
-        return false;
-      }
-      uint8_t * dest = ros_message->data.data;
-      for (Py_ssize_t i = 0; i < size; ++i) {
-        PyObject * item = PySequence_Fast_GET_ITEM(seq_field, i);
-        if (!item) {
-          Py_DECREF(seq_field);
-          Py_DECREF(field);
-          return false;
-        }
-        assert(PyLong_Check(item));
-        uint8_t tmp = (uint8_t)PyLong_AsUnsignedLong(item);
-
-        memcpy(&dest[i], &tmp, sizeof(uint8_t));
-      }
-      Py_DECREF(seq_field);
-    }
-    Py_DECREF(field);
-  }
-  {  // body
-    PyObject * field = PyObject_GetAttrString(_pymsg, "body");
-    if (!field) {
-      return false;
-    }
-    assert(PyUnicode_Check(field));
-    PyObject * encoded_field = PyUnicode_AsUTF8String(field);
-    if (!encoded_field) {
-      Py_DECREF(field);
-      return false;
-    }
-    rosidl_runtime_c__String__assign(&ros_message->body, PyBytes_AS_STRING(encoded_field));
-    Py_DECREF(encoded_field);
-    Py_DECREF(field);
-  }
-
-  return true;
-}
-
-ROSIDL_GENERATOR_C_EXPORT
-PyObject * unitree_go__msg__res__convert_to_py(void * raw_ros_message)
-{
-  /* NOTE(esteve): Call constructor of Res */
-  PyObject * _pymessage = NULL;
-  {
-    PyObject * pymessage_module = PyImport_ImportModule("unitree_go.msg._res");
-    assert(pymessage_module);
-    PyObject * pymessage_class = PyObject_GetAttrString(pymessage_module, "Res");
-    assert(pymessage_class);
-    Py_DECREF(pymessage_module);
-    _pymessage = PyObject_CallObject(pymessage_class, NULL);
-    Py_DECREF(pymessage_class);
-    if (!_pymessage) {
-      return NULL;
-    }
-  }
-  unitree_go__msg__Res * ros_message = (unitree_go__msg__Res *)raw_ros_message;
-  {  // uuid
-    PyObject * field = NULL;
-    field = PyUnicode_DecodeUTF8(
-      ros_message->uuid.data,
-      strlen(ros_message->uuid.data),
-      "replace");
-    if (!field) {
-      return NULL;
-    }
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "uuid", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // data
-    PyObject * field = NULL;
-    field = PyObject_GetAttrString(_pymessage, "data");
-    if (!field) {
-      return NULL;
-    }
-    assert(field->ob_type != NULL);
-    assert(field->ob_type->tp_name != NULL);
-    assert(strcmp(field->ob_type->tp_name, "array.array") == 0);
-    // ensure that itemsize matches the sizeof of the ROS message field
-    PyObject * itemsize_attr = PyObject_GetAttrString(field, "itemsize");
-    assert(itemsize_attr != NULL);
-    size_t itemsize = PyLong_AsSize_t(itemsize_attr);
-    Py_DECREF(itemsize_attr);
-    if (itemsize != sizeof(uint8_t)) {
-      PyErr_SetString(PyExc_RuntimeError, "itemsize doesn't match expectation");
-      Py_DECREF(field);
-      return NULL;
-    }
-    // clear the array, poor approach to remove potential default values
-    Py_ssize_t length = PyObject_Length(field);
-    if (-1 == length) {
-      Py_DECREF(field);
-      return NULL;
-    }
-    if (length > 0) {
-      PyObject * pop = PyObject_GetAttrString(field, "pop");
-      assert(pop != NULL);
-      for (Py_ssize_t i = 0; i < length; ++i) {
-        PyObject * ret = PyObject_CallFunctionObjArgs(pop, NULL);
-        if (!ret) {
-          Py_DECREF(pop);
-          Py_DECREF(field);
-          return NULL;
-        }
-        Py_DECREF(ret);
-      }
-      Py_DECREF(pop);
-    }
-    if (ros_message->data.size > 0) {
-      // populating the array.array using the frombytes method
-      PyObject * frombytes = PyObject_GetAttrString(field, "frombytes");
-      assert(frombytes != NULL);
-      uint8_t * src = &(ros_message->data.data[0]);
-      PyObject * data = PyBytes_FromStringAndSize((const char *)src, ros_message->data.size * sizeof(uint8_t));
-      assert(data != NULL);
-      PyObject * ret = PyObject_CallFunctionObjArgs(frombytes, data, NULL);
-      Py_DECREF(data);
-      Py_DECREF(frombytes);
-      if (!ret) {
-        Py_DECREF(field);
-        return NULL;
-      }
-      Py_DECREF(ret);
-    }
-    Py_DECREF(field);
-  }
-  {  // body
-    PyObject * field = NULL;
-    field = PyUnicode_DecodeUTF8(
-      ros_message->body.data,
-      strlen(ros_message->body.data),
-      "replace");
-    if (!field) {
-      return NULL;
-    }
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "body", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-
-  // ownership of _pymessage is transferred to the caller
-  return _pymessage;
-}
diff --git a/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_sport_mode_cmd.py b/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_sport_mode_cmd.py
deleted file mode 100644
index 7bcaf06..0000000
--- a/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_sport_mode_cmd.py
+++ /dev/null
@@ -1,415 +0,0 @@
-# generated from rosidl_generator_py/resource/_idl.py.em
-# with input from unitree_go:msg/SportModeCmd.idl
-# generated code does not contain a copyright notice
-
-
-# Import statements for member types
-
-# Member 'position'
-# Member 'euler'
-# Member 'velocity'
-import numpy  # noqa: E402, I100
-
-import rosidl_parser.definition  # noqa: E402, I100
-
-
-class Metaclass_SportModeCmd(type):
-    """Metaclass of message 'SportModeCmd'."""
-
-    _CREATE_ROS_MESSAGE = None
-    _CONVERT_FROM_PY = None
-    _CONVERT_TO_PY = None
-    _DESTROY_ROS_MESSAGE = None
-    _TYPE_SUPPORT = None
-
-    __constants = {
-    }
-
-    @classmethod
-    def __import_type_support__(cls):
-        try:
-            from rosidl_generator_py import import_type_support
-            module = import_type_support('unitree_go')
-        except ImportError:
-            import logging
-            import traceback
-            logger = logging.getLogger(
-                'unitree_go.msg.SportModeCmd')
-            logger.debug(
-                'Failed to import needed modules for type support:\n' +
-                traceback.format_exc())
-        else:
-            cls._CREATE_ROS_MESSAGE = module.create_ros_message_msg__msg__sport_mode_cmd
-            cls._CONVERT_FROM_PY = module.convert_from_py_msg__msg__sport_mode_cmd
-            cls._CONVERT_TO_PY = module.convert_to_py_msg__msg__sport_mode_cmd
-            cls._TYPE_SUPPORT = module.type_support_msg__msg__sport_mode_cmd
-            cls._DESTROY_ROS_MESSAGE = module.destroy_ros_message_msg__msg__sport_mode_cmd
-
-            from unitree_go.msg import BmsCmd
-            if BmsCmd.__class__._TYPE_SUPPORT is None:
-                BmsCmd.__class__.__import_type_support__()
-
-            from unitree_go.msg import PathPoint
-            if PathPoint.__class__._TYPE_SUPPORT is None:
-                PathPoint.__class__.__import_type_support__()
-
-    @classmethod
-    def __prepare__(cls, name, bases, **kwargs):
-        # list constant names here so that they appear in the help text of
-        # the message class under "Data and other attributes defined here:"
-        # as well as populate each message instance
-        return {
-        }
-
-
-class SportModeCmd(metaclass=Metaclass_SportModeCmd):
-    """Message class 'SportModeCmd'."""
-
-    __slots__ = [
-        '_mode',
-        '_gait_type',
-        '_speed_level',
-        '_foot_raise_height',
-        '_body_height',
-        '_position',
-        '_euler',
-        '_velocity',
-        '_yaw_speed',
-        '_bms_cmd',
-        '_path_point',
-    ]
-
-    _fields_and_field_types = {
-        'mode': 'uint8',
-        'gait_type': 'uint8',
-        'speed_level': 'uint8',
-        'foot_raise_height': 'float',
-        'body_height': 'float',
-        'position': 'float[2]',
-        'euler': 'float[3]',
-        'velocity': 'float[2]',
-        'yaw_speed': 'float',
-        'bms_cmd': 'unitree_go/BmsCmd',
-        'path_point': 'unitree_go/PathPoint[30]',
-    }
-
-    SLOT_TYPES = (
-        rosidl_parser.definition.BasicType('uint8'),  # noqa: E501
-        rosidl_parser.definition.BasicType('uint8'),  # noqa: E501
-        rosidl_parser.definition.BasicType('uint8'),  # noqa: E501
-        rosidl_parser.definition.BasicType('float'),  # noqa: E501
-        rosidl_parser.definition.BasicType('float'),  # noqa: E501
-        rosidl_parser.definition.Array(rosidl_parser.definition.BasicType('float'), 2),  # noqa: E501
-        rosidl_parser.definition.Array(rosidl_parser.definition.BasicType('float'), 3),  # noqa: E501
-        rosidl_parser.definition.Array(rosidl_parser.definition.BasicType('float'), 2),  # noqa: E501
-        rosidl_parser.definition.BasicType('float'),  # noqa: E501
-        rosidl_parser.definition.NamespacedType(['unitree_go', 'msg'], 'BmsCmd'),  # noqa: E501
-        rosidl_parser.definition.Array(rosidl_parser.definition.NamespacedType(['unitree_go', 'msg'], 'PathPoint'), 30),  # noqa: E501
-    )
-
-    def __init__(self, **kwargs):
-        assert all('_' + key in self.__slots__ for key in kwargs.keys()), \
-            'Invalid arguments passed to constructor: %s' % \
-            ', '.join(sorted(k for k in kwargs.keys() if '_' + k not in self.__slots__))
-        self.mode = kwargs.get('mode', int())
-        self.gait_type = kwargs.get('gait_type', int())
-        self.speed_level = kwargs.get('speed_level', int())
-        self.foot_raise_height = kwargs.get('foot_raise_height', float())
-        self.body_height = kwargs.get('body_height', float())
-        if 'position' not in kwargs:
-            self.position = numpy.zeros(2, dtype=numpy.float32)
-        else:
-            self.position = numpy.array(kwargs.get('position'), dtype=numpy.float32)
-            assert self.position.shape == (2, )
-        if 'euler' not in kwargs:
-            self.euler = numpy.zeros(3, dtype=numpy.float32)
-        else:
-            self.euler = numpy.array(kwargs.get('euler'), dtype=numpy.float32)
-            assert self.euler.shape == (3, )
-        if 'velocity' not in kwargs:
-            self.velocity = numpy.zeros(2, dtype=numpy.float32)
-        else:
-            self.velocity = numpy.array(kwargs.get('velocity'), dtype=numpy.float32)
-            assert self.velocity.shape == (2, )
-        self.yaw_speed = kwargs.get('yaw_speed', float())
-        from unitree_go.msg import BmsCmd
-        self.bms_cmd = kwargs.get('bms_cmd', BmsCmd())
-        from unitree_go.msg import PathPoint
-        self.path_point = kwargs.get(
-            'path_point',
-            [PathPoint() for x in range(30)]
-        )
-
-    def __repr__(self):
-        typename = self.__class__.__module__.split('.')
-        typename.pop()
-        typename.append(self.__class__.__name__)
-        args = []
-        for s, t in zip(self.__slots__, self.SLOT_TYPES):
-            field = getattr(self, s)
-            fieldstr = repr(field)
-            # We use Python array type for fields that can be directly stored
-            # in them, and "normal" sequences for everything else.  If it is
-            # a type that we store in an array, strip off the 'array' portion.
-            if (
-                isinstance(t, rosidl_parser.definition.AbstractSequence) and
-                isinstance(t.value_type, rosidl_parser.definition.BasicType) and
-                t.value_type.typename in ['float', 'double', 'int8', 'uint8', 'int16', 'uint16', 'int32', 'uint32', 'int64', 'uint64']
-            ):
-                if len(field) == 0:
-                    fieldstr = '[]'
-                else:
-                    assert fieldstr.startswith('array(')
-                    prefix = "array('X', "
-                    suffix = ')'
-                    fieldstr = fieldstr[len(prefix):-len(suffix)]
-            args.append(s[1:] + '=' + fieldstr)
-        return '%s(%s)' % ('.'.join(typename), ', '.join(args))
-
-    def __eq__(self, other):
-        if not isinstance(other, self.__class__):
-            return False
-        if self.mode != other.mode:
-            return False
-        if self.gait_type != other.gait_type:
-            return False
-        if self.speed_level != other.speed_level:
-            return False
-        if self.foot_raise_height != other.foot_raise_height:
-            return False
-        if self.body_height != other.body_height:
-            return False
-        if all(self.position != other.position):
-            return False
-        if all(self.euler != other.euler):
-            return False
-        if all(self.velocity != other.velocity):
-            return False
-        if self.yaw_speed != other.yaw_speed:
-            return False
-        if self.bms_cmd != other.bms_cmd:
-            return False
-        if self.path_point != other.path_point:
-            return False
-        return True
-
-    @classmethod
-    def get_fields_and_field_types(cls):
-        from copy import copy
-        return copy(cls._fields_and_field_types)
-
-    @property
-    def mode(self):
-        """Message field 'mode'."""
-        return self._mode
-
-    @mode.setter
-    def mode(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, int), \
-                "The 'mode' field must be of type 'int'"
-            assert value >= 0 and value < 256, \
-                "The 'mode' field must be an unsigned integer in [0, 255]"
-        self._mode = value
-
-    @property
-    def gait_type(self):
-        """Message field 'gait_type'."""
-        return self._gait_type
-
-    @gait_type.setter
-    def gait_type(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, int), \
-                "The 'gait_type' field must be of type 'int'"
-            assert value >= 0 and value < 256, \
-                "The 'gait_type' field must be an unsigned integer in [0, 255]"
-        self._gait_type = value
-
-    @property
-    def speed_level(self):
-        """Message field 'speed_level'."""
-        return self._speed_level
-
-    @speed_level.setter
-    def speed_level(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, int), \
-                "The 'speed_level' field must be of type 'int'"
-            assert value >= 0 and value < 256, \
-                "The 'speed_level' field must be an unsigned integer in [0, 255]"
-        self._speed_level = value
-
-    @property
-    def foot_raise_height(self):
-        """Message field 'foot_raise_height'."""
-        return self._foot_raise_height
-
-    @foot_raise_height.setter
-    def foot_raise_height(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, float), \
-                "The 'foot_raise_height' field must be of type 'float'"
-        self._foot_raise_height = value
-
-    @property
-    def body_height(self):
-        """Message field 'body_height'."""
-        return self._body_height
-
-    @body_height.setter
-    def body_height(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, float), \
-                "The 'body_height' field must be of type 'float'"
-        self._body_height = value
-
-    @property
-    def position(self):
-        """Message field 'position'."""
-        return self._position
-
-    @position.setter
-    def position(self, value):
-        if isinstance(value, numpy.ndarray):
-            assert value.dtype == numpy.float32, \
-                "The 'position' numpy.ndarray() must have the dtype of 'numpy.float32'"
-            assert value.size == 2, \
-                "The 'position' numpy.ndarray() must have a size of 2"
-            self._position = value
-            return
-        if __debug__:
-            from collections.abc import Sequence
-            from collections.abc import Set
-            from collections import UserList
-            from collections import UserString
-            assert \
-                ((isinstance(value, Sequence) or
-                  isinstance(value, Set) or
-                  isinstance(value, UserList)) and
-                 not isinstance(value, str) and
-                 not isinstance(value, UserString) and
-                 len(value) == 2 and
-                 all(isinstance(v, float) for v in value) and
-                 True), \
-                "The 'position' field must be a set or sequence with length 2 and each value of type 'float'"
-        self._position = numpy.array(value, dtype=numpy.float32)
-
-    @property
-    def euler(self):
-        """Message field 'euler'."""
-        return self._euler
-
-    @euler.setter
-    def euler(self, value):
-        if isinstance(value, numpy.ndarray):
-            assert value.dtype == numpy.float32, \
-                "The 'euler' numpy.ndarray() must have the dtype of 'numpy.float32'"
-            assert value.size == 3, \
-                "The 'euler' numpy.ndarray() must have a size of 3"
-            self._euler = value
-            return
-        if __debug__:
-            from collections.abc import Sequence
-            from collections.abc import Set
-            from collections import UserList
-            from collections import UserString
-            assert \
-                ((isinstance(value, Sequence) or
-                  isinstance(value, Set) or
-                  isinstance(value, UserList)) and
-                 not isinstance(value, str) and
-                 not isinstance(value, UserString) and
-                 len(value) == 3 and
-                 all(isinstance(v, float) for v in value) and
-                 True), \
-                "The 'euler' field must be a set or sequence with length 3 and each value of type 'float'"
-        self._euler = numpy.array(value, dtype=numpy.float32)
-
-    @property
-    def velocity(self):
-        """Message field 'velocity'."""
-        return self._velocity
-
-    @velocity.setter
-    def velocity(self, value):
-        if isinstance(value, numpy.ndarray):
-            assert value.dtype == numpy.float32, \
-                "The 'velocity' numpy.ndarray() must have the dtype of 'numpy.float32'"
-            assert value.size == 2, \
-                "The 'velocity' numpy.ndarray() must have a size of 2"
-            self._velocity = value
-            return
-        if __debug__:
-            from collections.abc import Sequence
-            from collections.abc import Set
-            from collections import UserList
-            from collections import UserString
-            assert \
-                ((isinstance(value, Sequence) or
-                  isinstance(value, Set) or
-                  isinstance(value, UserList)) and
-                 not isinstance(value, str) and
-                 not isinstance(value, UserString) and
-                 len(value) == 2 and
-                 all(isinstance(v, float) for v in value) and
-                 True), \
-                "The 'velocity' field must be a set or sequence with length 2 and each value of type 'float'"
-        self._velocity = numpy.array(value, dtype=numpy.float32)
-
-    @property
-    def yaw_speed(self):
-        """Message field 'yaw_speed'."""
-        return self._yaw_speed
-
-    @yaw_speed.setter
-    def yaw_speed(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, float), \
-                "The 'yaw_speed' field must be of type 'float'"
-        self._yaw_speed = value
-
-    @property
-    def bms_cmd(self):
-        """Message field 'bms_cmd'."""
-        return self._bms_cmd
-
-    @bms_cmd.setter
-    def bms_cmd(self, value):
-        if __debug__:
-            from unitree_go.msg import BmsCmd
-            assert \
-                isinstance(value, BmsCmd), \
-                "The 'bms_cmd' field must be a sub message of type 'BmsCmd'"
-        self._bms_cmd = value
-
-    @property
-    def path_point(self):
-        """Message field 'path_point'."""
-        return self._path_point
-
-    @path_point.setter
-    def path_point(self, value):
-        if __debug__:
-            from unitree_go.msg import PathPoint
-            from collections.abc import Sequence
-            from collections.abc import Set
-            from collections import UserList
-            from collections import UserString
-            assert \
-                ((isinstance(value, Sequence) or
-                  isinstance(value, Set) or
-                  isinstance(value, UserList)) and
-                 not isinstance(value, str) and
-                 not isinstance(value, UserString) and
-                 len(value) == 30 and
-                 all(isinstance(v, PathPoint) for v in value) and
-                 True), \
-                "The 'path_point' field must be a set or sequence with length 30 and each value of type 'PathPoint'"
-        self._path_point = value
diff --git a/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_sport_mode_cmd_s.c b/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_sport_mode_cmd_s.c
deleted file mode 100644
index 8163331..0000000
--- a/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_sport_mode_cmd_s.c
+++ /dev/null
@@ -1,409 +0,0 @@
-// generated from rosidl_generator_py/resource/_idl_support.c.em
-// with input from unitree_go:msg/SportModeCmd.idl
-// generated code does not contain a copyright notice
-#define NPY_NO_DEPRECATED_API NPY_1_7_API_VERSION
-#include <Python.h>
-#include <stdbool.h>
-#ifndef _WIN32
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wunused-function"
-#endif
-#include "numpy/ndarrayobject.h"
-#ifndef _WIN32
-# pragma GCC diagnostic pop
-#endif
-#include "rosidl_runtime_c/visibility_control.h"
-#include "unitree_go/msg/detail/sport_mode_cmd__struct.h"
-#include "unitree_go/msg/detail/sport_mode_cmd__functions.h"
-
-#include "rosidl_runtime_c/primitives_sequence.h"
-#include "rosidl_runtime_c/primitives_sequence_functions.h"
-
-// Nested array functions includes
-#include "unitree_go/msg/detail/path_point__functions.h"
-// end nested array functions include
-bool unitree_go__msg__bms_cmd__convert_from_py(PyObject * _pymsg, void * _ros_message);
-PyObject * unitree_go__msg__bms_cmd__convert_to_py(void * raw_ros_message);
-bool unitree_go__msg__path_point__convert_from_py(PyObject * _pymsg, void * _ros_message);
-PyObject * unitree_go__msg__path_point__convert_to_py(void * raw_ros_message);
-
-ROSIDL_GENERATOR_C_EXPORT
-bool unitree_go__msg__sport_mode_cmd__convert_from_py(PyObject * _pymsg, void * _ros_message)
-{
-  // check that the passed message is of the expected Python class
-  {
-    char full_classname_dest[44];
-    {
-      char * class_name = NULL;
-      char * module_name = NULL;
-      {
-        PyObject * class_attr = PyObject_GetAttrString(_pymsg, "__class__");
-        if (class_attr) {
-          PyObject * name_attr = PyObject_GetAttrString(class_attr, "__name__");
-          if (name_attr) {
-            class_name = (char *)PyUnicode_1BYTE_DATA(name_attr);
-            Py_DECREF(name_attr);
-          }
-          PyObject * module_attr = PyObject_GetAttrString(class_attr, "__module__");
-          if (module_attr) {
-            module_name = (char *)PyUnicode_1BYTE_DATA(module_attr);
-            Py_DECREF(module_attr);
-          }
-          Py_DECREF(class_attr);
-        }
-      }
-      if (!class_name || !module_name) {
-        return false;
-      }
-      snprintf(full_classname_dest, sizeof(full_classname_dest), "%s.%s", module_name, class_name);
-    }
-    assert(strncmp("unitree_go.msg._sport_mode_cmd.SportModeCmd", full_classname_dest, 43) == 0);
-  }
-  unitree_go__msg__SportModeCmd * ros_message = _ros_message;
-  {  // mode
-    PyObject * field = PyObject_GetAttrString(_pymsg, "mode");
-    if (!field) {
-      return false;
-    }
-    assert(PyLong_Check(field));
-    ros_message->mode = (uint8_t)PyLong_AsUnsignedLong(field);
-    Py_DECREF(field);
-  }
-  {  // gait_type
-    PyObject * field = PyObject_GetAttrString(_pymsg, "gait_type");
-    if (!field) {
-      return false;
-    }
-    assert(PyLong_Check(field));
-    ros_message->gait_type = (uint8_t)PyLong_AsUnsignedLong(field);
-    Py_DECREF(field);
-  }
-  {  // speed_level
-    PyObject * field = PyObject_GetAttrString(_pymsg, "speed_level");
-    if (!field) {
-      return false;
-    }
-    assert(PyLong_Check(field));
-    ros_message->speed_level = (uint8_t)PyLong_AsUnsignedLong(field);
-    Py_DECREF(field);
-  }
-  {  // foot_raise_height
-    PyObject * field = PyObject_GetAttrString(_pymsg, "foot_raise_height");
-    if (!field) {
-      return false;
-    }
-    assert(PyFloat_Check(field));
-    ros_message->foot_raise_height = (float)PyFloat_AS_DOUBLE(field);
-    Py_DECREF(field);
-  }
-  {  // body_height
-    PyObject * field = PyObject_GetAttrString(_pymsg, "body_height");
-    if (!field) {
-      return false;
-    }
-    assert(PyFloat_Check(field));
-    ros_message->body_height = (float)PyFloat_AS_DOUBLE(field);
-    Py_DECREF(field);
-  }
-  {  // position
-    PyObject * field = PyObject_GetAttrString(_pymsg, "position");
-    if (!field) {
-      return false;
-    }
-    {
-      // TODO(dirk-thomas) use a better way to check the type before casting
-      assert(field->ob_type != NULL);
-      assert(field->ob_type->tp_name != NULL);
-      assert(strcmp(field->ob_type->tp_name, "numpy.ndarray") == 0);
-      PyArrayObject * seq_field = (PyArrayObject *)field;
-      Py_INCREF(seq_field);
-      assert(PyArray_NDIM(seq_field) == 1);
-      assert(PyArray_TYPE(seq_field) == NPY_FLOAT32);
-      Py_ssize_t size = 2;
-      float * dest = ros_message->position;
-      for (Py_ssize_t i = 0; i < size; ++i) {
-        float tmp = *(npy_float32 *)PyArray_GETPTR1(seq_field, i);
-        memcpy(&dest[i], &tmp, sizeof(float));
-      }
-      Py_DECREF(seq_field);
-    }
-    Py_DECREF(field);
-  }
-  {  // euler
-    PyObject * field = PyObject_GetAttrString(_pymsg, "euler");
-    if (!field) {
-      return false;
-    }
-    {
-      // TODO(dirk-thomas) use a better way to check the type before casting
-      assert(field->ob_type != NULL);
-      assert(field->ob_type->tp_name != NULL);
-      assert(strcmp(field->ob_type->tp_name, "numpy.ndarray") == 0);
-      PyArrayObject * seq_field = (PyArrayObject *)field;
-      Py_INCREF(seq_field);
-      assert(PyArray_NDIM(seq_field) == 1);
-      assert(PyArray_TYPE(seq_field) == NPY_FLOAT32);
-      Py_ssize_t size = 3;
-      float * dest = ros_message->euler;
-      for (Py_ssize_t i = 0; i < size; ++i) {
-        float tmp = *(npy_float32 *)PyArray_GETPTR1(seq_field, i);
-        memcpy(&dest[i], &tmp, sizeof(float));
-      }
-      Py_DECREF(seq_field);
-    }
-    Py_DECREF(field);
-  }
-  {  // velocity
-    PyObject * field = PyObject_GetAttrString(_pymsg, "velocity");
-    if (!field) {
-      return false;
-    }
-    {
-      // TODO(dirk-thomas) use a better way to check the type before casting
-      assert(field->ob_type != NULL);
-      assert(field->ob_type->tp_name != NULL);
-      assert(strcmp(field->ob_type->tp_name, "numpy.ndarray") == 0);
-      PyArrayObject * seq_field = (PyArrayObject *)field;
-      Py_INCREF(seq_field);
-      assert(PyArray_NDIM(seq_field) == 1);
-      assert(PyArray_TYPE(seq_field) == NPY_FLOAT32);
-      Py_ssize_t size = 2;
-      float * dest = ros_message->velocity;
-      for (Py_ssize_t i = 0; i < size; ++i) {
-        float tmp = *(npy_float32 *)PyArray_GETPTR1(seq_field, i);
-        memcpy(&dest[i], &tmp, sizeof(float));
-      }
-      Py_DECREF(seq_field);
-    }
-    Py_DECREF(field);
-  }
-  {  // yaw_speed
-    PyObject * field = PyObject_GetAttrString(_pymsg, "yaw_speed");
-    if (!field) {
-      return false;
-    }
-    assert(PyFloat_Check(field));
-    ros_message->yaw_speed = (float)PyFloat_AS_DOUBLE(field);
-    Py_DECREF(field);
-  }
-  {  // bms_cmd
-    PyObject * field = PyObject_GetAttrString(_pymsg, "bms_cmd");
-    if (!field) {
-      return false;
-    }
-    if (!unitree_go__msg__bms_cmd__convert_from_py(field, &ros_message->bms_cmd)) {
-      Py_DECREF(field);
-      return false;
-    }
-    Py_DECREF(field);
-  }
-  {  // path_point
-    PyObject * field = PyObject_GetAttrString(_pymsg, "path_point");
-    if (!field) {
-      return false;
-    }
-    PyObject * seq_field = PySequence_Fast(field, "expected a sequence in 'path_point'");
-    if (!seq_field) {
-      Py_DECREF(field);
-      return false;
-    }
-    Py_ssize_t size = 30;
-    unitree_go__msg__PathPoint * dest = ros_message->path_point;
-    for (Py_ssize_t i = 0; i < size; ++i) {
-      if (!unitree_go__msg__path_point__convert_from_py(PySequence_Fast_GET_ITEM(seq_field, i), &dest[i])) {
-        Py_DECREF(seq_field);
-        Py_DECREF(field);
-        return false;
-      }
-    }
-    Py_DECREF(seq_field);
-    Py_DECREF(field);
-  }
-
-  return true;
-}
-
-ROSIDL_GENERATOR_C_EXPORT
-PyObject * unitree_go__msg__sport_mode_cmd__convert_to_py(void * raw_ros_message)
-{
-  /* NOTE(esteve): Call constructor of SportModeCmd */
-  PyObject * _pymessage = NULL;
-  {
-    PyObject * pymessage_module = PyImport_ImportModule("unitree_go.msg._sport_mode_cmd");
-    assert(pymessage_module);
-    PyObject * pymessage_class = PyObject_GetAttrString(pymessage_module, "SportModeCmd");
-    assert(pymessage_class);
-    Py_DECREF(pymessage_module);
-    _pymessage = PyObject_CallObject(pymessage_class, NULL);
-    Py_DECREF(pymessage_class);
-    if (!_pymessage) {
-      return NULL;
-    }
-  }
-  unitree_go__msg__SportModeCmd * ros_message = (unitree_go__msg__SportModeCmd *)raw_ros_message;
-  {  // mode
-    PyObject * field = NULL;
-    field = PyLong_FromUnsignedLong(ros_message->mode);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "mode", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // gait_type
-    PyObject * field = NULL;
-    field = PyLong_FromUnsignedLong(ros_message->gait_type);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "gait_type", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // speed_level
-    PyObject * field = NULL;
-    field = PyLong_FromUnsignedLong(ros_message->speed_level);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "speed_level", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // foot_raise_height
-    PyObject * field = NULL;
-    field = PyFloat_FromDouble(ros_message->foot_raise_height);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "foot_raise_height", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // body_height
-    PyObject * field = NULL;
-    field = PyFloat_FromDouble(ros_message->body_height);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "body_height", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // position
-    PyObject * field = NULL;
-    field = PyObject_GetAttrString(_pymessage, "position");
-    if (!field) {
-      return NULL;
-    }
-    assert(field->ob_type != NULL);
-    assert(field->ob_type->tp_name != NULL);
-    assert(strcmp(field->ob_type->tp_name, "numpy.ndarray") == 0);
-    PyArrayObject * seq_field = (PyArrayObject *)field;
-    assert(PyArray_NDIM(seq_field) == 1);
-    assert(PyArray_TYPE(seq_field) == NPY_FLOAT32);
-    assert(sizeof(npy_float32) == sizeof(float));
-    npy_float32 * dst = (npy_float32 *)PyArray_GETPTR1(seq_field, 0);
-    float * src = &(ros_message->position[0]);
-    memcpy(dst, src, 2 * sizeof(float));
-    Py_DECREF(field);
-  }
-  {  // euler
-    PyObject * field = NULL;
-    field = PyObject_GetAttrString(_pymessage, "euler");
-    if (!field) {
-      return NULL;
-    }
-    assert(field->ob_type != NULL);
-    assert(field->ob_type->tp_name != NULL);
-    assert(strcmp(field->ob_type->tp_name, "numpy.ndarray") == 0);
-    PyArrayObject * seq_field = (PyArrayObject *)field;
-    assert(PyArray_NDIM(seq_field) == 1);
-    assert(PyArray_TYPE(seq_field) == NPY_FLOAT32);
-    assert(sizeof(npy_float32) == sizeof(float));
-    npy_float32 * dst = (npy_float32 *)PyArray_GETPTR1(seq_field, 0);
-    float * src = &(ros_message->euler[0]);
-    memcpy(dst, src, 3 * sizeof(float));
-    Py_DECREF(field);
-  }
-  {  // velocity
-    PyObject * field = NULL;
-    field = PyObject_GetAttrString(_pymessage, "velocity");
-    if (!field) {
-      return NULL;
-    }
-    assert(field->ob_type != NULL);
-    assert(field->ob_type->tp_name != NULL);
-    assert(strcmp(field->ob_type->tp_name, "numpy.ndarray") == 0);
-    PyArrayObject * seq_field = (PyArrayObject *)field;
-    assert(PyArray_NDIM(seq_field) == 1);
-    assert(PyArray_TYPE(seq_field) == NPY_FLOAT32);
-    assert(sizeof(npy_float32) == sizeof(float));
-    npy_float32 * dst = (npy_float32 *)PyArray_GETPTR1(seq_field, 0);
-    float * src = &(ros_message->velocity[0]);
-    memcpy(dst, src, 2 * sizeof(float));
-    Py_DECREF(field);
-  }
-  {  // yaw_speed
-    PyObject * field = NULL;
-    field = PyFloat_FromDouble(ros_message->yaw_speed);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "yaw_speed", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // bms_cmd
-    PyObject * field = NULL;
-    field = unitree_go__msg__bms_cmd__convert_to_py(&ros_message->bms_cmd);
-    if (!field) {
-      return NULL;
-    }
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "bms_cmd", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // path_point
-    PyObject * field = NULL;
-    size_t size = 30;
-    field = PyList_New(size);
-    if (!field) {
-      return NULL;
-    }
-    unitree_go__msg__PathPoint * item;
-    for (size_t i = 0; i < size; ++i) {
-      item = &(ros_message->path_point[i]);
-      PyObject * pyitem = unitree_go__msg__path_point__convert_to_py(item);
-      if (!pyitem) {
-        Py_DECREF(field);
-        return NULL;
-      }
-      int rc = PyList_SetItem(field, i, pyitem);
-      (void)rc;
-      assert(rc == 0);
-    }
-    assert(PySequence_Check(field));
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "path_point", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-
-  // ownership of _pymessage is transferred to the caller
-  return _pymessage;
-}
diff --git a/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_sport_mode_state.py b/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_sport_mode_state.py
deleted file mode 100644
index a00aa27..0000000
--- a/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_sport_mode_state.py
+++ /dev/null
@@ -1,546 +0,0 @@
-# generated from rosidl_generator_py/resource/_idl.py.em
-# with input from unitree_go:msg/SportModeState.idl
-# generated code does not contain a copyright notice
-
-
-# Import statements for member types
-
-# Member 'position'
-# Member 'velocity'
-# Member 'range_obstacle'
-# Member 'foot_force'
-# Member 'foot_position_body'
-# Member 'foot_speed_body'
-import numpy  # noqa: E402, I100
-
-import rosidl_parser.definition  # noqa: E402, I100
-
-
-class Metaclass_SportModeState(type):
-    """Metaclass of message 'SportModeState'."""
-
-    _CREATE_ROS_MESSAGE = None
-    _CONVERT_FROM_PY = None
-    _CONVERT_TO_PY = None
-    _DESTROY_ROS_MESSAGE = None
-    _TYPE_SUPPORT = None
-
-    __constants = {
-    }
-
-    @classmethod
-    def __import_type_support__(cls):
-        try:
-            from rosidl_generator_py import import_type_support
-            module = import_type_support('unitree_go')
-        except ImportError:
-            import logging
-            import traceback
-            logger = logging.getLogger(
-                'unitree_go.msg.SportModeState')
-            logger.debug(
-                'Failed to import needed modules for type support:\n' +
-                traceback.format_exc())
-        else:
-            cls._CREATE_ROS_MESSAGE = module.create_ros_message_msg__msg__sport_mode_state
-            cls._CONVERT_FROM_PY = module.convert_from_py_msg__msg__sport_mode_state
-            cls._CONVERT_TO_PY = module.convert_to_py_msg__msg__sport_mode_state
-            cls._TYPE_SUPPORT = module.type_support_msg__msg__sport_mode_state
-            cls._DESTROY_ROS_MESSAGE = module.destroy_ros_message_msg__msg__sport_mode_state
-
-            from unitree_go.msg import IMUState
-            if IMUState.__class__._TYPE_SUPPORT is None:
-                IMUState.__class__.__import_type_support__()
-
-            from unitree_go.msg import TimeSpec
-            if TimeSpec.__class__._TYPE_SUPPORT is None:
-                TimeSpec.__class__.__import_type_support__()
-
-    @classmethod
-    def __prepare__(cls, name, bases, **kwargs):
-        # list constant names here so that they appear in the help text of
-        # the message class under "Data and other attributes defined here:"
-        # as well as populate each message instance
-        return {
-        }
-
-
-class SportModeState(metaclass=Metaclass_SportModeState):
-    """Message class 'SportModeState'."""
-
-    __slots__ = [
-        '_stamp',
-        '_error_code',
-        '_imu_state',
-        '_mode',
-        '_progress',
-        '_gait_type',
-        '_foot_raise_height',
-        '_position',
-        '_body_height',
-        '_velocity',
-        '_yaw_speed',
-        '_range_obstacle',
-        '_foot_force',
-        '_foot_position_body',
-        '_foot_speed_body',
-    ]
-
-    _fields_and_field_types = {
-        'stamp': 'unitree_go/TimeSpec',
-        'error_code': 'uint32',
-        'imu_state': 'unitree_go/IMUState',
-        'mode': 'uint8',
-        'progress': 'float',
-        'gait_type': 'uint8',
-        'foot_raise_height': 'float',
-        'position': 'float[3]',
-        'body_height': 'float',
-        'velocity': 'float[3]',
-        'yaw_speed': 'float',
-        'range_obstacle': 'float[4]',
-        'foot_force': 'int16[4]',
-        'foot_position_body': 'float[12]',
-        'foot_speed_body': 'float[12]',
-    }
-
-    SLOT_TYPES = (
-        rosidl_parser.definition.NamespacedType(['unitree_go', 'msg'], 'TimeSpec'),  # noqa: E501
-        rosidl_parser.definition.BasicType('uint32'),  # noqa: E501
-        rosidl_parser.definition.NamespacedType(['unitree_go', 'msg'], 'IMUState'),  # noqa: E501
-        rosidl_parser.definition.BasicType('uint8'),  # noqa: E501
-        rosidl_parser.definition.BasicType('float'),  # noqa: E501
-        rosidl_parser.definition.BasicType('uint8'),  # noqa: E501
-        rosidl_parser.definition.BasicType('float'),  # noqa: E501
-        rosidl_parser.definition.Array(rosidl_parser.definition.BasicType('float'), 3),  # noqa: E501
-        rosidl_parser.definition.BasicType('float'),  # noqa: E501
-        rosidl_parser.definition.Array(rosidl_parser.definition.BasicType('float'), 3),  # noqa: E501
-        rosidl_parser.definition.BasicType('float'),  # noqa: E501
-        rosidl_parser.definition.Array(rosidl_parser.definition.BasicType('float'), 4),  # noqa: E501
-        rosidl_parser.definition.Array(rosidl_parser.definition.BasicType('int16'), 4),  # noqa: E501
-        rosidl_parser.definition.Array(rosidl_parser.definition.BasicType('float'), 12),  # noqa: E501
-        rosidl_parser.definition.Array(rosidl_parser.definition.BasicType('float'), 12),  # noqa: E501
-    )
-
-    def __init__(self, **kwargs):
-        assert all('_' + key in self.__slots__ for key in kwargs.keys()), \
-            'Invalid arguments passed to constructor: %s' % \
-            ', '.join(sorted(k for k in kwargs.keys() if '_' + k not in self.__slots__))
-        from unitree_go.msg import TimeSpec
-        self.stamp = kwargs.get('stamp', TimeSpec())
-        self.error_code = kwargs.get('error_code', int())
-        from unitree_go.msg import IMUState
-        self.imu_state = kwargs.get('imu_state', IMUState())
-        self.mode = kwargs.get('mode', int())
-        self.progress = kwargs.get('progress', float())
-        self.gait_type = kwargs.get('gait_type', int())
-        self.foot_raise_height = kwargs.get('foot_raise_height', float())
-        if 'position' not in kwargs:
-            self.position = numpy.zeros(3, dtype=numpy.float32)
-        else:
-            self.position = numpy.array(kwargs.get('position'), dtype=numpy.float32)
-            assert self.position.shape == (3, )
-        self.body_height = kwargs.get('body_height', float())
-        if 'velocity' not in kwargs:
-            self.velocity = numpy.zeros(3, dtype=numpy.float32)
-        else:
-            self.velocity = numpy.array(kwargs.get('velocity'), dtype=numpy.float32)
-            assert self.velocity.shape == (3, )
-        self.yaw_speed = kwargs.get('yaw_speed', float())
-        if 'range_obstacle' not in kwargs:
-            self.range_obstacle = numpy.zeros(4, dtype=numpy.float32)
-        else:
-            self.range_obstacle = numpy.array(kwargs.get('range_obstacle'), dtype=numpy.float32)
-            assert self.range_obstacle.shape == (4, )
-        if 'foot_force' not in kwargs:
-            self.foot_force = numpy.zeros(4, dtype=numpy.int16)
-        else:
-            self.foot_force = numpy.array(kwargs.get('foot_force'), dtype=numpy.int16)
-            assert self.foot_force.shape == (4, )
-        if 'foot_position_body' not in kwargs:
-            self.foot_position_body = numpy.zeros(12, dtype=numpy.float32)
-        else:
-            self.foot_position_body = numpy.array(kwargs.get('foot_position_body'), dtype=numpy.float32)
-            assert self.foot_position_body.shape == (12, )
-        if 'foot_speed_body' not in kwargs:
-            self.foot_speed_body = numpy.zeros(12, dtype=numpy.float32)
-        else:
-            self.foot_speed_body = numpy.array(kwargs.get('foot_speed_body'), dtype=numpy.float32)
-            assert self.foot_speed_body.shape == (12, )
-
-    def __repr__(self):
-        typename = self.__class__.__module__.split('.')
-        typename.pop()
-        typename.append(self.__class__.__name__)
-        args = []
-        for s, t in zip(self.__slots__, self.SLOT_TYPES):
-            field = getattr(self, s)
-            fieldstr = repr(field)
-            # We use Python array type for fields that can be directly stored
-            # in them, and "normal" sequences for everything else.  If it is
-            # a type that we store in an array, strip off the 'array' portion.
-            if (
-                isinstance(t, rosidl_parser.definition.AbstractSequence) and
-                isinstance(t.value_type, rosidl_parser.definition.BasicType) and
-                t.value_type.typename in ['float', 'double', 'int8', 'uint8', 'int16', 'uint16', 'int32', 'uint32', 'int64', 'uint64']
-            ):
-                if len(field) == 0:
-                    fieldstr = '[]'
-                else:
-                    assert fieldstr.startswith('array(')
-                    prefix = "array('X', "
-                    suffix = ')'
-                    fieldstr = fieldstr[len(prefix):-len(suffix)]
-            args.append(s[1:] + '=' + fieldstr)
-        return '%s(%s)' % ('.'.join(typename), ', '.join(args))
-
-    def __eq__(self, other):
-        if not isinstance(other, self.__class__):
-            return False
-        if self.stamp != other.stamp:
-            return False
-        if self.error_code != other.error_code:
-            return False
-        if self.imu_state != other.imu_state:
-            return False
-        if self.mode != other.mode:
-            return False
-        if self.progress != other.progress:
-            return False
-        if self.gait_type != other.gait_type:
-            return False
-        if self.foot_raise_height != other.foot_raise_height:
-            return False
-        if all(self.position != other.position):
-            return False
-        if self.body_height != other.body_height:
-            return False
-        if all(self.velocity != other.velocity):
-            return False
-        if self.yaw_speed != other.yaw_speed:
-            return False
-        if all(self.range_obstacle != other.range_obstacle):
-            return False
-        if all(self.foot_force != other.foot_force):
-            return False
-        if all(self.foot_position_body != other.foot_position_body):
-            return False
-        if all(self.foot_speed_body != other.foot_speed_body):
-            return False
-        return True
-
-    @classmethod
-    def get_fields_and_field_types(cls):
-        from copy import copy
-        return copy(cls._fields_and_field_types)
-
-    @property
-    def stamp(self):
-        """Message field 'stamp'."""
-        return self._stamp
-
-    @stamp.setter
-    def stamp(self, value):
-        if __debug__:
-            from unitree_go.msg import TimeSpec
-            assert \
-                isinstance(value, TimeSpec), \
-                "The 'stamp' field must be a sub message of type 'TimeSpec'"
-        self._stamp = value
-
-    @property
-    def error_code(self):
-        """Message field 'error_code'."""
-        return self._error_code
-
-    @error_code.setter
-    def error_code(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, int), \
-                "The 'error_code' field must be of type 'int'"
-            assert value >= 0 and value < 4294967296, \
-                "The 'error_code' field must be an unsigned integer in [0, 4294967295]"
-        self._error_code = value
-
-    @property
-    def imu_state(self):
-        """Message field 'imu_state'."""
-        return self._imu_state
-
-    @imu_state.setter
-    def imu_state(self, value):
-        if __debug__:
-            from unitree_go.msg import IMUState
-            assert \
-                isinstance(value, IMUState), \
-                "The 'imu_state' field must be a sub message of type 'IMUState'"
-        self._imu_state = value
-
-    @property
-    def mode(self):
-        """Message field 'mode'."""
-        return self._mode
-
-    @mode.setter
-    def mode(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, int), \
-                "The 'mode' field must be of type 'int'"
-            assert value >= 0 and value < 256, \
-                "The 'mode' field must be an unsigned integer in [0, 255]"
-        self._mode = value
-
-    @property
-    def progress(self):
-        """Message field 'progress'."""
-        return self._progress
-
-    @progress.setter
-    def progress(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, float), \
-                "The 'progress' field must be of type 'float'"
-        self._progress = value
-
-    @property
-    def gait_type(self):
-        """Message field 'gait_type'."""
-        return self._gait_type
-
-    @gait_type.setter
-    def gait_type(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, int), \
-                "The 'gait_type' field must be of type 'int'"
-            assert value >= 0 and value < 256, \
-                "The 'gait_type' field must be an unsigned integer in [0, 255]"
-        self._gait_type = value
-
-    @property
-    def foot_raise_height(self):
-        """Message field 'foot_raise_height'."""
-        return self._foot_raise_height
-
-    @foot_raise_height.setter
-    def foot_raise_height(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, float), \
-                "The 'foot_raise_height' field must be of type 'float'"
-        self._foot_raise_height = value
-
-    @property
-    def position(self):
-        """Message field 'position'."""
-        return self._position
-
-    @position.setter
-    def position(self, value):
-        if isinstance(value, numpy.ndarray):
-            assert value.dtype == numpy.float32, \
-                "The 'position' numpy.ndarray() must have the dtype of 'numpy.float32'"
-            assert value.size == 3, \
-                "The 'position' numpy.ndarray() must have a size of 3"
-            self._position = value
-            return
-        if __debug__:
-            from collections.abc import Sequence
-            from collections.abc import Set
-            from collections import UserList
-            from collections import UserString
-            assert \
-                ((isinstance(value, Sequence) or
-                  isinstance(value, Set) or
-                  isinstance(value, UserList)) and
-                 not isinstance(value, str) and
-                 not isinstance(value, UserString) and
-                 len(value) == 3 and
-                 all(isinstance(v, float) for v in value) and
-                 True), \
-                "The 'position' field must be a set or sequence with length 3 and each value of type 'float'"
-        self._position = numpy.array(value, dtype=numpy.float32)
-
-    @property
-    def body_height(self):
-        """Message field 'body_height'."""
-        return self._body_height
-
-    @body_height.setter
-    def body_height(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, float), \
-                "The 'body_height' field must be of type 'float'"
-        self._body_height = value
-
-    @property
-    def velocity(self):
-        """Message field 'velocity'."""
-        return self._velocity
-
-    @velocity.setter
-    def velocity(self, value):
-        if isinstance(value, numpy.ndarray):
-            assert value.dtype == numpy.float32, \
-                "The 'velocity' numpy.ndarray() must have the dtype of 'numpy.float32'"
-            assert value.size == 3, \
-                "The 'velocity' numpy.ndarray() must have a size of 3"
-            self._velocity = value
-            return
-        if __debug__:
-            from collections.abc import Sequence
-            from collections.abc import Set
-            from collections import UserList
-            from collections import UserString
-            assert \
-                ((isinstance(value, Sequence) or
-                  isinstance(value, Set) or
-                  isinstance(value, UserList)) and
-                 not isinstance(value, str) and
-                 not isinstance(value, UserString) and
-                 len(value) == 3 and
-                 all(isinstance(v, float) for v in value) and
-                 True), \
-                "The 'velocity' field must be a set or sequence with length 3 and each value of type 'float'"
-        self._velocity = numpy.array(value, dtype=numpy.float32)
-
-    @property
-    def yaw_speed(self):
-        """Message field 'yaw_speed'."""
-        return self._yaw_speed
-
-    @yaw_speed.setter
-    def yaw_speed(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, float), \
-                "The 'yaw_speed' field must be of type 'float'"
-        self._yaw_speed = value
-
-    @property
-    def range_obstacle(self):
-        """Message field 'range_obstacle'."""
-        return self._range_obstacle
-
-    @range_obstacle.setter
-    def range_obstacle(self, value):
-        if isinstance(value, numpy.ndarray):
-            assert value.dtype == numpy.float32, \
-                "The 'range_obstacle' numpy.ndarray() must have the dtype of 'numpy.float32'"
-            assert value.size == 4, \
-                "The 'range_obstacle' numpy.ndarray() must have a size of 4"
-            self._range_obstacle = value
-            return
-        if __debug__:
-            from collections.abc import Sequence
-            from collections.abc import Set
-            from collections import UserList
-            from collections import UserString
-            assert \
-                ((isinstance(value, Sequence) or
-                  isinstance(value, Set) or
-                  isinstance(value, UserList)) and
-                 not isinstance(value, str) and
-                 not isinstance(value, UserString) and
-                 len(value) == 4 and
-                 all(isinstance(v, float) for v in value) and
-                 True), \
-                "The 'range_obstacle' field must be a set or sequence with length 4 and each value of type 'float'"
-        self._range_obstacle = numpy.array(value, dtype=numpy.float32)
-
-    @property
-    def foot_force(self):
-        """Message field 'foot_force'."""
-        return self._foot_force
-
-    @foot_force.setter
-    def foot_force(self, value):
-        if isinstance(value, numpy.ndarray):
-            assert value.dtype == numpy.int16, \
-                "The 'foot_force' numpy.ndarray() must have the dtype of 'numpy.int16'"
-            assert value.size == 4, \
-                "The 'foot_force' numpy.ndarray() must have a size of 4"
-            self._foot_force = value
-            return
-        if __debug__:
-            from collections.abc import Sequence
-            from collections.abc import Set
-            from collections import UserList
-            from collections import UserString
-            assert \
-                ((isinstance(value, Sequence) or
-                  isinstance(value, Set) or
-                  isinstance(value, UserList)) and
-                 not isinstance(value, str) and
-                 not isinstance(value, UserString) and
-                 len(value) == 4 and
-                 all(isinstance(v, int) for v in value) and
-                 all(val >= -32768 and val < 32768 for val in value)), \
-                "The 'foot_force' field must be a set or sequence with length 4 and each value of type 'int' and each integer in [-32768, 32767]"
-        self._foot_force = numpy.array(value, dtype=numpy.int16)
-
-    @property
-    def foot_position_body(self):
-        """Message field 'foot_position_body'."""
-        return self._foot_position_body
-
-    @foot_position_body.setter
-    def foot_position_body(self, value):
-        if isinstance(value, numpy.ndarray):
-            assert value.dtype == numpy.float32, \
-                "The 'foot_position_body' numpy.ndarray() must have the dtype of 'numpy.float32'"
-            assert value.size == 12, \
-                "The 'foot_position_body' numpy.ndarray() must have a size of 12"
-            self._foot_position_body = value
-            return
-        if __debug__:
-            from collections.abc import Sequence
-            from collections.abc import Set
-            from collections import UserList
-            from collections import UserString
-            assert \
-                ((isinstance(value, Sequence) or
-                  isinstance(value, Set) or
-                  isinstance(value, UserList)) and
-                 not isinstance(value, str) and
-                 not isinstance(value, UserString) and
-                 len(value) == 12 and
-                 all(isinstance(v, float) for v in value) and
-                 True), \
-                "The 'foot_position_body' field must be a set or sequence with length 12 and each value of type 'float'"
-        self._foot_position_body = numpy.array(value, dtype=numpy.float32)
-
-    @property
-    def foot_speed_body(self):
-        """Message field 'foot_speed_body'."""
-        return self._foot_speed_body
-
-    @foot_speed_body.setter
-    def foot_speed_body(self, value):
-        if isinstance(value, numpy.ndarray):
-            assert value.dtype == numpy.float32, \
-                "The 'foot_speed_body' numpy.ndarray() must have the dtype of 'numpy.float32'"
-            assert value.size == 12, \
-                "The 'foot_speed_body' numpy.ndarray() must have a size of 12"
-            self._foot_speed_body = value
-            return
-        if __debug__:
-            from collections.abc import Sequence
-            from collections.abc import Set
-            from collections import UserList
-            from collections import UserString
-            assert \
-                ((isinstance(value, Sequence) or
-                  isinstance(value, Set) or
-                  isinstance(value, UserList)) and
-                 not isinstance(value, str) and
-                 not isinstance(value, UserString) and
-                 len(value) == 12 and
-                 all(isinstance(v, float) for v in value) and
-                 True), \
-                "The 'foot_speed_body' field must be a set or sequence with length 12 and each value of type 'float'"
-        self._foot_speed_body = numpy.array(value, dtype=numpy.float32)
diff --git a/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_sport_mode_state_s.c b/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_sport_mode_state_s.c
deleted file mode 100644
index b25a50b..0000000
--- a/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_sport_mode_state_s.c
+++ /dev/null
@@ -1,527 +0,0 @@
-// generated from rosidl_generator_py/resource/_idl_support.c.em
-// with input from unitree_go:msg/SportModeState.idl
-// generated code does not contain a copyright notice
-#define NPY_NO_DEPRECATED_API NPY_1_7_API_VERSION
-#include <Python.h>
-#include <stdbool.h>
-#ifndef _WIN32
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wunused-function"
-#endif
-#include "numpy/ndarrayobject.h"
-#ifndef _WIN32
-# pragma GCC diagnostic pop
-#endif
-#include "rosidl_runtime_c/visibility_control.h"
-#include "unitree_go/msg/detail/sport_mode_state__struct.h"
-#include "unitree_go/msg/detail/sport_mode_state__functions.h"
-
-#include "rosidl_runtime_c/primitives_sequence.h"
-#include "rosidl_runtime_c/primitives_sequence_functions.h"
-
-bool unitree_go__msg__time_spec__convert_from_py(PyObject * _pymsg, void * _ros_message);
-PyObject * unitree_go__msg__time_spec__convert_to_py(void * raw_ros_message);
-bool unitree_go__msg__imu_state__convert_from_py(PyObject * _pymsg, void * _ros_message);
-PyObject * unitree_go__msg__imu_state__convert_to_py(void * raw_ros_message);
-
-ROSIDL_GENERATOR_C_EXPORT
-bool unitree_go__msg__sport_mode_state__convert_from_py(PyObject * _pymsg, void * _ros_message)
-{
-  // check that the passed message is of the expected Python class
-  {
-    char full_classname_dest[48];
-    {
-      char * class_name = NULL;
-      char * module_name = NULL;
-      {
-        PyObject * class_attr = PyObject_GetAttrString(_pymsg, "__class__");
-        if (class_attr) {
-          PyObject * name_attr = PyObject_GetAttrString(class_attr, "__name__");
-          if (name_attr) {
-            class_name = (char *)PyUnicode_1BYTE_DATA(name_attr);
-            Py_DECREF(name_attr);
-          }
-          PyObject * module_attr = PyObject_GetAttrString(class_attr, "__module__");
-          if (module_attr) {
-            module_name = (char *)PyUnicode_1BYTE_DATA(module_attr);
-            Py_DECREF(module_attr);
-          }
-          Py_DECREF(class_attr);
-        }
-      }
-      if (!class_name || !module_name) {
-        return false;
-      }
-      snprintf(full_classname_dest, sizeof(full_classname_dest), "%s.%s", module_name, class_name);
-    }
-    assert(strncmp("unitree_go.msg._sport_mode_state.SportModeState", full_classname_dest, 47) == 0);
-  }
-  unitree_go__msg__SportModeState * ros_message = _ros_message;
-  {  // stamp
-    PyObject * field = PyObject_GetAttrString(_pymsg, "stamp");
-    if (!field) {
-      return false;
-    }
-    if (!unitree_go__msg__time_spec__convert_from_py(field, &ros_message->stamp)) {
-      Py_DECREF(field);
-      return false;
-    }
-    Py_DECREF(field);
-  }
-  {  // error_code
-    PyObject * field = PyObject_GetAttrString(_pymsg, "error_code");
-    if (!field) {
-      return false;
-    }
-    assert(PyLong_Check(field));
-    ros_message->error_code = PyLong_AsUnsignedLong(field);
-    Py_DECREF(field);
-  }
-  {  // imu_state
-    PyObject * field = PyObject_GetAttrString(_pymsg, "imu_state");
-    if (!field) {
-      return false;
-    }
-    if (!unitree_go__msg__imu_state__convert_from_py(field, &ros_message->imu_state)) {
-      Py_DECREF(field);
-      return false;
-    }
-    Py_DECREF(field);
-  }
-  {  // mode
-    PyObject * field = PyObject_GetAttrString(_pymsg, "mode");
-    if (!field) {
-      return false;
-    }
-    assert(PyLong_Check(field));
-    ros_message->mode = (uint8_t)PyLong_AsUnsignedLong(field);
-    Py_DECREF(field);
-  }
-  {  // progress
-    PyObject * field = PyObject_GetAttrString(_pymsg, "progress");
-    if (!field) {
-      return false;
-    }
-    assert(PyFloat_Check(field));
-    ros_message->progress = (float)PyFloat_AS_DOUBLE(field);
-    Py_DECREF(field);
-  }
-  {  // gait_type
-    PyObject * field = PyObject_GetAttrString(_pymsg, "gait_type");
-    if (!field) {
-      return false;
-    }
-    assert(PyLong_Check(field));
-    ros_message->gait_type = (uint8_t)PyLong_AsUnsignedLong(field);
-    Py_DECREF(field);
-  }
-  {  // foot_raise_height
-    PyObject * field = PyObject_GetAttrString(_pymsg, "foot_raise_height");
-    if (!field) {
-      return false;
-    }
-    assert(PyFloat_Check(field));
-    ros_message->foot_raise_height = (float)PyFloat_AS_DOUBLE(field);
-    Py_DECREF(field);
-  }
-  {  // position
-    PyObject * field = PyObject_GetAttrString(_pymsg, "position");
-    if (!field) {
-      return false;
-    }
-    {
-      // TODO(dirk-thomas) use a better way to check the type before casting
-      assert(field->ob_type != NULL);
-      assert(field->ob_type->tp_name != NULL);
-      assert(strcmp(field->ob_type->tp_name, "numpy.ndarray") == 0);
-      PyArrayObject * seq_field = (PyArrayObject *)field;
-      Py_INCREF(seq_field);
-      assert(PyArray_NDIM(seq_field) == 1);
-      assert(PyArray_TYPE(seq_field) == NPY_FLOAT32);
-      Py_ssize_t size = 3;
-      float * dest = ros_message->position;
-      for (Py_ssize_t i = 0; i < size; ++i) {
-        float tmp = *(npy_float32 *)PyArray_GETPTR1(seq_field, i);
-        memcpy(&dest[i], &tmp, sizeof(float));
-      }
-      Py_DECREF(seq_field);
-    }
-    Py_DECREF(field);
-  }
-  {  // body_height
-    PyObject * field = PyObject_GetAttrString(_pymsg, "body_height");
-    if (!field) {
-      return false;
-    }
-    assert(PyFloat_Check(field));
-    ros_message->body_height = (float)PyFloat_AS_DOUBLE(field);
-    Py_DECREF(field);
-  }
-  {  // velocity
-    PyObject * field = PyObject_GetAttrString(_pymsg, "velocity");
-    if (!field) {
-      return false;
-    }
-    {
-      // TODO(dirk-thomas) use a better way to check the type before casting
-      assert(field->ob_type != NULL);
-      assert(field->ob_type->tp_name != NULL);
-      assert(strcmp(field->ob_type->tp_name, "numpy.ndarray") == 0);
-      PyArrayObject * seq_field = (PyArrayObject *)field;
-      Py_INCREF(seq_field);
-      assert(PyArray_NDIM(seq_field) == 1);
-      assert(PyArray_TYPE(seq_field) == NPY_FLOAT32);
-      Py_ssize_t size = 3;
-      float * dest = ros_message->velocity;
-      for (Py_ssize_t i = 0; i < size; ++i) {
-        float tmp = *(npy_float32 *)PyArray_GETPTR1(seq_field, i);
-        memcpy(&dest[i], &tmp, sizeof(float));
-      }
-      Py_DECREF(seq_field);
-    }
-    Py_DECREF(field);
-  }
-  {  // yaw_speed
-    PyObject * field = PyObject_GetAttrString(_pymsg, "yaw_speed");
-    if (!field) {
-      return false;
-    }
-    assert(PyFloat_Check(field));
-    ros_message->yaw_speed = (float)PyFloat_AS_DOUBLE(field);
-    Py_DECREF(field);
-  }
-  {  // range_obstacle
-    PyObject * field = PyObject_GetAttrString(_pymsg, "range_obstacle");
-    if (!field) {
-      return false;
-    }
-    {
-      // TODO(dirk-thomas) use a better way to check the type before casting
-      assert(field->ob_type != NULL);
-      assert(field->ob_type->tp_name != NULL);
-      assert(strcmp(field->ob_type->tp_name, "numpy.ndarray") == 0);
-      PyArrayObject * seq_field = (PyArrayObject *)field;
-      Py_INCREF(seq_field);
-      assert(PyArray_NDIM(seq_field) == 1);
-      assert(PyArray_TYPE(seq_field) == NPY_FLOAT32);
-      Py_ssize_t size = 4;
-      float * dest = ros_message->range_obstacle;
-      for (Py_ssize_t i = 0; i < size; ++i) {
-        float tmp = *(npy_float32 *)PyArray_GETPTR1(seq_field, i);
-        memcpy(&dest[i], &tmp, sizeof(float));
-      }
-      Py_DECREF(seq_field);
-    }
-    Py_DECREF(field);
-  }
-  {  // foot_force
-    PyObject * field = PyObject_GetAttrString(_pymsg, "foot_force");
-    if (!field) {
-      return false;
-    }
-    {
-      // TODO(dirk-thomas) use a better way to check the type before casting
-      assert(field->ob_type != NULL);
-      assert(field->ob_type->tp_name != NULL);
-      assert(strcmp(field->ob_type->tp_name, "numpy.ndarray") == 0);
-      PyArrayObject * seq_field = (PyArrayObject *)field;
-      Py_INCREF(seq_field);
-      assert(PyArray_NDIM(seq_field) == 1);
-      assert(PyArray_TYPE(seq_field) == NPY_INT16);
-      Py_ssize_t size = 4;
-      int16_t * dest = ros_message->foot_force;
-      for (Py_ssize_t i = 0; i < size; ++i) {
-        int16_t tmp = *(npy_int16 *)PyArray_GETPTR1(seq_field, i);
-        memcpy(&dest[i], &tmp, sizeof(int16_t));
-      }
-      Py_DECREF(seq_field);
-    }
-    Py_DECREF(field);
-  }
-  {  // foot_position_body
-    PyObject * field = PyObject_GetAttrString(_pymsg, "foot_position_body");
-    if (!field) {
-      return false;
-    }
-    {
-      // TODO(dirk-thomas) use a better way to check the type before casting
-      assert(field->ob_type != NULL);
-      assert(field->ob_type->tp_name != NULL);
-      assert(strcmp(field->ob_type->tp_name, "numpy.ndarray") == 0);
-      PyArrayObject * seq_field = (PyArrayObject *)field;
-      Py_INCREF(seq_field);
-      assert(PyArray_NDIM(seq_field) == 1);
-      assert(PyArray_TYPE(seq_field) == NPY_FLOAT32);
-      Py_ssize_t size = 12;
-      float * dest = ros_message->foot_position_body;
-      for (Py_ssize_t i = 0; i < size; ++i) {
-        float tmp = *(npy_float32 *)PyArray_GETPTR1(seq_field, i);
-        memcpy(&dest[i], &tmp, sizeof(float));
-      }
-      Py_DECREF(seq_field);
-    }
-    Py_DECREF(field);
-  }
-  {  // foot_speed_body
-    PyObject * field = PyObject_GetAttrString(_pymsg, "foot_speed_body");
-    if (!field) {
-      return false;
-    }
-    {
-      // TODO(dirk-thomas) use a better way to check the type before casting
-      assert(field->ob_type != NULL);
-      assert(field->ob_type->tp_name != NULL);
-      assert(strcmp(field->ob_type->tp_name, "numpy.ndarray") == 0);
-      PyArrayObject * seq_field = (PyArrayObject *)field;
-      Py_INCREF(seq_field);
-      assert(PyArray_NDIM(seq_field) == 1);
-      assert(PyArray_TYPE(seq_field) == NPY_FLOAT32);
-      Py_ssize_t size = 12;
-      float * dest = ros_message->foot_speed_body;
-      for (Py_ssize_t i = 0; i < size; ++i) {
-        float tmp = *(npy_float32 *)PyArray_GETPTR1(seq_field, i);
-        memcpy(&dest[i], &tmp, sizeof(float));
-      }
-      Py_DECREF(seq_field);
-    }
-    Py_DECREF(field);
-  }
-
-  return true;
-}
-
-ROSIDL_GENERATOR_C_EXPORT
-PyObject * unitree_go__msg__sport_mode_state__convert_to_py(void * raw_ros_message)
-{
-  /* NOTE(esteve): Call constructor of SportModeState */
-  PyObject * _pymessage = NULL;
-  {
-    PyObject * pymessage_module = PyImport_ImportModule("unitree_go.msg._sport_mode_state");
-    assert(pymessage_module);
-    PyObject * pymessage_class = PyObject_GetAttrString(pymessage_module, "SportModeState");
-    assert(pymessage_class);
-    Py_DECREF(pymessage_module);
-    _pymessage = PyObject_CallObject(pymessage_class, NULL);
-    Py_DECREF(pymessage_class);
-    if (!_pymessage) {
-      return NULL;
-    }
-  }
-  unitree_go__msg__SportModeState * ros_message = (unitree_go__msg__SportModeState *)raw_ros_message;
-  {  // stamp
-    PyObject * field = NULL;
-    field = unitree_go__msg__time_spec__convert_to_py(&ros_message->stamp);
-    if (!field) {
-      return NULL;
-    }
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "stamp", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // error_code
-    PyObject * field = NULL;
-    field = PyLong_FromUnsignedLong(ros_message->error_code);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "error_code", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // imu_state
-    PyObject * field = NULL;
-    field = unitree_go__msg__imu_state__convert_to_py(&ros_message->imu_state);
-    if (!field) {
-      return NULL;
-    }
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "imu_state", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // mode
-    PyObject * field = NULL;
-    field = PyLong_FromUnsignedLong(ros_message->mode);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "mode", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // progress
-    PyObject * field = NULL;
-    field = PyFloat_FromDouble(ros_message->progress);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "progress", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // gait_type
-    PyObject * field = NULL;
-    field = PyLong_FromUnsignedLong(ros_message->gait_type);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "gait_type", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // foot_raise_height
-    PyObject * field = NULL;
-    field = PyFloat_FromDouble(ros_message->foot_raise_height);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "foot_raise_height", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // position
-    PyObject * field = NULL;
-    field = PyObject_GetAttrString(_pymessage, "position");
-    if (!field) {
-      return NULL;
-    }
-    assert(field->ob_type != NULL);
-    assert(field->ob_type->tp_name != NULL);
-    assert(strcmp(field->ob_type->tp_name, "numpy.ndarray") == 0);
-    PyArrayObject * seq_field = (PyArrayObject *)field;
-    assert(PyArray_NDIM(seq_field) == 1);
-    assert(PyArray_TYPE(seq_field) == NPY_FLOAT32);
-    assert(sizeof(npy_float32) == sizeof(float));
-    npy_float32 * dst = (npy_float32 *)PyArray_GETPTR1(seq_field, 0);
-    float * src = &(ros_message->position[0]);
-    memcpy(dst, src, 3 * sizeof(float));
-    Py_DECREF(field);
-  }
-  {  // body_height
-    PyObject * field = NULL;
-    field = PyFloat_FromDouble(ros_message->body_height);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "body_height", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // velocity
-    PyObject * field = NULL;
-    field = PyObject_GetAttrString(_pymessage, "velocity");
-    if (!field) {
-      return NULL;
-    }
-    assert(field->ob_type != NULL);
-    assert(field->ob_type->tp_name != NULL);
-    assert(strcmp(field->ob_type->tp_name, "numpy.ndarray") == 0);
-    PyArrayObject * seq_field = (PyArrayObject *)field;
-    assert(PyArray_NDIM(seq_field) == 1);
-    assert(PyArray_TYPE(seq_field) == NPY_FLOAT32);
-    assert(sizeof(npy_float32) == sizeof(float));
-    npy_float32 * dst = (npy_float32 *)PyArray_GETPTR1(seq_field, 0);
-    float * src = &(ros_message->velocity[0]);
-    memcpy(dst, src, 3 * sizeof(float));
-    Py_DECREF(field);
-  }
-  {  // yaw_speed
-    PyObject * field = NULL;
-    field = PyFloat_FromDouble(ros_message->yaw_speed);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "yaw_speed", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // range_obstacle
-    PyObject * field = NULL;
-    field = PyObject_GetAttrString(_pymessage, "range_obstacle");
-    if (!field) {
-      return NULL;
-    }
-    assert(field->ob_type != NULL);
-    assert(field->ob_type->tp_name != NULL);
-    assert(strcmp(field->ob_type->tp_name, "numpy.ndarray") == 0);
-    PyArrayObject * seq_field = (PyArrayObject *)field;
-    assert(PyArray_NDIM(seq_field) == 1);
-    assert(PyArray_TYPE(seq_field) == NPY_FLOAT32);
-    assert(sizeof(npy_float32) == sizeof(float));
-    npy_float32 * dst = (npy_float32 *)PyArray_GETPTR1(seq_field, 0);
-    float * src = &(ros_message->range_obstacle[0]);
-    memcpy(dst, src, 4 * sizeof(float));
-    Py_DECREF(field);
-  }
-  {  // foot_force
-    PyObject * field = NULL;
-    field = PyObject_GetAttrString(_pymessage, "foot_force");
-    if (!field) {
-      return NULL;
-    }
-    assert(field->ob_type != NULL);
-    assert(field->ob_type->tp_name != NULL);
-    assert(strcmp(field->ob_type->tp_name, "numpy.ndarray") == 0);
-    PyArrayObject * seq_field = (PyArrayObject *)field;
-    assert(PyArray_NDIM(seq_field) == 1);
-    assert(PyArray_TYPE(seq_field) == NPY_INT16);
-    assert(sizeof(npy_int16) == sizeof(int16_t));
-    npy_int16 * dst = (npy_int16 *)PyArray_GETPTR1(seq_field, 0);
-    int16_t * src = &(ros_message->foot_force[0]);
-    memcpy(dst, src, 4 * sizeof(int16_t));
-    Py_DECREF(field);
-  }
-  {  // foot_position_body
-    PyObject * field = NULL;
-    field = PyObject_GetAttrString(_pymessage, "foot_position_body");
-    if (!field) {
-      return NULL;
-    }
-    assert(field->ob_type != NULL);
-    assert(field->ob_type->tp_name != NULL);
-    assert(strcmp(field->ob_type->tp_name, "numpy.ndarray") == 0);
-    PyArrayObject * seq_field = (PyArrayObject *)field;
-    assert(PyArray_NDIM(seq_field) == 1);
-    assert(PyArray_TYPE(seq_field) == NPY_FLOAT32);
-    assert(sizeof(npy_float32) == sizeof(float));
-    npy_float32 * dst = (npy_float32 *)PyArray_GETPTR1(seq_field, 0);
-    float * src = &(ros_message->foot_position_body[0]);
-    memcpy(dst, src, 12 * sizeof(float));
-    Py_DECREF(field);
-  }
-  {  // foot_speed_body
-    PyObject * field = NULL;
-    field = PyObject_GetAttrString(_pymessage, "foot_speed_body");
-    if (!field) {
-      return NULL;
-    }
-    assert(field->ob_type != NULL);
-    assert(field->ob_type->tp_name != NULL);
-    assert(strcmp(field->ob_type->tp_name, "numpy.ndarray") == 0);
-    PyArrayObject * seq_field = (PyArrayObject *)field;
-    assert(PyArray_NDIM(seq_field) == 1);
-    assert(PyArray_TYPE(seq_field) == NPY_FLOAT32);
-    assert(sizeof(npy_float32) == sizeof(float));
-    npy_float32 * dst = (npy_float32 *)PyArray_GETPTR1(seq_field, 0);
-    float * src = &(ros_message->foot_speed_body[0]);
-    memcpy(dst, src, 12 * sizeof(float));
-    Py_DECREF(field);
-  }
-
-  // ownership of _pymessage is transferred to the caller
-  return _pymessage;
-}
diff --git a/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_time_spec.py b/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_time_spec.py
deleted file mode 100644
index 2282825..0000000
--- a/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_time_spec.py
+++ /dev/null
@@ -1,145 +0,0 @@
-# generated from rosidl_generator_py/resource/_idl.py.em
-# with input from unitree_go:msg/TimeSpec.idl
-# generated code does not contain a copyright notice
-
-
-# Import statements for member types
-
-import rosidl_parser.definition  # noqa: E402, I100
-
-
-class Metaclass_TimeSpec(type):
-    """Metaclass of message 'TimeSpec'."""
-
-    _CREATE_ROS_MESSAGE = None
-    _CONVERT_FROM_PY = None
-    _CONVERT_TO_PY = None
-    _DESTROY_ROS_MESSAGE = None
-    _TYPE_SUPPORT = None
-
-    __constants = {
-    }
-
-    @classmethod
-    def __import_type_support__(cls):
-        try:
-            from rosidl_generator_py import import_type_support
-            module = import_type_support('unitree_go')
-        except ImportError:
-            import logging
-            import traceback
-            logger = logging.getLogger(
-                'unitree_go.msg.TimeSpec')
-            logger.debug(
-                'Failed to import needed modules for type support:\n' +
-                traceback.format_exc())
-        else:
-            cls._CREATE_ROS_MESSAGE = module.create_ros_message_msg__msg__time_spec
-            cls._CONVERT_FROM_PY = module.convert_from_py_msg__msg__time_spec
-            cls._CONVERT_TO_PY = module.convert_to_py_msg__msg__time_spec
-            cls._TYPE_SUPPORT = module.type_support_msg__msg__time_spec
-            cls._DESTROY_ROS_MESSAGE = module.destroy_ros_message_msg__msg__time_spec
-
-    @classmethod
-    def __prepare__(cls, name, bases, **kwargs):
-        # list constant names here so that they appear in the help text of
-        # the message class under "Data and other attributes defined here:"
-        # as well as populate each message instance
-        return {
-        }
-
-
-class TimeSpec(metaclass=Metaclass_TimeSpec):
-    """Message class 'TimeSpec'."""
-
-    __slots__ = [
-        '_sec',
-        '_nanosec',
-    ]
-
-    _fields_and_field_types = {
-        'sec': 'int32',
-        'nanosec': 'uint32',
-    }
-
-    SLOT_TYPES = (
-        rosidl_parser.definition.BasicType('int32'),  # noqa: E501
-        rosidl_parser.definition.BasicType('uint32'),  # noqa: E501
-    )
-
-    def __init__(self, **kwargs):
-        assert all('_' + key in self.__slots__ for key in kwargs.keys()), \
-            'Invalid arguments passed to constructor: %s' % \
-            ', '.join(sorted(k for k in kwargs.keys() if '_' + k not in self.__slots__))
-        self.sec = kwargs.get('sec', int())
-        self.nanosec = kwargs.get('nanosec', int())
-
-    def __repr__(self):
-        typename = self.__class__.__module__.split('.')
-        typename.pop()
-        typename.append(self.__class__.__name__)
-        args = []
-        for s, t in zip(self.__slots__, self.SLOT_TYPES):
-            field = getattr(self, s)
-            fieldstr = repr(field)
-            # We use Python array type for fields that can be directly stored
-            # in them, and "normal" sequences for everything else.  If it is
-            # a type that we store in an array, strip off the 'array' portion.
-            if (
-                isinstance(t, rosidl_parser.definition.AbstractSequence) and
-                isinstance(t.value_type, rosidl_parser.definition.BasicType) and
-                t.value_type.typename in ['float', 'double', 'int8', 'uint8', 'int16', 'uint16', 'int32', 'uint32', 'int64', 'uint64']
-            ):
-                if len(field) == 0:
-                    fieldstr = '[]'
-                else:
-                    assert fieldstr.startswith('array(')
-                    prefix = "array('X', "
-                    suffix = ')'
-                    fieldstr = fieldstr[len(prefix):-len(suffix)]
-            args.append(s[1:] + '=' + fieldstr)
-        return '%s(%s)' % ('.'.join(typename), ', '.join(args))
-
-    def __eq__(self, other):
-        if not isinstance(other, self.__class__):
-            return False
-        if self.sec != other.sec:
-            return False
-        if self.nanosec != other.nanosec:
-            return False
-        return True
-
-    @classmethod
-    def get_fields_and_field_types(cls):
-        from copy import copy
-        return copy(cls._fields_and_field_types)
-
-    @property
-    def sec(self):
-        """Message field 'sec'."""
-        return self._sec
-
-    @sec.setter
-    def sec(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, int), \
-                "The 'sec' field must be of type 'int'"
-            assert value >= -2147483648 and value < 2147483648, \
-                "The 'sec' field must be an integer in [-2147483648, 2147483647]"
-        self._sec = value
-
-    @property
-    def nanosec(self):
-        """Message field 'nanosec'."""
-        return self._nanosec
-
-    @nanosec.setter
-    def nanosec(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, int), \
-                "The 'nanosec' field must be of type 'int'"
-            assert value >= 0 and value < 4294967296, \
-                "The 'nanosec' field must be an unsigned integer in [0, 4294967295]"
-        self._nanosec = value
diff --git a/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_time_spec_s.c b/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_time_spec_s.c
deleted file mode 100644
index a9643e1..0000000
--- a/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_time_spec_s.c
+++ /dev/null
@@ -1,118 +0,0 @@
-// generated from rosidl_generator_py/resource/_idl_support.c.em
-// with input from unitree_go:msg/TimeSpec.idl
-// generated code does not contain a copyright notice
-#define NPY_NO_DEPRECATED_API NPY_1_7_API_VERSION
-#include <Python.h>
-#include <stdbool.h>
-#ifndef _WIN32
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wunused-function"
-#endif
-#include "numpy/ndarrayobject.h"
-#ifndef _WIN32
-# pragma GCC diagnostic pop
-#endif
-#include "rosidl_runtime_c/visibility_control.h"
-#include "unitree_go/msg/detail/time_spec__struct.h"
-#include "unitree_go/msg/detail/time_spec__functions.h"
-
-
-ROSIDL_GENERATOR_C_EXPORT
-bool unitree_go__msg__time_spec__convert_from_py(PyObject * _pymsg, void * _ros_message)
-{
-  // check that the passed message is of the expected Python class
-  {
-    char full_classname_dest[35];
-    {
-      char * class_name = NULL;
-      char * module_name = NULL;
-      {
-        PyObject * class_attr = PyObject_GetAttrString(_pymsg, "__class__");
-        if (class_attr) {
-          PyObject * name_attr = PyObject_GetAttrString(class_attr, "__name__");
-          if (name_attr) {
-            class_name = (char *)PyUnicode_1BYTE_DATA(name_attr);
-            Py_DECREF(name_attr);
-          }
-          PyObject * module_attr = PyObject_GetAttrString(class_attr, "__module__");
-          if (module_attr) {
-            module_name = (char *)PyUnicode_1BYTE_DATA(module_attr);
-            Py_DECREF(module_attr);
-          }
-          Py_DECREF(class_attr);
-        }
-      }
-      if (!class_name || !module_name) {
-        return false;
-      }
-      snprintf(full_classname_dest, sizeof(full_classname_dest), "%s.%s", module_name, class_name);
-    }
-    assert(strncmp("unitree_go.msg._time_spec.TimeSpec", full_classname_dest, 34) == 0);
-  }
-  unitree_go__msg__TimeSpec * ros_message = _ros_message;
-  {  // sec
-    PyObject * field = PyObject_GetAttrString(_pymsg, "sec");
-    if (!field) {
-      return false;
-    }
-    assert(PyLong_Check(field));
-    ros_message->sec = (int32_t)PyLong_AsLong(field);
-    Py_DECREF(field);
-  }
-  {  // nanosec
-    PyObject * field = PyObject_GetAttrString(_pymsg, "nanosec");
-    if (!field) {
-      return false;
-    }
-    assert(PyLong_Check(field));
-    ros_message->nanosec = PyLong_AsUnsignedLong(field);
-    Py_DECREF(field);
-  }
-
-  return true;
-}
-
-ROSIDL_GENERATOR_C_EXPORT
-PyObject * unitree_go__msg__time_spec__convert_to_py(void * raw_ros_message)
-{
-  /* NOTE(esteve): Call constructor of TimeSpec */
-  PyObject * _pymessage = NULL;
-  {
-    PyObject * pymessage_module = PyImport_ImportModule("unitree_go.msg._time_spec");
-    assert(pymessage_module);
-    PyObject * pymessage_class = PyObject_GetAttrString(pymessage_module, "TimeSpec");
-    assert(pymessage_class);
-    Py_DECREF(pymessage_module);
-    _pymessage = PyObject_CallObject(pymessage_class, NULL);
-    Py_DECREF(pymessage_class);
-    if (!_pymessage) {
-      return NULL;
-    }
-  }
-  unitree_go__msg__TimeSpec * ros_message = (unitree_go__msg__TimeSpec *)raw_ros_message;
-  {  // sec
-    PyObject * field = NULL;
-    field = PyLong_FromLong(ros_message->sec);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "sec", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // nanosec
-    PyObject * field = NULL;
-    field = PyLong_FromUnsignedLong(ros_message->nanosec);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "nanosec", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-
-  // ownership of _pymessage is transferred to the caller
-  return _pymessage;
-}
diff --git a/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_uwb_state.py b/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_uwb_state.py
deleted file mode 100644
index 5ed22b5..0000000
--- a/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_uwb_state.py
+++ /dev/null
@@ -1,484 +0,0 @@
-# generated from rosidl_generator_py/resource/_idl.py.em
-# with input from unitree_go:msg/UwbState.idl
-# generated code does not contain a copyright notice
-
-
-# Import statements for member types
-
-# Member 'version'
-# Member 'joystick'
-import numpy  # noqa: E402, I100
-
-import rosidl_parser.definition  # noqa: E402, I100
-
-
-class Metaclass_UwbState(type):
-    """Metaclass of message 'UwbState'."""
-
-    _CREATE_ROS_MESSAGE = None
-    _CONVERT_FROM_PY = None
-    _CONVERT_TO_PY = None
-    _DESTROY_ROS_MESSAGE = None
-    _TYPE_SUPPORT = None
-
-    __constants = {
-    }
-
-    @classmethod
-    def __import_type_support__(cls):
-        try:
-            from rosidl_generator_py import import_type_support
-            module = import_type_support('unitree_go')
-        except ImportError:
-            import logging
-            import traceback
-            logger = logging.getLogger(
-                'unitree_go.msg.UwbState')
-            logger.debug(
-                'Failed to import needed modules for type support:\n' +
-                traceback.format_exc())
-        else:
-            cls._CREATE_ROS_MESSAGE = module.create_ros_message_msg__msg__uwb_state
-            cls._CONVERT_FROM_PY = module.convert_from_py_msg__msg__uwb_state
-            cls._CONVERT_TO_PY = module.convert_to_py_msg__msg__uwb_state
-            cls._TYPE_SUPPORT = module.type_support_msg__msg__uwb_state
-            cls._DESTROY_ROS_MESSAGE = module.destroy_ros_message_msg__msg__uwb_state
-
-    @classmethod
-    def __prepare__(cls, name, bases, **kwargs):
-        # list constant names here so that they appear in the help text of
-        # the message class under "Data and other attributes defined here:"
-        # as well as populate each message instance
-        return {
-        }
-
-
-class UwbState(metaclass=Metaclass_UwbState):
-    """Message class 'UwbState'."""
-
-    __slots__ = [
-        '_version',
-        '_channel',
-        '_joy_mode',
-        '_orientation_est',
-        '_pitch_est',
-        '_distance_est',
-        '_yaw_est',
-        '_tag_roll',
-        '_tag_pitch',
-        '_tag_yaw',
-        '_base_roll',
-        '_base_pitch',
-        '_base_yaw',
-        '_joystick',
-        '_error_state',
-        '_buttons',
-        '_enabled_from_app',
-    ]
-
-    _fields_and_field_types = {
-        'version': 'uint8[2]',
-        'channel': 'uint8',
-        'joy_mode': 'uint8',
-        'orientation_est': 'float',
-        'pitch_est': 'float',
-        'distance_est': 'float',
-        'yaw_est': 'float',
-        'tag_roll': 'float',
-        'tag_pitch': 'float',
-        'tag_yaw': 'float',
-        'base_roll': 'float',
-        'base_pitch': 'float',
-        'base_yaw': 'float',
-        'joystick': 'float[2]',
-        'error_state': 'uint8',
-        'buttons': 'uint8',
-        'enabled_from_app': 'uint8',
-    }
-
-    SLOT_TYPES = (
-        rosidl_parser.definition.Array(rosidl_parser.definition.BasicType('uint8'), 2),  # noqa: E501
-        rosidl_parser.definition.BasicType('uint8'),  # noqa: E501
-        rosidl_parser.definition.BasicType('uint8'),  # noqa: E501
-        rosidl_parser.definition.BasicType('float'),  # noqa: E501
-        rosidl_parser.definition.BasicType('float'),  # noqa: E501
-        rosidl_parser.definition.BasicType('float'),  # noqa: E501
-        rosidl_parser.definition.BasicType('float'),  # noqa: E501
-        rosidl_parser.definition.BasicType('float'),  # noqa: E501
-        rosidl_parser.definition.BasicType('float'),  # noqa: E501
-        rosidl_parser.definition.BasicType('float'),  # noqa: E501
-        rosidl_parser.definition.BasicType('float'),  # noqa: E501
-        rosidl_parser.definition.BasicType('float'),  # noqa: E501
-        rosidl_parser.definition.BasicType('float'),  # noqa: E501
-        rosidl_parser.definition.Array(rosidl_parser.definition.BasicType('float'), 2),  # noqa: E501
-        rosidl_parser.definition.BasicType('uint8'),  # noqa: E501
-        rosidl_parser.definition.BasicType('uint8'),  # noqa: E501
-        rosidl_parser.definition.BasicType('uint8'),  # noqa: E501
-    )
-
-    def __init__(self, **kwargs):
-        assert all('_' + key in self.__slots__ for key in kwargs.keys()), \
-            'Invalid arguments passed to constructor: %s' % \
-            ', '.join(sorted(k for k in kwargs.keys() if '_' + k not in self.__slots__))
-        if 'version' not in kwargs:
-            self.version = numpy.zeros(2, dtype=numpy.uint8)
-        else:
-            self.version = numpy.array(kwargs.get('version'), dtype=numpy.uint8)
-            assert self.version.shape == (2, )
-        self.channel = kwargs.get('channel', int())
-        self.joy_mode = kwargs.get('joy_mode', int())
-        self.orientation_est = kwargs.get('orientation_est', float())
-        self.pitch_est = kwargs.get('pitch_est', float())
-        self.distance_est = kwargs.get('distance_est', float())
-        self.yaw_est = kwargs.get('yaw_est', float())
-        self.tag_roll = kwargs.get('tag_roll', float())
-        self.tag_pitch = kwargs.get('tag_pitch', float())
-        self.tag_yaw = kwargs.get('tag_yaw', float())
-        self.base_roll = kwargs.get('base_roll', float())
-        self.base_pitch = kwargs.get('base_pitch', float())
-        self.base_yaw = kwargs.get('base_yaw', float())
-        if 'joystick' not in kwargs:
-            self.joystick = numpy.zeros(2, dtype=numpy.float32)
-        else:
-            self.joystick = numpy.array(kwargs.get('joystick'), dtype=numpy.float32)
-            assert self.joystick.shape == (2, )
-        self.error_state = kwargs.get('error_state', int())
-        self.buttons = kwargs.get('buttons', int())
-        self.enabled_from_app = kwargs.get('enabled_from_app', int())
-
-    def __repr__(self):
-        typename = self.__class__.__module__.split('.')
-        typename.pop()
-        typename.append(self.__class__.__name__)
-        args = []
-        for s, t in zip(self.__slots__, self.SLOT_TYPES):
-            field = getattr(self, s)
-            fieldstr = repr(field)
-            # We use Python array type for fields that can be directly stored
-            # in them, and "normal" sequences for everything else.  If it is
-            # a type that we store in an array, strip off the 'array' portion.
-            if (
-                isinstance(t, rosidl_parser.definition.AbstractSequence) and
-                isinstance(t.value_type, rosidl_parser.definition.BasicType) and
-                t.value_type.typename in ['float', 'double', 'int8', 'uint8', 'int16', 'uint16', 'int32', 'uint32', 'int64', 'uint64']
-            ):
-                if len(field) == 0:
-                    fieldstr = '[]'
-                else:
-                    assert fieldstr.startswith('array(')
-                    prefix = "array('X', "
-                    suffix = ')'
-                    fieldstr = fieldstr[len(prefix):-len(suffix)]
-            args.append(s[1:] + '=' + fieldstr)
-        return '%s(%s)' % ('.'.join(typename), ', '.join(args))
-
-    def __eq__(self, other):
-        if not isinstance(other, self.__class__):
-            return False
-        if all(self.version != other.version):
-            return False
-        if self.channel != other.channel:
-            return False
-        if self.joy_mode != other.joy_mode:
-            return False
-        if self.orientation_est != other.orientation_est:
-            return False
-        if self.pitch_est != other.pitch_est:
-            return False
-        if self.distance_est != other.distance_est:
-            return False
-        if self.yaw_est != other.yaw_est:
-            return False
-        if self.tag_roll != other.tag_roll:
-            return False
-        if self.tag_pitch != other.tag_pitch:
-            return False
-        if self.tag_yaw != other.tag_yaw:
-            return False
-        if self.base_roll != other.base_roll:
-            return False
-        if self.base_pitch != other.base_pitch:
-            return False
-        if self.base_yaw != other.base_yaw:
-            return False
-        if all(self.joystick != other.joystick):
-            return False
-        if self.error_state != other.error_state:
-            return False
-        if self.buttons != other.buttons:
-            return False
-        if self.enabled_from_app != other.enabled_from_app:
-            return False
-        return True
-
-    @classmethod
-    def get_fields_and_field_types(cls):
-        from copy import copy
-        return copy(cls._fields_and_field_types)
-
-    @property
-    def version(self):
-        """Message field 'version'."""
-        return self._version
-
-    @version.setter
-    def version(self, value):
-        if isinstance(value, numpy.ndarray):
-            assert value.dtype == numpy.uint8, \
-                "The 'version' numpy.ndarray() must have the dtype of 'numpy.uint8'"
-            assert value.size == 2, \
-                "The 'version' numpy.ndarray() must have a size of 2"
-            self._version = value
-            return
-        if __debug__:
-            from collections.abc import Sequence
-            from collections.abc import Set
-            from collections import UserList
-            from collections import UserString
-            assert \
-                ((isinstance(value, Sequence) or
-                  isinstance(value, Set) or
-                  isinstance(value, UserList)) and
-                 not isinstance(value, str) and
-                 not isinstance(value, UserString) and
-                 len(value) == 2 and
-                 all(isinstance(v, int) for v in value) and
-                 all(val >= 0 and val < 256 for val in value)), \
-                "The 'version' field must be a set or sequence with length 2 and each value of type 'int' and each unsigned integer in [0, 255]"
-        self._version = numpy.array(value, dtype=numpy.uint8)
-
-    @property
-    def channel(self):
-        """Message field 'channel'."""
-        return self._channel
-
-    @channel.setter
-    def channel(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, int), \
-                "The 'channel' field must be of type 'int'"
-            assert value >= 0 and value < 256, \
-                "The 'channel' field must be an unsigned integer in [0, 255]"
-        self._channel = value
-
-    @property
-    def joy_mode(self):
-        """Message field 'joy_mode'."""
-        return self._joy_mode
-
-    @joy_mode.setter
-    def joy_mode(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, int), \
-                "The 'joy_mode' field must be of type 'int'"
-            assert value >= 0 and value < 256, \
-                "The 'joy_mode' field must be an unsigned integer in [0, 255]"
-        self._joy_mode = value
-
-    @property
-    def orientation_est(self):
-        """Message field 'orientation_est'."""
-        return self._orientation_est
-
-    @orientation_est.setter
-    def orientation_est(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, float), \
-                "The 'orientation_est' field must be of type 'float'"
-        self._orientation_est = value
-
-    @property
-    def pitch_est(self):
-        """Message field 'pitch_est'."""
-        return self._pitch_est
-
-    @pitch_est.setter
-    def pitch_est(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, float), \
-                "The 'pitch_est' field must be of type 'float'"
-        self._pitch_est = value
-
-    @property
-    def distance_est(self):
-        """Message field 'distance_est'."""
-        return self._distance_est
-
-    @distance_est.setter
-    def distance_est(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, float), \
-                "The 'distance_est' field must be of type 'float'"
-        self._distance_est = value
-
-    @property
-    def yaw_est(self):
-        """Message field 'yaw_est'."""
-        return self._yaw_est
-
-    @yaw_est.setter
-    def yaw_est(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, float), \
-                "The 'yaw_est' field must be of type 'float'"
-        self._yaw_est = value
-
-    @property
-    def tag_roll(self):
-        """Message field 'tag_roll'."""
-        return self._tag_roll
-
-    @tag_roll.setter
-    def tag_roll(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, float), \
-                "The 'tag_roll' field must be of type 'float'"
-        self._tag_roll = value
-
-    @property
-    def tag_pitch(self):
-        """Message field 'tag_pitch'."""
-        return self._tag_pitch
-
-    @tag_pitch.setter
-    def tag_pitch(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, float), \
-                "The 'tag_pitch' field must be of type 'float'"
-        self._tag_pitch = value
-
-    @property
-    def tag_yaw(self):
-        """Message field 'tag_yaw'."""
-        return self._tag_yaw
-
-    @tag_yaw.setter
-    def tag_yaw(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, float), \
-                "The 'tag_yaw' field must be of type 'float'"
-        self._tag_yaw = value
-
-    @property
-    def base_roll(self):
-        """Message field 'base_roll'."""
-        return self._base_roll
-
-    @base_roll.setter
-    def base_roll(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, float), \
-                "The 'base_roll' field must be of type 'float'"
-        self._base_roll = value
-
-    @property
-    def base_pitch(self):
-        """Message field 'base_pitch'."""
-        return self._base_pitch
-
-    @base_pitch.setter
-    def base_pitch(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, float), \
-                "The 'base_pitch' field must be of type 'float'"
-        self._base_pitch = value
-
-    @property
-    def base_yaw(self):
-        """Message field 'base_yaw'."""
-        return self._base_yaw
-
-    @base_yaw.setter
-    def base_yaw(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, float), \
-                "The 'base_yaw' field must be of type 'float'"
-        self._base_yaw = value
-
-    @property
-    def joystick(self):
-        """Message field 'joystick'."""
-        return self._joystick
-
-    @joystick.setter
-    def joystick(self, value):
-        if isinstance(value, numpy.ndarray):
-            assert value.dtype == numpy.float32, \
-                "The 'joystick' numpy.ndarray() must have the dtype of 'numpy.float32'"
-            assert value.size == 2, \
-                "The 'joystick' numpy.ndarray() must have a size of 2"
-            self._joystick = value
-            return
-        if __debug__:
-            from collections.abc import Sequence
-            from collections.abc import Set
-            from collections import UserList
-            from collections import UserString
-            assert \
-                ((isinstance(value, Sequence) or
-                  isinstance(value, Set) or
-                  isinstance(value, UserList)) and
-                 not isinstance(value, str) and
-                 not isinstance(value, UserString) and
-                 len(value) == 2 and
-                 all(isinstance(v, float) for v in value) and
-                 True), \
-                "The 'joystick' field must be a set or sequence with length 2 and each value of type 'float'"
-        self._joystick = numpy.array(value, dtype=numpy.float32)
-
-    @property
-    def error_state(self):
-        """Message field 'error_state'."""
-        return self._error_state
-
-    @error_state.setter
-    def error_state(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, int), \
-                "The 'error_state' field must be of type 'int'"
-            assert value >= 0 and value < 256, \
-                "The 'error_state' field must be an unsigned integer in [0, 255]"
-        self._error_state = value
-
-    @property
-    def buttons(self):
-        """Message field 'buttons'."""
-        return self._buttons
-
-    @buttons.setter
-    def buttons(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, int), \
-                "The 'buttons' field must be of type 'int'"
-            assert value >= 0 and value < 256, \
-                "The 'buttons' field must be an unsigned integer in [0, 255]"
-        self._buttons = value
-
-    @property
-    def enabled_from_app(self):
-        """Message field 'enabled_from_app'."""
-        return self._enabled_from_app
-
-    @enabled_from_app.setter
-    def enabled_from_app(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, int), \
-                "The 'enabled_from_app' field must be of type 'int'"
-            assert value >= 0 and value < 256, \
-                "The 'enabled_from_app' field must be an unsigned integer in [0, 255]"
-        self._enabled_from_app = value
diff --git a/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_uwb_state_s.c b/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_uwb_state_s.c
deleted file mode 100644
index c551163..0000000
--- a/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_uwb_state_s.c
+++ /dev/null
@@ -1,465 +0,0 @@
-// generated from rosidl_generator_py/resource/_idl_support.c.em
-// with input from unitree_go:msg/UwbState.idl
-// generated code does not contain a copyright notice
-#define NPY_NO_DEPRECATED_API NPY_1_7_API_VERSION
-#include <Python.h>
-#include <stdbool.h>
-#ifndef _WIN32
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wunused-function"
-#endif
-#include "numpy/ndarrayobject.h"
-#ifndef _WIN32
-# pragma GCC diagnostic pop
-#endif
-#include "rosidl_runtime_c/visibility_control.h"
-#include "unitree_go/msg/detail/uwb_state__struct.h"
-#include "unitree_go/msg/detail/uwb_state__functions.h"
-
-#include "rosidl_runtime_c/primitives_sequence.h"
-#include "rosidl_runtime_c/primitives_sequence_functions.h"
-
-
-ROSIDL_GENERATOR_C_EXPORT
-bool unitree_go__msg__uwb_state__convert_from_py(PyObject * _pymsg, void * _ros_message)
-{
-  // check that the passed message is of the expected Python class
-  {
-    char full_classname_dest[35];
-    {
-      char * class_name = NULL;
-      char * module_name = NULL;
-      {
-        PyObject * class_attr = PyObject_GetAttrString(_pymsg, "__class__");
-        if (class_attr) {
-          PyObject * name_attr = PyObject_GetAttrString(class_attr, "__name__");
-          if (name_attr) {
-            class_name = (char *)PyUnicode_1BYTE_DATA(name_attr);
-            Py_DECREF(name_attr);
-          }
-          PyObject * module_attr = PyObject_GetAttrString(class_attr, "__module__");
-          if (module_attr) {
-            module_name = (char *)PyUnicode_1BYTE_DATA(module_attr);
-            Py_DECREF(module_attr);
-          }
-          Py_DECREF(class_attr);
-        }
-      }
-      if (!class_name || !module_name) {
-        return false;
-      }
-      snprintf(full_classname_dest, sizeof(full_classname_dest), "%s.%s", module_name, class_name);
-    }
-    assert(strncmp("unitree_go.msg._uwb_state.UwbState", full_classname_dest, 34) == 0);
-  }
-  unitree_go__msg__UwbState * ros_message = _ros_message;
-  {  // version
-    PyObject * field = PyObject_GetAttrString(_pymsg, "version");
-    if (!field) {
-      return false;
-    }
-    {
-      // TODO(dirk-thomas) use a better way to check the type before casting
-      assert(field->ob_type != NULL);
-      assert(field->ob_type->tp_name != NULL);
-      assert(strcmp(field->ob_type->tp_name, "numpy.ndarray") == 0);
-      PyArrayObject * seq_field = (PyArrayObject *)field;
-      Py_INCREF(seq_field);
-      assert(PyArray_NDIM(seq_field) == 1);
-      assert(PyArray_TYPE(seq_field) == NPY_UINT8);
-      Py_ssize_t size = 2;
-      uint8_t * dest = ros_message->version;
-      for (Py_ssize_t i = 0; i < size; ++i) {
-        uint8_t tmp = *(npy_uint8 *)PyArray_GETPTR1(seq_field, i);
-        memcpy(&dest[i], &tmp, sizeof(uint8_t));
-      }
-      Py_DECREF(seq_field);
-    }
-    Py_DECREF(field);
-  }
-  {  // channel
-    PyObject * field = PyObject_GetAttrString(_pymsg, "channel");
-    if (!field) {
-      return false;
-    }
-    assert(PyLong_Check(field));
-    ros_message->channel = (uint8_t)PyLong_AsUnsignedLong(field);
-    Py_DECREF(field);
-  }
-  {  // joy_mode
-    PyObject * field = PyObject_GetAttrString(_pymsg, "joy_mode");
-    if (!field) {
-      return false;
-    }
-    assert(PyLong_Check(field));
-    ros_message->joy_mode = (uint8_t)PyLong_AsUnsignedLong(field);
-    Py_DECREF(field);
-  }
-  {  // orientation_est
-    PyObject * field = PyObject_GetAttrString(_pymsg, "orientation_est");
-    if (!field) {
-      return false;
-    }
-    assert(PyFloat_Check(field));
-    ros_message->orientation_est = (float)PyFloat_AS_DOUBLE(field);
-    Py_DECREF(field);
-  }
-  {  // pitch_est
-    PyObject * field = PyObject_GetAttrString(_pymsg, "pitch_est");
-    if (!field) {
-      return false;
-    }
-    assert(PyFloat_Check(field));
-    ros_message->pitch_est = (float)PyFloat_AS_DOUBLE(field);
-    Py_DECREF(field);
-  }
-  {  // distance_est
-    PyObject * field = PyObject_GetAttrString(_pymsg, "distance_est");
-    if (!field) {
-      return false;
-    }
-    assert(PyFloat_Check(field));
-    ros_message->distance_est = (float)PyFloat_AS_DOUBLE(field);
-    Py_DECREF(field);
-  }
-  {  // yaw_est
-    PyObject * field = PyObject_GetAttrString(_pymsg, "yaw_est");
-    if (!field) {
-      return false;
-    }
-    assert(PyFloat_Check(field));
-    ros_message->yaw_est = (float)PyFloat_AS_DOUBLE(field);
-    Py_DECREF(field);
-  }
-  {  // tag_roll
-    PyObject * field = PyObject_GetAttrString(_pymsg, "tag_roll");
-    if (!field) {
-      return false;
-    }
-    assert(PyFloat_Check(field));
-    ros_message->tag_roll = (float)PyFloat_AS_DOUBLE(field);
-    Py_DECREF(field);
-  }
-  {  // tag_pitch
-    PyObject * field = PyObject_GetAttrString(_pymsg, "tag_pitch");
-    if (!field) {
-      return false;
-    }
-    assert(PyFloat_Check(field));
-    ros_message->tag_pitch = (float)PyFloat_AS_DOUBLE(field);
-    Py_DECREF(field);
-  }
-  {  // tag_yaw
-    PyObject * field = PyObject_GetAttrString(_pymsg, "tag_yaw");
-    if (!field) {
-      return false;
-    }
-    assert(PyFloat_Check(field));
-    ros_message->tag_yaw = (float)PyFloat_AS_DOUBLE(field);
-    Py_DECREF(field);
-  }
-  {  // base_roll
-    PyObject * field = PyObject_GetAttrString(_pymsg, "base_roll");
-    if (!field) {
-      return false;
-    }
-    assert(PyFloat_Check(field));
-    ros_message->base_roll = (float)PyFloat_AS_DOUBLE(field);
-    Py_DECREF(field);
-  }
-  {  // base_pitch
-    PyObject * field = PyObject_GetAttrString(_pymsg, "base_pitch");
-    if (!field) {
-      return false;
-    }
-    assert(PyFloat_Check(field));
-    ros_message->base_pitch = (float)PyFloat_AS_DOUBLE(field);
-    Py_DECREF(field);
-  }
-  {  // base_yaw
-    PyObject * field = PyObject_GetAttrString(_pymsg, "base_yaw");
-    if (!field) {
-      return false;
-    }
-    assert(PyFloat_Check(field));
-    ros_message->base_yaw = (float)PyFloat_AS_DOUBLE(field);
-    Py_DECREF(field);
-  }
-  {  // joystick
-    PyObject * field = PyObject_GetAttrString(_pymsg, "joystick");
-    if (!field) {
-      return false;
-    }
-    {
-      // TODO(dirk-thomas) use a better way to check the type before casting
-      assert(field->ob_type != NULL);
-      assert(field->ob_type->tp_name != NULL);
-      assert(strcmp(field->ob_type->tp_name, "numpy.ndarray") == 0);
-      PyArrayObject * seq_field = (PyArrayObject *)field;
-      Py_INCREF(seq_field);
-      assert(PyArray_NDIM(seq_field) == 1);
-      assert(PyArray_TYPE(seq_field) == NPY_FLOAT32);
-      Py_ssize_t size = 2;
-      float * dest = ros_message->joystick;
-      for (Py_ssize_t i = 0; i < size; ++i) {
-        float tmp = *(npy_float32 *)PyArray_GETPTR1(seq_field, i);
-        memcpy(&dest[i], &tmp, sizeof(float));
-      }
-      Py_DECREF(seq_field);
-    }
-    Py_DECREF(field);
-  }
-  {  // error_state
-    PyObject * field = PyObject_GetAttrString(_pymsg, "error_state");
-    if (!field) {
-      return false;
-    }
-    assert(PyLong_Check(field));
-    ros_message->error_state = (uint8_t)PyLong_AsUnsignedLong(field);
-    Py_DECREF(field);
-  }
-  {  // buttons
-    PyObject * field = PyObject_GetAttrString(_pymsg, "buttons");
-    if (!field) {
-      return false;
-    }
-    assert(PyLong_Check(field));
-    ros_message->buttons = (uint8_t)PyLong_AsUnsignedLong(field);
-    Py_DECREF(field);
-  }
-  {  // enabled_from_app
-    PyObject * field = PyObject_GetAttrString(_pymsg, "enabled_from_app");
-    if (!field) {
-      return false;
-    }
-    assert(PyLong_Check(field));
-    ros_message->enabled_from_app = (uint8_t)PyLong_AsUnsignedLong(field);
-    Py_DECREF(field);
-  }
-
-  return true;
-}
-
-ROSIDL_GENERATOR_C_EXPORT
-PyObject * unitree_go__msg__uwb_state__convert_to_py(void * raw_ros_message)
-{
-  /* NOTE(esteve): Call constructor of UwbState */
-  PyObject * _pymessage = NULL;
-  {
-    PyObject * pymessage_module = PyImport_ImportModule("unitree_go.msg._uwb_state");
-    assert(pymessage_module);
-    PyObject * pymessage_class = PyObject_GetAttrString(pymessage_module, "UwbState");
-    assert(pymessage_class);
-    Py_DECREF(pymessage_module);
-    _pymessage = PyObject_CallObject(pymessage_class, NULL);
-    Py_DECREF(pymessage_class);
-    if (!_pymessage) {
-      return NULL;
-    }
-  }
-  unitree_go__msg__UwbState * ros_message = (unitree_go__msg__UwbState *)raw_ros_message;
-  {  // version
-    PyObject * field = NULL;
-    field = PyObject_GetAttrString(_pymessage, "version");
-    if (!field) {
-      return NULL;
-    }
-    assert(field->ob_type != NULL);
-    assert(field->ob_type->tp_name != NULL);
-    assert(strcmp(field->ob_type->tp_name, "numpy.ndarray") == 0);
-    PyArrayObject * seq_field = (PyArrayObject *)field;
-    assert(PyArray_NDIM(seq_field) == 1);
-    assert(PyArray_TYPE(seq_field) == NPY_UINT8);
-    assert(sizeof(npy_uint8) == sizeof(uint8_t));
-    npy_uint8 * dst = (npy_uint8 *)PyArray_GETPTR1(seq_field, 0);
-    uint8_t * src = &(ros_message->version[0]);
-    memcpy(dst, src, 2 * sizeof(uint8_t));
-    Py_DECREF(field);
-  }
-  {  // channel
-    PyObject * field = NULL;
-    field = PyLong_FromUnsignedLong(ros_message->channel);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "channel", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // joy_mode
-    PyObject * field = NULL;
-    field = PyLong_FromUnsignedLong(ros_message->joy_mode);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "joy_mode", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // orientation_est
-    PyObject * field = NULL;
-    field = PyFloat_FromDouble(ros_message->orientation_est);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "orientation_est", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // pitch_est
-    PyObject * field = NULL;
-    field = PyFloat_FromDouble(ros_message->pitch_est);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "pitch_est", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // distance_est
-    PyObject * field = NULL;
-    field = PyFloat_FromDouble(ros_message->distance_est);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "distance_est", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // yaw_est
-    PyObject * field = NULL;
-    field = PyFloat_FromDouble(ros_message->yaw_est);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "yaw_est", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // tag_roll
-    PyObject * field = NULL;
-    field = PyFloat_FromDouble(ros_message->tag_roll);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "tag_roll", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // tag_pitch
-    PyObject * field = NULL;
-    field = PyFloat_FromDouble(ros_message->tag_pitch);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "tag_pitch", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // tag_yaw
-    PyObject * field = NULL;
-    field = PyFloat_FromDouble(ros_message->tag_yaw);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "tag_yaw", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // base_roll
-    PyObject * field = NULL;
-    field = PyFloat_FromDouble(ros_message->base_roll);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "base_roll", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // base_pitch
-    PyObject * field = NULL;
-    field = PyFloat_FromDouble(ros_message->base_pitch);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "base_pitch", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // base_yaw
-    PyObject * field = NULL;
-    field = PyFloat_FromDouble(ros_message->base_yaw);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "base_yaw", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // joystick
-    PyObject * field = NULL;
-    field = PyObject_GetAttrString(_pymessage, "joystick");
-    if (!field) {
-      return NULL;
-    }
-    assert(field->ob_type != NULL);
-    assert(field->ob_type->tp_name != NULL);
-    assert(strcmp(field->ob_type->tp_name, "numpy.ndarray") == 0);
-    PyArrayObject * seq_field = (PyArrayObject *)field;
-    assert(PyArray_NDIM(seq_field) == 1);
-    assert(PyArray_TYPE(seq_field) == NPY_FLOAT32);
-    assert(sizeof(npy_float32) == sizeof(float));
-    npy_float32 * dst = (npy_float32 *)PyArray_GETPTR1(seq_field, 0);
-    float * src = &(ros_message->joystick[0]);
-    memcpy(dst, src, 2 * sizeof(float));
-    Py_DECREF(field);
-  }
-  {  // error_state
-    PyObject * field = NULL;
-    field = PyLong_FromUnsignedLong(ros_message->error_state);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "error_state", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // buttons
-    PyObject * field = NULL;
-    field = PyLong_FromUnsignedLong(ros_message->buttons);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "buttons", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // enabled_from_app
-    PyObject * field = NULL;
-    field = PyLong_FromUnsignedLong(ros_message->enabled_from_app);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "enabled_from_app", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-
-  // ownership of _pymessage is transferred to the caller
-  return _pymessage;
-}
diff --git a/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_uwb_switch.py b/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_uwb_switch.py
deleted file mode 100644
index 5d28dcb..0000000
--- a/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_uwb_switch.py
+++ /dev/null
@@ -1,124 +0,0 @@
-# generated from rosidl_generator_py/resource/_idl.py.em
-# with input from unitree_go:msg/UwbSwitch.idl
-# generated code does not contain a copyright notice
-
-
-# Import statements for member types
-
-import rosidl_parser.definition  # noqa: E402, I100
-
-
-class Metaclass_UwbSwitch(type):
-    """Metaclass of message 'UwbSwitch'."""
-
-    _CREATE_ROS_MESSAGE = None
-    _CONVERT_FROM_PY = None
-    _CONVERT_TO_PY = None
-    _DESTROY_ROS_MESSAGE = None
-    _TYPE_SUPPORT = None
-
-    __constants = {
-    }
-
-    @classmethod
-    def __import_type_support__(cls):
-        try:
-            from rosidl_generator_py import import_type_support
-            module = import_type_support('unitree_go')
-        except ImportError:
-            import logging
-            import traceback
-            logger = logging.getLogger(
-                'unitree_go.msg.UwbSwitch')
-            logger.debug(
-                'Failed to import needed modules for type support:\n' +
-                traceback.format_exc())
-        else:
-            cls._CREATE_ROS_MESSAGE = module.create_ros_message_msg__msg__uwb_switch
-            cls._CONVERT_FROM_PY = module.convert_from_py_msg__msg__uwb_switch
-            cls._CONVERT_TO_PY = module.convert_to_py_msg__msg__uwb_switch
-            cls._TYPE_SUPPORT = module.type_support_msg__msg__uwb_switch
-            cls._DESTROY_ROS_MESSAGE = module.destroy_ros_message_msg__msg__uwb_switch
-
-    @classmethod
-    def __prepare__(cls, name, bases, **kwargs):
-        # list constant names here so that they appear in the help text of
-        # the message class under "Data and other attributes defined here:"
-        # as well as populate each message instance
-        return {
-        }
-
-
-class UwbSwitch(metaclass=Metaclass_UwbSwitch):
-    """Message class 'UwbSwitch'."""
-
-    __slots__ = [
-        '_enabled',
-    ]
-
-    _fields_and_field_types = {
-        'enabled': 'uint8',
-    }
-
-    SLOT_TYPES = (
-        rosidl_parser.definition.BasicType('uint8'),  # noqa: E501
-    )
-
-    def __init__(self, **kwargs):
-        assert all('_' + key in self.__slots__ for key in kwargs.keys()), \
-            'Invalid arguments passed to constructor: %s' % \
-            ', '.join(sorted(k for k in kwargs.keys() if '_' + k not in self.__slots__))
-        self.enabled = kwargs.get('enabled', int())
-
-    def __repr__(self):
-        typename = self.__class__.__module__.split('.')
-        typename.pop()
-        typename.append(self.__class__.__name__)
-        args = []
-        for s, t in zip(self.__slots__, self.SLOT_TYPES):
-            field = getattr(self, s)
-            fieldstr = repr(field)
-            # We use Python array type for fields that can be directly stored
-            # in them, and "normal" sequences for everything else.  If it is
-            # a type that we store in an array, strip off the 'array' portion.
-            if (
-                isinstance(t, rosidl_parser.definition.AbstractSequence) and
-                isinstance(t.value_type, rosidl_parser.definition.BasicType) and
-                t.value_type.typename in ['float', 'double', 'int8', 'uint8', 'int16', 'uint16', 'int32', 'uint32', 'int64', 'uint64']
-            ):
-                if len(field) == 0:
-                    fieldstr = '[]'
-                else:
-                    assert fieldstr.startswith('array(')
-                    prefix = "array('X', "
-                    suffix = ')'
-                    fieldstr = fieldstr[len(prefix):-len(suffix)]
-            args.append(s[1:] + '=' + fieldstr)
-        return '%s(%s)' % ('.'.join(typename), ', '.join(args))
-
-    def __eq__(self, other):
-        if not isinstance(other, self.__class__):
-            return False
-        if self.enabled != other.enabled:
-            return False
-        return True
-
-    @classmethod
-    def get_fields_and_field_types(cls):
-        from copy import copy
-        return copy(cls._fields_and_field_types)
-
-    @property
-    def enabled(self):
-        """Message field 'enabled'."""
-        return self._enabled
-
-    @enabled.setter
-    def enabled(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, int), \
-                "The 'enabled' field must be of type 'int'"
-            assert value >= 0 and value < 256, \
-                "The 'enabled' field must be an unsigned integer in [0, 255]"
-        self._enabled = value
diff --git a/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_uwb_switch_s.c b/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_uwb_switch_s.c
deleted file mode 100644
index 64fae02..0000000
--- a/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_uwb_switch_s.c
+++ /dev/null
@@ -1,98 +0,0 @@
-// generated from rosidl_generator_py/resource/_idl_support.c.em
-// with input from unitree_go:msg/UwbSwitch.idl
-// generated code does not contain a copyright notice
-#define NPY_NO_DEPRECATED_API NPY_1_7_API_VERSION
-#include <Python.h>
-#include <stdbool.h>
-#ifndef _WIN32
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wunused-function"
-#endif
-#include "numpy/ndarrayobject.h"
-#ifndef _WIN32
-# pragma GCC diagnostic pop
-#endif
-#include "rosidl_runtime_c/visibility_control.h"
-#include "unitree_go/msg/detail/uwb_switch__struct.h"
-#include "unitree_go/msg/detail/uwb_switch__functions.h"
-
-
-ROSIDL_GENERATOR_C_EXPORT
-bool unitree_go__msg__uwb_switch__convert_from_py(PyObject * _pymsg, void * _ros_message)
-{
-  // check that the passed message is of the expected Python class
-  {
-    char full_classname_dest[37];
-    {
-      char * class_name = NULL;
-      char * module_name = NULL;
-      {
-        PyObject * class_attr = PyObject_GetAttrString(_pymsg, "__class__");
-        if (class_attr) {
-          PyObject * name_attr = PyObject_GetAttrString(class_attr, "__name__");
-          if (name_attr) {
-            class_name = (char *)PyUnicode_1BYTE_DATA(name_attr);
-            Py_DECREF(name_attr);
-          }
-          PyObject * module_attr = PyObject_GetAttrString(class_attr, "__module__");
-          if (module_attr) {
-            module_name = (char *)PyUnicode_1BYTE_DATA(module_attr);
-            Py_DECREF(module_attr);
-          }
-          Py_DECREF(class_attr);
-        }
-      }
-      if (!class_name || !module_name) {
-        return false;
-      }
-      snprintf(full_classname_dest, sizeof(full_classname_dest), "%s.%s", module_name, class_name);
-    }
-    assert(strncmp("unitree_go.msg._uwb_switch.UwbSwitch", full_classname_dest, 36) == 0);
-  }
-  unitree_go__msg__UwbSwitch * ros_message = _ros_message;
-  {  // enabled
-    PyObject * field = PyObject_GetAttrString(_pymsg, "enabled");
-    if (!field) {
-      return false;
-    }
-    assert(PyLong_Check(field));
-    ros_message->enabled = (uint8_t)PyLong_AsUnsignedLong(field);
-    Py_DECREF(field);
-  }
-
-  return true;
-}
-
-ROSIDL_GENERATOR_C_EXPORT
-PyObject * unitree_go__msg__uwb_switch__convert_to_py(void * raw_ros_message)
-{
-  /* NOTE(esteve): Call constructor of UwbSwitch */
-  PyObject * _pymessage = NULL;
-  {
-    PyObject * pymessage_module = PyImport_ImportModule("unitree_go.msg._uwb_switch");
-    assert(pymessage_module);
-    PyObject * pymessage_class = PyObject_GetAttrString(pymessage_module, "UwbSwitch");
-    assert(pymessage_class);
-    Py_DECREF(pymessage_module);
-    _pymessage = PyObject_CallObject(pymessage_class, NULL);
-    Py_DECREF(pymessage_class);
-    if (!_pymessage) {
-      return NULL;
-    }
-  }
-  unitree_go__msg__UwbSwitch * ros_message = (unitree_go__msg__UwbSwitch *)raw_ros_message;
-  {  // enabled
-    PyObject * field = NULL;
-    field = PyLong_FromUnsignedLong(ros_message->enabled);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "enabled", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-
-  // ownership of _pymessage is transferred to the caller
-  return _pymessage;
-}
diff --git a/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_wireless_controller.py b/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_wireless_controller.py
deleted file mode 100644
index ceeb80a..0000000
--- a/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_wireless_controller.py
+++ /dev/null
@@ -1,200 +0,0 @@
-# generated from rosidl_generator_py/resource/_idl.py.em
-# with input from unitree_go:msg/WirelessController.idl
-# generated code does not contain a copyright notice
-
-
-# Import statements for member types
-
-import rosidl_parser.definition  # noqa: E402, I100
-
-
-class Metaclass_WirelessController(type):
-    """Metaclass of message 'WirelessController'."""
-
-    _CREATE_ROS_MESSAGE = None
-    _CONVERT_FROM_PY = None
-    _CONVERT_TO_PY = None
-    _DESTROY_ROS_MESSAGE = None
-    _TYPE_SUPPORT = None
-
-    __constants = {
-    }
-
-    @classmethod
-    def __import_type_support__(cls):
-        try:
-            from rosidl_generator_py import import_type_support
-            module = import_type_support('unitree_go')
-        except ImportError:
-            import logging
-            import traceback
-            logger = logging.getLogger(
-                'unitree_go.msg.WirelessController')
-            logger.debug(
-                'Failed to import needed modules for type support:\n' +
-                traceback.format_exc())
-        else:
-            cls._CREATE_ROS_MESSAGE = module.create_ros_message_msg__msg__wireless_controller
-            cls._CONVERT_FROM_PY = module.convert_from_py_msg__msg__wireless_controller
-            cls._CONVERT_TO_PY = module.convert_to_py_msg__msg__wireless_controller
-            cls._TYPE_SUPPORT = module.type_support_msg__msg__wireless_controller
-            cls._DESTROY_ROS_MESSAGE = module.destroy_ros_message_msg__msg__wireless_controller
-
-    @classmethod
-    def __prepare__(cls, name, bases, **kwargs):
-        # list constant names here so that they appear in the help text of
-        # the message class under "Data and other attributes defined here:"
-        # as well as populate each message instance
-        return {
-        }
-
-
-class WirelessController(metaclass=Metaclass_WirelessController):
-    """Message class 'WirelessController'."""
-
-    __slots__ = [
-        '_lx',
-        '_ly',
-        '_rx',
-        '_ry',
-        '_keys',
-    ]
-
-    _fields_and_field_types = {
-        'lx': 'float',
-        'ly': 'float',
-        'rx': 'float',
-        'ry': 'float',
-        'keys': 'uint16',
-    }
-
-    SLOT_TYPES = (
-        rosidl_parser.definition.BasicType('float'),  # noqa: E501
-        rosidl_parser.definition.BasicType('float'),  # noqa: E501
-        rosidl_parser.definition.BasicType('float'),  # noqa: E501
-        rosidl_parser.definition.BasicType('float'),  # noqa: E501
-        rosidl_parser.definition.BasicType('uint16'),  # noqa: E501
-    )
-
-    def __init__(self, **kwargs):
-        assert all('_' + key in self.__slots__ for key in kwargs.keys()), \
-            'Invalid arguments passed to constructor: %s' % \
-            ', '.join(sorted(k for k in kwargs.keys() if '_' + k not in self.__slots__))
-        self.lx = kwargs.get('lx', float())
-        self.ly = kwargs.get('ly', float())
-        self.rx = kwargs.get('rx', float())
-        self.ry = kwargs.get('ry', float())
-        self.keys = kwargs.get('keys', int())
-
-    def __repr__(self):
-        typename = self.__class__.__module__.split('.')
-        typename.pop()
-        typename.append(self.__class__.__name__)
-        args = []
-        for s, t in zip(self.__slots__, self.SLOT_TYPES):
-            field = getattr(self, s)
-            fieldstr = repr(field)
-            # We use Python array type for fields that can be directly stored
-            # in them, and "normal" sequences for everything else.  If it is
-            # a type that we store in an array, strip off the 'array' portion.
-            if (
-                isinstance(t, rosidl_parser.definition.AbstractSequence) and
-                isinstance(t.value_type, rosidl_parser.definition.BasicType) and
-                t.value_type.typename in ['float', 'double', 'int8', 'uint8', 'int16', 'uint16', 'int32', 'uint32', 'int64', 'uint64']
-            ):
-                if len(field) == 0:
-                    fieldstr = '[]'
-                else:
-                    assert fieldstr.startswith('array(')
-                    prefix = "array('X', "
-                    suffix = ')'
-                    fieldstr = fieldstr[len(prefix):-len(suffix)]
-            args.append(s[1:] + '=' + fieldstr)
-        return '%s(%s)' % ('.'.join(typename), ', '.join(args))
-
-    def __eq__(self, other):
-        if not isinstance(other, self.__class__):
-            return False
-        if self.lx != other.lx:
-            return False
-        if self.ly != other.ly:
-            return False
-        if self.rx != other.rx:
-            return False
-        if self.ry != other.ry:
-            return False
-        if self.keys != other.keys:
-            return False
-        return True
-
-    @classmethod
-    def get_fields_and_field_types(cls):
-        from copy import copy
-        return copy(cls._fields_and_field_types)
-
-    @property
-    def lx(self):
-        """Message field 'lx'."""
-        return self._lx
-
-    @lx.setter
-    def lx(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, float), \
-                "The 'lx' field must be of type 'float'"
-        self._lx = value
-
-    @property
-    def ly(self):
-        """Message field 'ly'."""
-        return self._ly
-
-    @ly.setter
-    def ly(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, float), \
-                "The 'ly' field must be of type 'float'"
-        self._ly = value
-
-    @property
-    def rx(self):
-        """Message field 'rx'."""
-        return self._rx
-
-    @rx.setter
-    def rx(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, float), \
-                "The 'rx' field must be of type 'float'"
-        self._rx = value
-
-    @property
-    def ry(self):
-        """Message field 'ry'."""
-        return self._ry
-
-    @ry.setter
-    def ry(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, float), \
-                "The 'ry' field must be of type 'float'"
-        self._ry = value
-
-    @property
-    def keys(self):
-        """Message field 'keys'."""
-        return self._keys
-
-    @keys.setter
-    def keys(self, value):
-        if __debug__:
-            assert \
-                isinstance(value, int), \
-                "The 'keys' field must be of type 'int'"
-            assert value >= 0 and value < 65536, \
-                "The 'keys' field must be an unsigned integer in [0, 65535]"
-        self._keys = value
diff --git a/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_wireless_controller_s.c b/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_wireless_controller_s.c
deleted file mode 100644
index f02defc..0000000
--- a/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_wireless_controller_s.c
+++ /dev/null
@@ -1,178 +0,0 @@
-// generated from rosidl_generator_py/resource/_idl_support.c.em
-// with input from unitree_go:msg/WirelessController.idl
-// generated code does not contain a copyright notice
-#define NPY_NO_DEPRECATED_API NPY_1_7_API_VERSION
-#include <Python.h>
-#include <stdbool.h>
-#ifndef _WIN32
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wunused-function"
-#endif
-#include "numpy/ndarrayobject.h"
-#ifndef _WIN32
-# pragma GCC diagnostic pop
-#endif
-#include "rosidl_runtime_c/visibility_control.h"
-#include "unitree_go/msg/detail/wireless_controller__struct.h"
-#include "unitree_go/msg/detail/wireless_controller__functions.h"
-
-
-ROSIDL_GENERATOR_C_EXPORT
-bool unitree_go__msg__wireless_controller__convert_from_py(PyObject * _pymsg, void * _ros_message)
-{
-  // check that the passed message is of the expected Python class
-  {
-    char full_classname_dest[55];
-    {
-      char * class_name = NULL;
-      char * module_name = NULL;
-      {
-        PyObject * class_attr = PyObject_GetAttrString(_pymsg, "__class__");
-        if (class_attr) {
-          PyObject * name_attr = PyObject_GetAttrString(class_attr, "__name__");
-          if (name_attr) {
-            class_name = (char *)PyUnicode_1BYTE_DATA(name_attr);
-            Py_DECREF(name_attr);
-          }
-          PyObject * module_attr = PyObject_GetAttrString(class_attr, "__module__");
-          if (module_attr) {
-            module_name = (char *)PyUnicode_1BYTE_DATA(module_attr);
-            Py_DECREF(module_attr);
-          }
-          Py_DECREF(class_attr);
-        }
-      }
-      if (!class_name || !module_name) {
-        return false;
-      }
-      snprintf(full_classname_dest, sizeof(full_classname_dest), "%s.%s", module_name, class_name);
-    }
-    assert(strncmp("unitree_go.msg._wireless_controller.WirelessController", full_classname_dest, 54) == 0);
-  }
-  unitree_go__msg__WirelessController * ros_message = _ros_message;
-  {  // lx
-    PyObject * field = PyObject_GetAttrString(_pymsg, "lx");
-    if (!field) {
-      return false;
-    }
-    assert(PyFloat_Check(field));
-    ros_message->lx = (float)PyFloat_AS_DOUBLE(field);
-    Py_DECREF(field);
-  }
-  {  // ly
-    PyObject * field = PyObject_GetAttrString(_pymsg, "ly");
-    if (!field) {
-      return false;
-    }
-    assert(PyFloat_Check(field));
-    ros_message->ly = (float)PyFloat_AS_DOUBLE(field);
-    Py_DECREF(field);
-  }
-  {  // rx
-    PyObject * field = PyObject_GetAttrString(_pymsg, "rx");
-    if (!field) {
-      return false;
-    }
-    assert(PyFloat_Check(field));
-    ros_message->rx = (float)PyFloat_AS_DOUBLE(field);
-    Py_DECREF(field);
-  }
-  {  // ry
-    PyObject * field = PyObject_GetAttrString(_pymsg, "ry");
-    if (!field) {
-      return false;
-    }
-    assert(PyFloat_Check(field));
-    ros_message->ry = (float)PyFloat_AS_DOUBLE(field);
-    Py_DECREF(field);
-  }
-  {  // keys
-    PyObject * field = PyObject_GetAttrString(_pymsg, "keys");
-    if (!field) {
-      return false;
-    }
-    assert(PyLong_Check(field));
-    ros_message->keys = (uint16_t)PyLong_AsUnsignedLong(field);
-    Py_DECREF(field);
-  }
-
-  return true;
-}
-
-ROSIDL_GENERATOR_C_EXPORT
-PyObject * unitree_go__msg__wireless_controller__convert_to_py(void * raw_ros_message)
-{
-  /* NOTE(esteve): Call constructor of WirelessController */
-  PyObject * _pymessage = NULL;
-  {
-    PyObject * pymessage_module = PyImport_ImportModule("unitree_go.msg._wireless_controller");
-    assert(pymessage_module);
-    PyObject * pymessage_class = PyObject_GetAttrString(pymessage_module, "WirelessController");
-    assert(pymessage_class);
-    Py_DECREF(pymessage_module);
-    _pymessage = PyObject_CallObject(pymessage_class, NULL);
-    Py_DECREF(pymessage_class);
-    if (!_pymessage) {
-      return NULL;
-    }
-  }
-  unitree_go__msg__WirelessController * ros_message = (unitree_go__msg__WirelessController *)raw_ros_message;
-  {  // lx
-    PyObject * field = NULL;
-    field = PyFloat_FromDouble(ros_message->lx);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "lx", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // ly
-    PyObject * field = NULL;
-    field = PyFloat_FromDouble(ros_message->ly);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "ly", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // rx
-    PyObject * field = NULL;
-    field = PyFloat_FromDouble(ros_message->rx);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "rx", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // ry
-    PyObject * field = NULL;
-    field = PyFloat_FromDouble(ros_message->ry);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "ry", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-  {  // keys
-    PyObject * field = NULL;
-    field = PyLong_FromUnsignedLong(ros_message->keys);
-    {
-      int rc = PyObject_SetAttrString(_pymessage, "keys", field);
-      Py_DECREF(field);
-      if (rc) {
-        return NULL;
-      }
-    }
-  }
-
-  // ownership of _pymessage is transferred to the caller
-  return _pymessage;
-}
diff --git a/deploy/robot_ws/install/unitree_go/share/ament_index/resource_index/package_run_dependencies/unitree_go b/deploy/robot_ws/install/unitree_go/share/ament_index/resource_index/package_run_dependencies/unitree_go
deleted file mode 100644
index cabffa8..0000000
--- a/deploy/robot_ws/install/unitree_go/share/ament_index/resource_index/package_run_dependencies/unitree_go
+++ /dev/null
@@ -1 +0,0 @@
-geometry_msgs;rosidl_default_runtime;ament_lint_auto;ament_lint_common
\ No newline at end of file
diff --git a/deploy/robot_ws/install/unitree_go/share/ament_index/resource_index/packages/unitree_go b/deploy/robot_ws/install/unitree_go/share/ament_index/resource_index/packages/unitree_go
deleted file mode 100644
index e69de29..0000000
diff --git a/deploy/robot_ws/install/unitree_go/share/ament_index/resource_index/parent_prefix_path/unitree_go b/deploy/robot_ws/install/unitree_go/share/ament_index/resource_index/parent_prefix_path/unitree_go
deleted file mode 100644
index e053138..0000000
--- a/deploy/robot_ws/install/unitree_go/share/ament_index/resource_index/parent_prefix_path/unitree_go
+++ /dev/null
@@ -1 +0,0 @@
-/home/unitree/locomotion/Go2Py/deploy/ros2_ws/install/go2py_node:/home/unitree/locomotion/Go2Py/deploy/ros2_ws/install/unitree_go:/home/unitree/locomotion/Go2Py/deploy/ros2_ws/install/unitree_api:/home/unitree/locomotion/Go2Py/deploy/ros2_ws/install/hesai_ros_driver:/home/unitree/locomotion/unitree_ros2/cyclonedds_ws/install/unitree_go:/home/unitree/locomotion/unitree_ros2/cyclonedds_ws/install/unitree_api:/home/unitree/locomotion/unitree_ros2/cyclonedds_ws/install/rmw_cyclonedds_cpp:/opt/ros/foxy
\ No newline at end of file
diff --git a/deploy/robot_ws/install/unitree_go/share/ament_index/resource_index/rosidl_interfaces/unitree_go b/deploy/robot_ws/install/unitree_go/share/ament_index/resource_index/rosidl_interfaces/unitree_go
deleted file mode 100644
index 02ef2ab..0000000
--- a/deploy/robot_ws/install/unitree_go/share/ament_index/resource_index/rosidl_interfaces/unitree_go
+++ /dev/null
@@ -1,44 +0,0 @@
-msg/AudioData.idl
-msg/AudioData.msg
-msg/BmsCmd.idl
-msg/BmsCmd.msg
-msg/BmsState.idl
-msg/BmsState.msg
-msg/Error.idl
-msg/Error.msg
-msg/Go2FrontVideoData.idl
-msg/Go2FrontVideoData.msg
-msg/HeightMap.idl
-msg/HeightMap.msg
-msg/IMUState.idl
-msg/IMUState.msg
-msg/InterfaceConfig.idl
-msg/InterfaceConfig.msg
-msg/LidarState.idl
-msg/LidarState.msg
-msg/LowCmd.idl
-msg/LowCmd.msg
-msg/LowState.idl
-msg/LowState.msg
-msg/MotorCmd.idl
-msg/MotorCmd.msg
-msg/MotorState.idl
-msg/MotorState.msg
-msg/PathPoint.idl
-msg/PathPoint.msg
-msg/Req.idl
-msg/Req.msg
-msg/Res.idl
-msg/Res.msg
-msg/SportModeCmd.idl
-msg/SportModeCmd.msg
-msg/SportModeState.idl
-msg/SportModeState.msg
-msg/TimeSpec.idl
-msg/TimeSpec.msg
-msg/UwbState.idl
-msg/UwbState.msg
-msg/UwbSwitch.idl
-msg/UwbSwitch.msg
-msg/WirelessController.idl
-msg/WirelessController.msg
\ No newline at end of file
diff --git a/deploy/robot_ws/install/unitree_go/share/colcon-core/packages/unitree_go b/deploy/robot_ws/install/unitree_go/share/colcon-core/packages/unitree_go
deleted file mode 100644
index c819a81..0000000
--- a/deploy/robot_ws/install/unitree_go/share/colcon-core/packages/unitree_go
+++ /dev/null
@@ -1 +0,0 @@
-geometry_msgs:rosidl_default_runtime
\ No newline at end of file
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/ament_cmake_export_dependencies-extras.cmake b/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/ament_cmake_export_dependencies-extras.cmake
deleted file mode 100644
index 5b7890c..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/ament_cmake_export_dependencies-extras.cmake
+++ /dev/null
@@ -1,92 +0,0 @@
-# generated from ament_cmake_export_dependencies/cmake/ament_cmake_export_dependencies-extras.cmake.in
-
-set(_exported_dependencies "geometry_msgs;geometry_msgs;std_msgs;builtin_interfaces;rosidl_runtime_c;rosidl_typesupport_interface;geometry_msgs;std_msgs;builtin_interfaces;geometry_msgs;std_msgs;builtin_interfaces")
-
-find_package(ament_cmake_libraries QUIET REQUIRED)
-
-# find_package() all dependencies
-# and append their DEFINITIONS INCLUDE_DIRS, LIBRARIES, and LINK_FLAGS
-# variables to unitree_go_DEFINITIONS, unitree_go_INCLUDE_DIRS,
-# unitree_go_LIBRARIES, and unitree_go_LINK_FLAGS.
-# Additionally collect the direct dependency names in
-# unitree_go_DEPENDENCIES as well as the recursive dependency names
-# in unitree_go_RECURSIVE_DEPENDENCIES.
-if(NOT _exported_dependencies STREQUAL "")
-  find_package(ament_cmake_core QUIET REQUIRED)
-  set(unitree_go_DEPENDENCIES ${_exported_dependencies})
-  set(unitree_go_RECURSIVE_DEPENDENCIES ${_exported_dependencies})
-  set(_libraries)
-  foreach(_dep ${_exported_dependencies})
-    if(NOT ${_dep}_FOUND)
-      find_package("${_dep}" QUIET REQUIRED)
-    endif()
-    # if a package provides modern CMake interface targets use them
-    # exclusively assuming the classic CMake variables only exist for
-    # backward compatibility
-    set(use_modern_cmake FALSE)
-    if(NOT "${${_dep}_TARGETS}" STREQUAL "")
-      foreach(_target ${${_dep}_TARGETS})
-        # only use actual targets
-        # in case a package uses this variable for other content
-        if(TARGET "${_target}")
-          get_target_property(_include_dirs ${_target} INTERFACE_INCLUDE_DIRECTORIES)
-          if(_include_dirs)
-            list_append_unique(unitree_go_INCLUDE_DIRS "${_include_dirs}")
-          endif()
-
-          get_target_property(_imported_configurations ${_target} IMPORTED_CONFIGURATIONS)
-          if(_imported_configurations)
-            string(TOUPPER "${_imported_configurations}" _imported_configurations)
-            if(DEBUG_CONFIGURATIONS)
-              string(TOUPPER "${DEBUG_CONFIGURATIONS}" _debug_configurations_uppercase)
-            else()
-              set(_debug_configurations_uppercase "DEBUG")
-            endif()
-            foreach(_imported_config ${_imported_configurations})
-              get_target_property(_imported_implib ${_target} IMPORTED_IMPLIB_${_imported_config})
-              if(_imported_implib)
-                set(_imported_implib_config "optimized")
-                if(${_imported_config} IN_LIST _debug_configurations_uppercase)
-                  set(_imported_implib_config "debug")
-                endif()
-                list(APPEND _libraries ${_imported_implib_config} ${_imported_implib})
-              else()
-                get_target_property(_imported_location ${_target} IMPORTED_LOCATION_${_imported_config})
-                if(_imported_location)
-                  list(APPEND _libraries "${_imported_location}")
-                endif()
-              endif()
-            endforeach() 
-          endif()
-
-          get_target_property(_link_libraries ${_target} INTERFACE_LINK_LIBRARIES)
-          if(_link_libraries)
-            list(APPEND _libraries "${_link_libraries}")
-          endif()
-          set(use_modern_cmake TRUE)
-        endif()
-      endforeach()
-    endif()
-    if(NOT use_modern_cmake)
-      if(${_dep}_DEFINITIONS)
-        list_append_unique(unitree_go_DEFINITIONS "${${_dep}_DEFINITIONS}")
-      endif()
-      if(${_dep}_INCLUDE_DIRS)
-        list_append_unique(unitree_go_INCLUDE_DIRS "${${_dep}_INCLUDE_DIRS}")
-      endif()
-      if(${_dep}_LIBRARIES)
-        list(APPEND _libraries "${${_dep}_LIBRARIES}")
-      endif()
-      if(${_dep}_LINK_FLAGS)
-        list_append_unique(unitree_go_LINK_FLAGS "${${_dep}_LINK_FLAGS}")
-      endif()
-      if(${_dep}_RECURSIVE_DEPENDENCIES)
-        list_append_unique(unitree_go_RECURSIVE_DEPENDENCIES "${${_dep}_RECURSIVE_DEPENDENCIES}")
-      endif()
-    endif()
-    if(_libraries)
-      ament_libraries_deduplicate(_libraries "${_libraries}")
-      list(APPEND unitree_go_LIBRARIES "${_libraries}")
-    endif()
-  endforeach()
-endif()
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/ament_cmake_export_include_directories-extras.cmake b/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/ament_cmake_export_include_directories-extras.cmake
deleted file mode 100644
index 00975c3..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/ament_cmake_export_include_directories-extras.cmake
+++ /dev/null
@@ -1,16 +0,0 @@
-# generated from ament_cmake_export_include_directories/cmake/ament_cmake_export_include_directories-extras.cmake.in
-
-set(_exported_include_dirs "${unitree_go_DIR}/../../../include")
-
-# append include directories to unitree_go_INCLUDE_DIRS
-# warn about not existing paths
-if(NOT _exported_include_dirs STREQUAL "")
-  find_package(ament_cmake_core QUIET REQUIRED)
-  foreach(_exported_include_dir ${_exported_include_dirs})
-    if(NOT IS_DIRECTORY "${_exported_include_dir}")
-      message(WARNING "Package 'unitree_go' exports the include directory '${_exported_include_dir}' which doesn't exist")
-    endif()
-    normalize_path(_exported_include_dir "${_exported_include_dir}")
-    list(APPEND unitree_go_INCLUDE_DIRS "${_exported_include_dir}")
-  endforeach()
-endif()
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/ament_cmake_export_libraries-extras.cmake b/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/ament_cmake_export_libraries-extras.cmake
deleted file mode 100644
index 0e66abf..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/ament_cmake_export_libraries-extras.cmake
+++ /dev/null
@@ -1,140 +0,0 @@
-# generated from ament_cmake_export_libraries/cmake/template/ament_cmake_export_libraries.cmake.in
-
-set(_exported_libraries "unitree_go__rosidl_generator_c;unitree_go__rosidl_typesupport_c;unitree_go__rosidl_typesupport_cpp")
-set(_exported_library_names "")
-
-# populate unitree_go_LIBRARIES
-if(NOT _exported_libraries STREQUAL "")
-  # loop over libraries, either target names or absolute paths
-  list(LENGTH _exported_libraries _length)
-  set(_i 0)
-  while(_i LESS _length)
-    list(GET _exported_libraries ${_i} _arg)
-
-    # pass linker flags along
-    if("${_arg}" MATCHES "^-" AND NOT "${_arg}" MATCHES "^-[l|framework]")
-      list(APPEND unitree_go_LIBRARIES "${_arg}")
-      math(EXPR _i "${_i} + 1")
-      continue()
-    endif()
-
-    if("${_arg}" MATCHES "^(debug|optimized|general)$")
-      # remember build configuration keyword
-      # and get following library
-      set(_cfg "${_arg}")
-      math(EXPR _i "${_i} + 1")
-      if(_i EQUAL _length)
-        message(FATAL_ERROR "Package 'unitree_go' passes the build configuration keyword '${_cfg}' as the last exported library")
-      endif()
-      list(GET _exported_libraries ${_i} _library)
-    else()
-      # the value is a library without a build configuration keyword
-      set(_cfg "")
-      set(_library "${_arg}")
-    endif()
-    math(EXPR _i "${_i} + 1")
-
-    if(NOT IS_ABSOLUTE "${_library}")
-      # search for library target relative to this CMake file
-      set(_lib "NOTFOUND")
-      find_library(
-        _lib NAMES "${_library}"
-        PATHS "${unitree_go_DIR}/../../../lib"
-        NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH
-      )
-
-      if(NOT _lib)
-        # warn about not existing library and ignore it
-        message(FATAL_ERROR "Package 'unitree_go' exports the library '${_library}' which couldn't be found")
-      elseif(NOT IS_ABSOLUTE "${_lib}")
-        # the found library must be an absolute path
-        message(FATAL_ERROR "Package 'unitree_go' found the library '${_library}' at '${_lib}' which is not an absolute path")
-      elseif(NOT EXISTS "${_lib}")
-        # the found library must exist
-        message(FATAL_ERROR "Package 'unitree_go' found the library '${_lib}' which doesn't exist")
-      else()
-        list(APPEND unitree_go_LIBRARIES ${_cfg} "${_lib}")
-      endif()
-
-    else()
-      if(NOT EXISTS "${_library}")
-        # the found library must exist
-        message(WARNING "Package 'unitree_go' exports the library '${_library}' which doesn't exist")
-      else()
-        list(APPEND unitree_go_LIBRARIES ${_cfg} "${_library}")
-      endif()
-    endif()
-  endwhile()
-endif()
-
-# find_library() library names with optional LIBRARY_DIRS
-# and add the libraries to unitree_go_LIBRARIES
-if(NOT _exported_library_names STREQUAL "")
-  # loop over library names
-  # but remember related build configuration keyword if available
-  list(LENGTH _exported_library_names _length)
-  set(_i 0)
-  while(_i LESS _length)
-    list(GET _exported_library_names ${_i} _arg)
-    # pass linker flags along
-    if("${_arg}" MATCHES "^-" AND NOT "${_arg}" MATCHES "^-[l|framework]")
-      list(APPEND unitree_go_LIBRARIES "${_arg}")
-      math(EXPR _i "${_i} + 1")
-      continue()
-    endif()
-
-    if("${_arg}" MATCHES "^(debug|optimized|general)$")
-      # remember build configuration keyword
-      # and get following library name
-      set(_cfg "${_arg}")
-      math(EXPR _i "${_i} + 1")
-      if(_i EQUAL _length)
-        message(FATAL_ERROR "Package 'unitree_go' passes the build configuration keyword '${_cfg}' as the last exported target")
-      endif()
-      list(GET _exported_library_names ${_i} _library)
-    else()
-      # the value is a library target without a build configuration keyword
-      set(_cfg "")
-      set(_library "${_arg}")
-    endif()
-    math(EXPR _i "${_i} + 1")
-
-    # extract optional LIBRARY_DIRS from library name
-    string(REPLACE ":" ";" _library_dirs "${_library}")
-    list(GET _library_dirs 0 _library_name)
-    list(REMOVE_AT _library_dirs 0)
-
-    set(_lib "NOTFOUND")
-    if(NOT _library_dirs)
-      # search for library in the common locations
-      find_library(
-        _lib
-        NAMES "${_library_name}"
-      )
-      if(NOT _lib)
-        # warn about not existing library and later ignore it
-        message(WARNING "Package 'unitree_go' exports library '${_library_name}' which couldn't be found")
-      endif()
-    else()
-      # search for library in the specified directories
-      find_library(
-        _lib
-        NAMES "${_library_name}"
-        PATHS ${_library_dirs}
-        NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH
-      )
-      if(NOT _lib)
-        # warn about not existing library and later ignore it
-        message(WARNING "Package 'unitree_go' exports library '${_library_name}' with LIBRARY_DIRS '${_library_dirs}' which couldn't be found")
-      endif()
-    endif()
-    if(_lib)
-      list(APPEND unitree_go_LIBRARIES ${_cfg} "${_lib}")
-    endif()
-  endwhile()
-endif()
-
-# TODO(dirk-thomas) deduplicate unitree_go_LIBRARIES
-# while maintaining library order
-# as well as build configuration keywords
-# as well as linker flags
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/ament_cmake_export_targets-extras.cmake b/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/ament_cmake_export_targets-extras.cmake
deleted file mode 100644
index 352e169..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/ament_cmake_export_targets-extras.cmake
+++ /dev/null
@@ -1,27 +0,0 @@
-# generated from ament_cmake_export_targets/cmake/ament_cmake_export_targets-extras.cmake.in
-
-set(_exported_targets "unitree_go__rosidl_generator_c;unitree_go__rosidl_typesupport_introspection_c;unitree_go__rosidl_typesupport_c;unitree_go__rosidl_generator_cpp;unitree_go__rosidl_typesupport_introspection_cpp;unitree_go__rosidl_typesupport_cpp")
-
-# include all exported targets
-if(NOT _exported_targets STREQUAL "")
-  foreach(_target ${_exported_targets})
-    set(_export_file "${unitree_go_DIR}/${_target}Export.cmake")
-    include("${_export_file}")
-
-    # extract the target names associated with the export
-    set(_regex "foreach\\((_cmake)?_expected_?[Tt]arget (IN ITEMS )?(.+)\\)")
-    file(
-      STRINGS "${_export_file}" _foreach_targets
-      REGEX "${_regex}")
-    list(LENGTH _foreach_targets _matches)
-    if(NOT _matches EQUAL 1)
-      message(FATAL_ERROR
-        "Failed to find exported target names in '${_export_file}'")
-    endif()
-    string(REGEX REPLACE "${_regex}" "\\3" _targets "${_foreach_targets}")
-    string(REPLACE " " ";" _targets "${_targets}")
-    list(LENGTH _targets _length)
-
-    list(APPEND unitree_go_TARGETS ${_targets})
-  endforeach()
-endif()
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/rosidl_cmake-extras.cmake b/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/rosidl_cmake-extras.cmake
deleted file mode 100644
index 7f78ab3..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/rosidl_cmake-extras.cmake
+++ /dev/null
@@ -1,4 +0,0 @@
-# generated from rosidl_cmake/cmake/rosidl_cmake-extras.cmake.in
-
-set(unitree_go_IDL_FILES "msg/AudioData.idl;msg/BmsCmd.idl;msg/BmsState.idl;msg/Error.idl;msg/Go2FrontVideoData.idl;msg/HeightMap.idl;msg/IMUState.idl;msg/InterfaceConfig.idl;msg/LidarState.idl;msg/LowCmd.idl;msg/LowState.idl;msg/MotorCmd.idl;msg/MotorState.idl;msg/PathPoint.idl;msg/Req.idl;msg/Res.idl;msg/SportModeCmd.idl;msg/SportModeState.idl;msg/TimeSpec.idl;msg/UwbState.idl;msg/UwbSwitch.idl;msg/WirelessController.idl")
-set(unitree_go_INTERFACE_FILES "msg/AudioData.msg;msg/BmsCmd.msg;msg/BmsState.msg;msg/Error.msg;msg/Go2FrontVideoData.msg;msg/HeightMap.msg;msg/IMUState.msg;msg/InterfaceConfig.msg;msg/LidarState.msg;msg/LowCmd.msg;msg/LowState.msg;msg/MotorCmd.msg;msg/MotorState.msg;msg/PathPoint.msg;msg/Req.msg;msg/Res.msg;msg/SportModeCmd.msg;msg/SportModeState.msg;msg/TimeSpec.msg;msg/UwbState.msg;msg/UwbSwitch.msg;msg/WirelessController.msg")
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/rosidl_cmake_export_typesupport_libraries-extras.cmake b/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/rosidl_cmake_export_typesupport_libraries-extras.cmake
deleted file mode 100644
index 43f28e2..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/rosidl_cmake_export_typesupport_libraries-extras.cmake
+++ /dev/null
@@ -1,46 +0,0 @@
-# generated from
-# rosidl_cmake/cmake/template/rosidl_cmake_export_typesupport_libraries.cmake.in
-
-set(_exported_typesupport_libraries
-  "__rosidl_typesupport_fastrtps_c:unitree_go__rosidl_typesupport_fastrtps_c;__rosidl_typesupport_fastrtps_cpp:unitree_go__rosidl_typesupport_fastrtps_cpp")
-
-# populate unitree_go_LIBRARIES_<suffix>
-if(NOT _exported_typesupport_libraries STREQUAL "")
-  # loop over typesupport libraries
-  foreach(_tuple ${_exported_typesupport_libraries})
-    string(REPLACE ":" ";" _tuple "${_tuple}")
-    list(GET _tuple 0 _suffix)
-    list(GET _tuple 1 _library)
-
-    if(NOT IS_ABSOLUTE "${_library}")
-      # search for library target relative to this CMake file
-      set(_lib "NOTFOUND")
-      find_library(
-        _lib NAMES "${_library}"
-        PATHS "${unitree_go_DIR}/../../../lib"
-        NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH
-      )
-
-      if(NOT _lib)
-        # the library wasn't found
-        message(FATAL_ERROR "Package 'unitree_go' exports the typesupport library '${_library}' which couldn't be found")
-      elseif(NOT IS_ABSOLUTE "${_lib}")
-        # the found library must be an absolute path
-        message(FATAL_ERROR "Package 'unitree_go' found the typesupport library '${_library}' at '${_lib}' which is not an absolute path")
-      elseif(NOT EXISTS "${_lib}")
-        # the found library must exist
-        message(FATAL_ERROR "Package 'unitree_go' found the typesupport library '${_lib}' which doesn't exist")
-      else()
-        list(APPEND unitree_go_LIBRARIES${_suffix} ${_cfg} "${_lib}")
-      endif()
-
-    else()
-      if(NOT EXISTS "${_library}")
-        # the found library must exist
-        message(WARNING "Package 'unitree_go' exports the typesupport library '${_library}' which doesn't exist")
-      else()
-        list(APPEND unitree_go_LIBRARIES${_suffix} "${_library}")
-      endif()
-    endif()
-  endforeach()
-endif()
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/rosidl_cmake_export_typesupport_targets-extras.cmake b/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/rosidl_cmake_export_typesupport_targets-extras.cmake
deleted file mode 100644
index 1243d23..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/rosidl_cmake_export_typesupport_targets-extras.cmake
+++ /dev/null
@@ -1,23 +0,0 @@
-# generated from
-# rosidl_cmake/cmake/template/rosidl_cmake_export_typesupport_targets.cmake.in
-
-set(_exported_typesupport_targets
-  "__rosidl_typesupport_introspection_c:unitree_go__rosidl_typesupport_introspection_c;__rosidl_typesupport_introspection_cpp:unitree_go__rosidl_typesupport_introspection_cpp")
-
-# populate unitree_go_TARGETS_<suffix>
-if(NOT _exported_typesupport_targets STREQUAL "")
-  # loop over typesupport targets
-  foreach(_tuple ${_exported_typesupport_targets})
-    string(REPLACE ":" ";" _tuple "${_tuple}")
-    list(GET _tuple 0 _suffix)
-    list(GET _tuple 1 _target)
-
-    set(_target "unitree_go::${_target}")
-    if(NOT TARGET "${_target}")
-      # the exported target must exist
-      message(WARNING "Package 'unitree_go' exports the typesupport target '${_target}' which doesn't exist")
-    else()
-      list(APPEND unitree_go_TARGETS${_suffix} "${_target}")
-    endif()
-  endforeach()
-endif()
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/unitree_goConfig-version.cmake b/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/unitree_goConfig-version.cmake
deleted file mode 100644
index 7beb732..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/unitree_goConfig-version.cmake
+++ /dev/null
@@ -1,14 +0,0 @@
-# generated from ament/cmake/core/templates/nameConfig-version.cmake.in
-set(PACKAGE_VERSION "0.0.0")
-
-set(PACKAGE_VERSION_EXACT False)
-set(PACKAGE_VERSION_COMPATIBLE False)
-
-if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}")
-  set(PACKAGE_VERSION_EXACT True)
-  set(PACKAGE_VERSION_COMPATIBLE True)
-endif()
-
-if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}")
-  set(PACKAGE_VERSION_COMPATIBLE True)
-endif()
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/unitree_goConfig.cmake b/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/unitree_goConfig.cmake
deleted file mode 100644
index 484f8ec..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/unitree_goConfig.cmake
+++ /dev/null
@@ -1,42 +0,0 @@
-# generated from ament/cmake/core/templates/nameConfig.cmake.in
-
-# prevent multiple inclusion
-if(_unitree_go_CONFIG_INCLUDED)
-  # ensure to keep the found flag the same
-  if(NOT DEFINED unitree_go_FOUND)
-    # explicitly set it to FALSE, otherwise CMake will set it to TRUE
-    set(unitree_go_FOUND FALSE)
-  elseif(NOT unitree_go_FOUND)
-    # use separate condition to avoid uninitialized variable warning
-    set(unitree_go_FOUND FALSE)
-  endif()
-  return()
-endif()
-set(_unitree_go_CONFIG_INCLUDED TRUE)
-
-# output package information
-if(NOT unitree_go_FIND_QUIETLY)
-  message(STATUS "Found unitree_go: 0.0.0 (${unitree_go_DIR})")
-endif()
-
-# warn when using a deprecated package
-if(NOT "" STREQUAL "")
-  set(_msg "Package 'unitree_go' is deprecated")
-  # append custom deprecation text if available
-  if(NOT "" STREQUAL "TRUE")
-    set(_msg "${_msg} ()")
-  endif()
-  # optionally quiet the deprecation message
-  if(NOT ${unitree_go_DEPRECATED_QUIET})
-    message(DEPRECATION "${_msg}")
-  endif()
-endif()
-
-# flag package as ament-based to distinguish it after being find_package()-ed
-set(unitree_go_FOUND_AMENT_PACKAGE TRUE)
-
-# include all config extra files
-set(_extras "rosidl_cmake-extras.cmake;ament_cmake_export_dependencies-extras.cmake;ament_cmake_export_libraries-extras.cmake;ament_cmake_export_targets-extras.cmake;ament_cmake_export_include_directories-extras.cmake;rosidl_cmake_export_typesupport_libraries-extras.cmake;rosidl_cmake_export_typesupport_targets-extras.cmake")
-foreach(_extra ${_extras})
-  include("${unitree_go_DIR}/${_extra}")
-endforeach()
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/unitree_go__rosidl_generator_cExport-noconfig.cmake b/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/unitree_go__rosidl_generator_cExport-noconfig.cmake
deleted file mode 100644
index 020323e..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/unitree_go__rosidl_generator_cExport-noconfig.cmake
+++ /dev/null
@@ -1,19 +0,0 @@
-#----------------------------------------------------------------
-# Generated CMake target import file.
-#----------------------------------------------------------------
-
-# Commands may need to know the format version.
-set(CMAKE_IMPORT_FILE_VERSION 1)
-
-# Import target "unitree_go::unitree_go__rosidl_generator_c" for configuration ""
-set_property(TARGET unitree_go::unitree_go__rosidl_generator_c APPEND PROPERTY IMPORTED_CONFIGURATIONS NOCONFIG)
-set_target_properties(unitree_go::unitree_go__rosidl_generator_c PROPERTIES
-  IMPORTED_LOCATION_NOCONFIG "${_IMPORT_PREFIX}/lib/libunitree_go__rosidl_generator_c.so"
-  IMPORTED_SONAME_NOCONFIG "libunitree_go__rosidl_generator_c.so"
-  )
-
-list(APPEND _IMPORT_CHECK_TARGETS unitree_go::unitree_go__rosidl_generator_c )
-list(APPEND _IMPORT_CHECK_FILES_FOR_unitree_go::unitree_go__rosidl_generator_c "${_IMPORT_PREFIX}/lib/libunitree_go__rosidl_generator_c.so" )
-
-# Commands beyond this point should not need to know the version.
-set(CMAKE_IMPORT_FILE_VERSION)
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/unitree_go__rosidl_generator_cExport.cmake b/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/unitree_go__rosidl_generator_cExport.cmake
deleted file mode 100644
index 81513c1..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/unitree_go__rosidl_generator_cExport.cmake
+++ /dev/null
@@ -1,99 +0,0 @@
-# Generated by CMake
-
-if("${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION}" LESS 2.5)
-   message(FATAL_ERROR "CMake >= 2.6.0 required")
-endif()
-cmake_policy(PUSH)
-cmake_policy(VERSION 2.6)
-#----------------------------------------------------------------
-# Generated CMake target import file.
-#----------------------------------------------------------------
-
-# Commands may need to know the format version.
-set(CMAKE_IMPORT_FILE_VERSION 1)
-
-# Protect against multiple inclusion, which would fail when already imported targets are added once more.
-set(_targetsDefined)
-set(_targetsNotDefined)
-set(_expectedTargets)
-foreach(_expectedTarget unitree_go::unitree_go__rosidl_generator_c)
-  list(APPEND _expectedTargets ${_expectedTarget})
-  if(NOT TARGET ${_expectedTarget})
-    list(APPEND _targetsNotDefined ${_expectedTarget})
-  endif()
-  if(TARGET ${_expectedTarget})
-    list(APPEND _targetsDefined ${_expectedTarget})
-  endif()
-endforeach()
-if("${_targetsDefined}" STREQUAL "${_expectedTargets}")
-  unset(_targetsDefined)
-  unset(_targetsNotDefined)
-  unset(_expectedTargets)
-  set(CMAKE_IMPORT_FILE_VERSION)
-  cmake_policy(POP)
-  return()
-endif()
-if(NOT "${_targetsDefined}" STREQUAL "")
-  message(FATAL_ERROR "Some (but not all) targets in this export set were already defined.\nTargets Defined: ${_targetsDefined}\nTargets not yet defined: ${_targetsNotDefined}\n")
-endif()
-unset(_targetsDefined)
-unset(_targetsNotDefined)
-unset(_expectedTargets)
-
-
-# Compute the installation prefix relative to this file.
-get_filename_component(_IMPORT_PREFIX "${CMAKE_CURRENT_LIST_FILE}" PATH)
-get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
-get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
-get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
-if(_IMPORT_PREFIX STREQUAL "/")
-  set(_IMPORT_PREFIX "")
-endif()
-
-# Create imported target unitree_go::unitree_go__rosidl_generator_c
-add_library(unitree_go::unitree_go__rosidl_generator_c SHARED IMPORTED)
-
-set_target_properties(unitree_go::unitree_go__rosidl_generator_c PROPERTIES
-  INTERFACE_INCLUDE_DIRECTORIES "${_IMPORT_PREFIX}/include"
-  INTERFACE_LINK_LIBRARIES "geometry_msgs::geometry_msgs__rosidl_generator_c;geometry_msgs::geometry_msgs__rosidl_typesupport_introspection_c;geometry_msgs::geometry_msgs__rosidl_typesupport_c;geometry_msgs::geometry_msgs__rosidl_generator_cpp;geometry_msgs::geometry_msgs__rosidl_typesupport_introspection_cpp;geometry_msgs::geometry_msgs__rosidl_typesupport_cpp;std_msgs::std_msgs__rosidl_generator_c;std_msgs::std_msgs__rosidl_typesupport_introspection_c;std_msgs::std_msgs__rosidl_typesupport_c;std_msgs::std_msgs__rosidl_generator_cpp;std_msgs::std_msgs__rosidl_typesupport_introspection_cpp;std_msgs::std_msgs__rosidl_typesupport_cpp;builtin_interfaces::builtin_interfaces__rosidl_generator_c;builtin_interfaces::builtin_interfaces__rosidl_typesupport_introspection_c;builtin_interfaces::builtin_interfaces__rosidl_typesupport_c;builtin_interfaces::builtin_interfaces__rosidl_generator_cpp;builtin_interfaces::builtin_interfaces__rosidl_typesupport_introspection_cpp;builtin_interfaces::builtin_interfaces__rosidl_typesupport_cpp;rosidl_runtime_c::rosidl_runtime_c;rosidl_typesupport_interface::rosidl_typesupport_interface;rcutils::rcutils"
-)
-
-if(CMAKE_VERSION VERSION_LESS 2.8.12)
-  message(FATAL_ERROR "This file relies on consumers using CMake 2.8.12 or greater.")
-endif()
-
-# Load information for each installed configuration.
-get_filename_component(_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH)
-file(GLOB CONFIG_FILES "${_DIR}/unitree_go__rosidl_generator_cExport-*.cmake")
-foreach(f ${CONFIG_FILES})
-  include(${f})
-endforeach()
-
-# Cleanup temporary variables.
-set(_IMPORT_PREFIX)
-
-# Loop over all imported files and verify that they actually exist
-foreach(target ${_IMPORT_CHECK_TARGETS} )
-  foreach(file ${_IMPORT_CHECK_FILES_FOR_${target}} )
-    if(NOT EXISTS "${file}" )
-      message(FATAL_ERROR "The imported target \"${target}\" references the file
-   \"${file}\"
-but this file does not exist.  Possible reasons include:
-* The file was deleted, renamed, or moved to another location.
-* An install or uninstall procedure did not complete successfully.
-* The installation package was faulty and contained
-   \"${CMAKE_CURRENT_LIST_FILE}\"
-but not all the files it references.
-")
-    endif()
-  endforeach()
-  unset(_IMPORT_CHECK_FILES_FOR_${target})
-endforeach()
-unset(_IMPORT_CHECK_TARGETS)
-
-# This file does not depend on other imported targets which have
-# been exported from the same project but in a separate export set.
-
-# Commands beyond this point should not need to know the version.
-set(CMAKE_IMPORT_FILE_VERSION)
-cmake_policy(POP)
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/unitree_go__rosidl_generator_cppExport.cmake b/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/unitree_go__rosidl_generator_cppExport.cmake
deleted file mode 100644
index 35fc6a2..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/unitree_go__rosidl_generator_cppExport.cmake
+++ /dev/null
@@ -1,99 +0,0 @@
-# Generated by CMake
-
-if("${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION}" LESS 2.5)
-   message(FATAL_ERROR "CMake >= 2.6.0 required")
-endif()
-cmake_policy(PUSH)
-cmake_policy(VERSION 2.6)
-#----------------------------------------------------------------
-# Generated CMake target import file.
-#----------------------------------------------------------------
-
-# Commands may need to know the format version.
-set(CMAKE_IMPORT_FILE_VERSION 1)
-
-# Protect against multiple inclusion, which would fail when already imported targets are added once more.
-set(_targetsDefined)
-set(_targetsNotDefined)
-set(_expectedTargets)
-foreach(_expectedTarget unitree_go::unitree_go__rosidl_generator_cpp)
-  list(APPEND _expectedTargets ${_expectedTarget})
-  if(NOT TARGET ${_expectedTarget})
-    list(APPEND _targetsNotDefined ${_expectedTarget})
-  endif()
-  if(TARGET ${_expectedTarget})
-    list(APPEND _targetsDefined ${_expectedTarget})
-  endif()
-endforeach()
-if("${_targetsDefined}" STREQUAL "${_expectedTargets}")
-  unset(_targetsDefined)
-  unset(_targetsNotDefined)
-  unset(_expectedTargets)
-  set(CMAKE_IMPORT_FILE_VERSION)
-  cmake_policy(POP)
-  return()
-endif()
-if(NOT "${_targetsDefined}" STREQUAL "")
-  message(FATAL_ERROR "Some (but not all) targets in this export set were already defined.\nTargets Defined: ${_targetsDefined}\nTargets not yet defined: ${_targetsNotDefined}\n")
-endif()
-unset(_targetsDefined)
-unset(_targetsNotDefined)
-unset(_expectedTargets)
-
-
-# Compute the installation prefix relative to this file.
-get_filename_component(_IMPORT_PREFIX "${CMAKE_CURRENT_LIST_FILE}" PATH)
-get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
-get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
-get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
-if(_IMPORT_PREFIX STREQUAL "/")
-  set(_IMPORT_PREFIX "")
-endif()
-
-# Create imported target unitree_go::unitree_go__rosidl_generator_cpp
-add_library(unitree_go::unitree_go__rosidl_generator_cpp INTERFACE IMPORTED)
-
-set_target_properties(unitree_go::unitree_go__rosidl_generator_cpp PROPERTIES
-  INTERFACE_INCLUDE_DIRECTORIES "${_IMPORT_PREFIX}/include"
-  INTERFACE_LINK_LIBRARIES "geometry_msgs::geometry_msgs__rosidl_generator_c;geometry_msgs::geometry_msgs__rosidl_typesupport_introspection_c;geometry_msgs::geometry_msgs__rosidl_typesupport_c;geometry_msgs::geometry_msgs__rosidl_generator_cpp;geometry_msgs::geometry_msgs__rosidl_typesupport_introspection_cpp;geometry_msgs::geometry_msgs__rosidl_typesupport_cpp;std_msgs::std_msgs__rosidl_generator_c;std_msgs::std_msgs__rosidl_typesupport_introspection_c;std_msgs::std_msgs__rosidl_typesupport_c;std_msgs::std_msgs__rosidl_generator_cpp;std_msgs::std_msgs__rosidl_typesupport_introspection_cpp;std_msgs::std_msgs__rosidl_typesupport_cpp;builtin_interfaces::builtin_interfaces__rosidl_generator_c;builtin_interfaces::builtin_interfaces__rosidl_typesupport_introspection_c;builtin_interfaces::builtin_interfaces__rosidl_typesupport_c;builtin_interfaces::builtin_interfaces__rosidl_generator_cpp;builtin_interfaces::builtin_interfaces__rosidl_typesupport_introspection_cpp;builtin_interfaces::builtin_interfaces__rosidl_typesupport_cpp;rosidl_runtime_cpp::rosidl_runtime_cpp"
-)
-
-if(CMAKE_VERSION VERSION_LESS 3.0.0)
-  message(FATAL_ERROR "This file relies on consumers using CMake 3.0.0 or greater.")
-endif()
-
-# Load information for each installed configuration.
-get_filename_component(_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH)
-file(GLOB CONFIG_FILES "${_DIR}/unitree_go__rosidl_generator_cppExport-*.cmake")
-foreach(f ${CONFIG_FILES})
-  include(${f})
-endforeach()
-
-# Cleanup temporary variables.
-set(_IMPORT_PREFIX)
-
-# Loop over all imported files and verify that they actually exist
-foreach(target ${_IMPORT_CHECK_TARGETS} )
-  foreach(file ${_IMPORT_CHECK_FILES_FOR_${target}} )
-    if(NOT EXISTS "${file}" )
-      message(FATAL_ERROR "The imported target \"${target}\" references the file
-   \"${file}\"
-but this file does not exist.  Possible reasons include:
-* The file was deleted, renamed, or moved to another location.
-* An install or uninstall procedure did not complete successfully.
-* The installation package was faulty and contained
-   \"${CMAKE_CURRENT_LIST_FILE}\"
-but not all the files it references.
-")
-    endif()
-  endforeach()
-  unset(_IMPORT_CHECK_FILES_FOR_${target})
-endforeach()
-unset(_IMPORT_CHECK_TARGETS)
-
-# This file does not depend on other imported targets which have
-# been exported from the same project but in a separate export set.
-
-# Commands beyond this point should not need to know the version.
-set(CMAKE_IMPORT_FILE_VERSION)
-cmake_policy(POP)
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/unitree_go__rosidl_typesupport_cExport-noconfig.cmake b/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/unitree_go__rosidl_typesupport_cExport-noconfig.cmake
deleted file mode 100644
index d0ccbc0..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/unitree_go__rosidl_typesupport_cExport-noconfig.cmake
+++ /dev/null
@@ -1,19 +0,0 @@
-#----------------------------------------------------------------
-# Generated CMake target import file.
-#----------------------------------------------------------------
-
-# Commands may need to know the format version.
-set(CMAKE_IMPORT_FILE_VERSION 1)
-
-# Import target "unitree_go::unitree_go__rosidl_typesupport_c" for configuration ""
-set_property(TARGET unitree_go::unitree_go__rosidl_typesupport_c APPEND PROPERTY IMPORTED_CONFIGURATIONS NOCONFIG)
-set_target_properties(unitree_go::unitree_go__rosidl_typesupport_c PROPERTIES
-  IMPORTED_LOCATION_NOCONFIG "${_IMPORT_PREFIX}/lib/libunitree_go__rosidl_typesupport_c.so"
-  IMPORTED_SONAME_NOCONFIG "libunitree_go__rosidl_typesupport_c.so"
-  )
-
-list(APPEND _IMPORT_CHECK_TARGETS unitree_go::unitree_go__rosidl_typesupport_c )
-list(APPEND _IMPORT_CHECK_FILES_FOR_unitree_go::unitree_go__rosidl_typesupport_c "${_IMPORT_PREFIX}/lib/libunitree_go__rosidl_typesupport_c.so" )
-
-# Commands beyond this point should not need to know the version.
-set(CMAKE_IMPORT_FILE_VERSION)
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/unitree_go__rosidl_typesupport_cExport.cmake b/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/unitree_go__rosidl_typesupport_cExport.cmake
deleted file mode 100644
index 73793e0..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/unitree_go__rosidl_typesupport_cExport.cmake
+++ /dev/null
@@ -1,99 +0,0 @@
-# Generated by CMake
-
-if("${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION}" LESS 2.5)
-   message(FATAL_ERROR "CMake >= 2.6.0 required")
-endif()
-cmake_policy(PUSH)
-cmake_policy(VERSION 2.6)
-#----------------------------------------------------------------
-# Generated CMake target import file.
-#----------------------------------------------------------------
-
-# Commands may need to know the format version.
-set(CMAKE_IMPORT_FILE_VERSION 1)
-
-# Protect against multiple inclusion, which would fail when already imported targets are added once more.
-set(_targetsDefined)
-set(_targetsNotDefined)
-set(_expectedTargets)
-foreach(_expectedTarget unitree_go::unitree_go__rosidl_typesupport_c)
-  list(APPEND _expectedTargets ${_expectedTarget})
-  if(NOT TARGET ${_expectedTarget})
-    list(APPEND _targetsNotDefined ${_expectedTarget})
-  endif()
-  if(TARGET ${_expectedTarget})
-    list(APPEND _targetsDefined ${_expectedTarget})
-  endif()
-endforeach()
-if("${_targetsDefined}" STREQUAL "${_expectedTargets}")
-  unset(_targetsDefined)
-  unset(_targetsNotDefined)
-  unset(_expectedTargets)
-  set(CMAKE_IMPORT_FILE_VERSION)
-  cmake_policy(POP)
-  return()
-endif()
-if(NOT "${_targetsDefined}" STREQUAL "")
-  message(FATAL_ERROR "Some (but not all) targets in this export set were already defined.\nTargets Defined: ${_targetsDefined}\nTargets not yet defined: ${_targetsNotDefined}\n")
-endif()
-unset(_targetsDefined)
-unset(_targetsNotDefined)
-unset(_expectedTargets)
-
-
-# Compute the installation prefix relative to this file.
-get_filename_component(_IMPORT_PREFIX "${CMAKE_CURRENT_LIST_FILE}" PATH)
-get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
-get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
-get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
-if(_IMPORT_PREFIX STREQUAL "/")
-  set(_IMPORT_PREFIX "")
-endif()
-
-# Create imported target unitree_go::unitree_go__rosidl_typesupport_c
-add_library(unitree_go::unitree_go__rosidl_typesupport_c SHARED IMPORTED)
-
-set_target_properties(unitree_go::unitree_go__rosidl_typesupport_c PROPERTIES
-  INTERFACE_INCLUDE_DIRECTORIES "${_IMPORT_PREFIX}/include"
-  INTERFACE_LINK_LIBRARIES "rosidl_runtime_c::rosidl_runtime_c;rosidl_typesupport_c::rosidl_typesupport_c;rosidl_typesupport_interface::rosidl_typesupport_interface;geometry_msgs::geometry_msgs__rosidl_generator_c;geometry_msgs::geometry_msgs__rosidl_typesupport_introspection_c;geometry_msgs::geometry_msgs__rosidl_typesupport_c;geometry_msgs::geometry_msgs__rosidl_generator_cpp;geometry_msgs::geometry_msgs__rosidl_typesupport_introspection_cpp;geometry_msgs::geometry_msgs__rosidl_typesupport_cpp;std_msgs::std_msgs__rosidl_generator_c;std_msgs::std_msgs__rosidl_typesupport_introspection_c;std_msgs::std_msgs__rosidl_typesupport_c;std_msgs::std_msgs__rosidl_generator_cpp;std_msgs::std_msgs__rosidl_typesupport_introspection_cpp;std_msgs::std_msgs__rosidl_typesupport_cpp;builtin_interfaces::builtin_interfaces__rosidl_generator_c;builtin_interfaces::builtin_interfaces__rosidl_typesupport_introspection_c;builtin_interfaces::builtin_interfaces__rosidl_typesupport_c;builtin_interfaces::builtin_interfaces__rosidl_generator_cpp;builtin_interfaces::builtin_interfaces__rosidl_typesupport_introspection_cpp;builtin_interfaces::builtin_interfaces__rosidl_typesupport_cpp"
-)
-
-if(CMAKE_VERSION VERSION_LESS 2.8.12)
-  message(FATAL_ERROR "This file relies on consumers using CMake 2.8.12 or greater.")
-endif()
-
-# Load information for each installed configuration.
-get_filename_component(_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH)
-file(GLOB CONFIG_FILES "${_DIR}/unitree_go__rosidl_typesupport_cExport-*.cmake")
-foreach(f ${CONFIG_FILES})
-  include(${f})
-endforeach()
-
-# Cleanup temporary variables.
-set(_IMPORT_PREFIX)
-
-# Loop over all imported files and verify that they actually exist
-foreach(target ${_IMPORT_CHECK_TARGETS} )
-  foreach(file ${_IMPORT_CHECK_FILES_FOR_${target}} )
-    if(NOT EXISTS "${file}" )
-      message(FATAL_ERROR "The imported target \"${target}\" references the file
-   \"${file}\"
-but this file does not exist.  Possible reasons include:
-* The file was deleted, renamed, or moved to another location.
-* An install or uninstall procedure did not complete successfully.
-* The installation package was faulty and contained
-   \"${CMAKE_CURRENT_LIST_FILE}\"
-but not all the files it references.
-")
-    endif()
-  endforeach()
-  unset(_IMPORT_CHECK_FILES_FOR_${target})
-endforeach()
-unset(_IMPORT_CHECK_TARGETS)
-
-# This file does not depend on other imported targets which have
-# been exported from the same project but in a separate export set.
-
-# Commands beyond this point should not need to know the version.
-set(CMAKE_IMPORT_FILE_VERSION)
-cmake_policy(POP)
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/unitree_go__rosidl_typesupport_cppExport-noconfig.cmake b/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/unitree_go__rosidl_typesupport_cppExport-noconfig.cmake
deleted file mode 100644
index 8a7e93a..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/unitree_go__rosidl_typesupport_cppExport-noconfig.cmake
+++ /dev/null
@@ -1,19 +0,0 @@
-#----------------------------------------------------------------
-# Generated CMake target import file.
-#----------------------------------------------------------------
-
-# Commands may need to know the format version.
-set(CMAKE_IMPORT_FILE_VERSION 1)
-
-# Import target "unitree_go::unitree_go__rosidl_typesupport_cpp" for configuration ""
-set_property(TARGET unitree_go::unitree_go__rosidl_typesupport_cpp APPEND PROPERTY IMPORTED_CONFIGURATIONS NOCONFIG)
-set_target_properties(unitree_go::unitree_go__rosidl_typesupport_cpp PROPERTIES
-  IMPORTED_LOCATION_NOCONFIG "${_IMPORT_PREFIX}/lib/libunitree_go__rosidl_typesupport_cpp.so"
-  IMPORTED_SONAME_NOCONFIG "libunitree_go__rosidl_typesupport_cpp.so"
-  )
-
-list(APPEND _IMPORT_CHECK_TARGETS unitree_go::unitree_go__rosidl_typesupport_cpp )
-list(APPEND _IMPORT_CHECK_FILES_FOR_unitree_go::unitree_go__rosidl_typesupport_cpp "${_IMPORT_PREFIX}/lib/libunitree_go__rosidl_typesupport_cpp.so" )
-
-# Commands beyond this point should not need to know the version.
-set(CMAKE_IMPORT_FILE_VERSION)
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/unitree_go__rosidl_typesupport_cppExport.cmake b/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/unitree_go__rosidl_typesupport_cppExport.cmake
deleted file mode 100644
index 58272c7..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/unitree_go__rosidl_typesupport_cppExport.cmake
+++ /dev/null
@@ -1,99 +0,0 @@
-# Generated by CMake
-
-if("${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION}" LESS 2.5)
-   message(FATAL_ERROR "CMake >= 2.6.0 required")
-endif()
-cmake_policy(PUSH)
-cmake_policy(VERSION 2.6)
-#----------------------------------------------------------------
-# Generated CMake target import file.
-#----------------------------------------------------------------
-
-# Commands may need to know the format version.
-set(CMAKE_IMPORT_FILE_VERSION 1)
-
-# Protect against multiple inclusion, which would fail when already imported targets are added once more.
-set(_targetsDefined)
-set(_targetsNotDefined)
-set(_expectedTargets)
-foreach(_expectedTarget unitree_go::unitree_go__rosidl_typesupport_cpp)
-  list(APPEND _expectedTargets ${_expectedTarget})
-  if(NOT TARGET ${_expectedTarget})
-    list(APPEND _targetsNotDefined ${_expectedTarget})
-  endif()
-  if(TARGET ${_expectedTarget})
-    list(APPEND _targetsDefined ${_expectedTarget})
-  endif()
-endforeach()
-if("${_targetsDefined}" STREQUAL "${_expectedTargets}")
-  unset(_targetsDefined)
-  unset(_targetsNotDefined)
-  unset(_expectedTargets)
-  set(CMAKE_IMPORT_FILE_VERSION)
-  cmake_policy(POP)
-  return()
-endif()
-if(NOT "${_targetsDefined}" STREQUAL "")
-  message(FATAL_ERROR "Some (but not all) targets in this export set were already defined.\nTargets Defined: ${_targetsDefined}\nTargets not yet defined: ${_targetsNotDefined}\n")
-endif()
-unset(_targetsDefined)
-unset(_targetsNotDefined)
-unset(_expectedTargets)
-
-
-# Compute the installation prefix relative to this file.
-get_filename_component(_IMPORT_PREFIX "${CMAKE_CURRENT_LIST_FILE}" PATH)
-get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
-get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
-get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
-if(_IMPORT_PREFIX STREQUAL "/")
-  set(_IMPORT_PREFIX "")
-endif()
-
-# Create imported target unitree_go::unitree_go__rosidl_typesupport_cpp
-add_library(unitree_go::unitree_go__rosidl_typesupport_cpp SHARED IMPORTED)
-
-set_target_properties(unitree_go::unitree_go__rosidl_typesupport_cpp PROPERTIES
-  INTERFACE_INCLUDE_DIRECTORIES "${_IMPORT_PREFIX}/include"
-  INTERFACE_LINK_LIBRARIES "rosidl_runtime_c::rosidl_runtime_c;rosidl_runtime_cpp::rosidl_runtime_cpp;rosidl_typesupport_cpp::rosidl_typesupport_cpp;rosidl_typesupport_interface::rosidl_typesupport_interface;geometry_msgs::geometry_msgs__rosidl_generator_c;geometry_msgs::geometry_msgs__rosidl_typesupport_introspection_c;geometry_msgs::geometry_msgs__rosidl_typesupport_c;geometry_msgs::geometry_msgs__rosidl_generator_cpp;geometry_msgs::geometry_msgs__rosidl_typesupport_introspection_cpp;geometry_msgs::geometry_msgs__rosidl_typesupport_cpp;std_msgs::std_msgs__rosidl_generator_c;std_msgs::std_msgs__rosidl_typesupport_introspection_c;std_msgs::std_msgs__rosidl_typesupport_c;std_msgs::std_msgs__rosidl_generator_cpp;std_msgs::std_msgs__rosidl_typesupport_introspection_cpp;std_msgs::std_msgs__rosidl_typesupport_cpp;builtin_interfaces::builtin_interfaces__rosidl_generator_c;builtin_interfaces::builtin_interfaces__rosidl_typesupport_introspection_c;builtin_interfaces::builtin_interfaces__rosidl_typesupport_c;builtin_interfaces::builtin_interfaces__rosidl_generator_cpp;builtin_interfaces::builtin_interfaces__rosidl_typesupport_introspection_cpp;builtin_interfaces::builtin_interfaces__rosidl_typesupport_cpp"
-)
-
-if(CMAKE_VERSION VERSION_LESS 2.8.12)
-  message(FATAL_ERROR "This file relies on consumers using CMake 2.8.12 or greater.")
-endif()
-
-# Load information for each installed configuration.
-get_filename_component(_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH)
-file(GLOB CONFIG_FILES "${_DIR}/unitree_go__rosidl_typesupport_cppExport-*.cmake")
-foreach(f ${CONFIG_FILES})
-  include(${f})
-endforeach()
-
-# Cleanup temporary variables.
-set(_IMPORT_PREFIX)
-
-# Loop over all imported files and verify that they actually exist
-foreach(target ${_IMPORT_CHECK_TARGETS} )
-  foreach(file ${_IMPORT_CHECK_FILES_FOR_${target}} )
-    if(NOT EXISTS "${file}" )
-      message(FATAL_ERROR "The imported target \"${target}\" references the file
-   \"${file}\"
-but this file does not exist.  Possible reasons include:
-* The file was deleted, renamed, or moved to another location.
-* An install or uninstall procedure did not complete successfully.
-* The installation package was faulty and contained
-   \"${CMAKE_CURRENT_LIST_FILE}\"
-but not all the files it references.
-")
-    endif()
-  endforeach()
-  unset(_IMPORT_CHECK_FILES_FOR_${target})
-endforeach()
-unset(_IMPORT_CHECK_TARGETS)
-
-# This file does not depend on other imported targets which have
-# been exported from the same project but in a separate export set.
-
-# Commands beyond this point should not need to know the version.
-set(CMAKE_IMPORT_FILE_VERSION)
-cmake_policy(POP)
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/unitree_go__rosidl_typesupport_introspection_cExport-noconfig.cmake b/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/unitree_go__rosidl_typesupport_introspection_cExport-noconfig.cmake
deleted file mode 100644
index 16dc0ed..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/unitree_go__rosidl_typesupport_introspection_cExport-noconfig.cmake
+++ /dev/null
@@ -1,19 +0,0 @@
-#----------------------------------------------------------------
-# Generated CMake target import file.
-#----------------------------------------------------------------
-
-# Commands may need to know the format version.
-set(CMAKE_IMPORT_FILE_VERSION 1)
-
-# Import target "unitree_go::unitree_go__rosidl_typesupport_introspection_c" for configuration ""
-set_property(TARGET unitree_go::unitree_go__rosidl_typesupport_introspection_c APPEND PROPERTY IMPORTED_CONFIGURATIONS NOCONFIG)
-set_target_properties(unitree_go::unitree_go__rosidl_typesupport_introspection_c PROPERTIES
-  IMPORTED_LOCATION_NOCONFIG "${_IMPORT_PREFIX}/lib/libunitree_go__rosidl_typesupport_introspection_c.so"
-  IMPORTED_SONAME_NOCONFIG "libunitree_go__rosidl_typesupport_introspection_c.so"
-  )
-
-list(APPEND _IMPORT_CHECK_TARGETS unitree_go::unitree_go__rosidl_typesupport_introspection_c )
-list(APPEND _IMPORT_CHECK_FILES_FOR_unitree_go::unitree_go__rosidl_typesupport_introspection_c "${_IMPORT_PREFIX}/lib/libunitree_go__rosidl_typesupport_introspection_c.so" )
-
-# Commands beyond this point should not need to know the version.
-set(CMAKE_IMPORT_FILE_VERSION)
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/unitree_go__rosidl_typesupport_introspection_cExport.cmake b/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/unitree_go__rosidl_typesupport_introspection_cExport.cmake
deleted file mode 100644
index 479d5ce..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/unitree_go__rosidl_typesupport_introspection_cExport.cmake
+++ /dev/null
@@ -1,114 +0,0 @@
-# Generated by CMake
-
-if("${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION}" LESS 2.5)
-   message(FATAL_ERROR "CMake >= 2.6.0 required")
-endif()
-cmake_policy(PUSH)
-cmake_policy(VERSION 2.6)
-#----------------------------------------------------------------
-# Generated CMake target import file.
-#----------------------------------------------------------------
-
-# Commands may need to know the format version.
-set(CMAKE_IMPORT_FILE_VERSION 1)
-
-# Protect against multiple inclusion, which would fail when already imported targets are added once more.
-set(_targetsDefined)
-set(_targetsNotDefined)
-set(_expectedTargets)
-foreach(_expectedTarget unitree_go::unitree_go__rosidl_typesupport_introspection_c)
-  list(APPEND _expectedTargets ${_expectedTarget})
-  if(NOT TARGET ${_expectedTarget})
-    list(APPEND _targetsNotDefined ${_expectedTarget})
-  endif()
-  if(TARGET ${_expectedTarget})
-    list(APPEND _targetsDefined ${_expectedTarget})
-  endif()
-endforeach()
-if("${_targetsDefined}" STREQUAL "${_expectedTargets}")
-  unset(_targetsDefined)
-  unset(_targetsNotDefined)
-  unset(_expectedTargets)
-  set(CMAKE_IMPORT_FILE_VERSION)
-  cmake_policy(POP)
-  return()
-endif()
-if(NOT "${_targetsDefined}" STREQUAL "")
-  message(FATAL_ERROR "Some (but not all) targets in this export set were already defined.\nTargets Defined: ${_targetsDefined}\nTargets not yet defined: ${_targetsNotDefined}\n")
-endif()
-unset(_targetsDefined)
-unset(_targetsNotDefined)
-unset(_expectedTargets)
-
-
-# Compute the installation prefix relative to this file.
-get_filename_component(_IMPORT_PREFIX "${CMAKE_CURRENT_LIST_FILE}" PATH)
-get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
-get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
-get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
-if(_IMPORT_PREFIX STREQUAL "/")
-  set(_IMPORT_PREFIX "")
-endif()
-
-# Create imported target unitree_go::unitree_go__rosidl_typesupport_introspection_c
-add_library(unitree_go::unitree_go__rosidl_typesupport_introspection_c SHARED IMPORTED)
-
-set_target_properties(unitree_go::unitree_go__rosidl_typesupport_introspection_c PROPERTIES
-  INTERFACE_LINK_LIBRARIES "unitree_go::unitree_go__rosidl_generator_c;rosidl_typesupport_introspection_c::rosidl_typesupport_introspection_c;geometry_msgs::geometry_msgs__rosidl_generator_c;geometry_msgs::geometry_msgs__rosidl_typesupport_introspection_c;geometry_msgs::geometry_msgs__rosidl_typesupport_c;geometry_msgs::geometry_msgs__rosidl_generator_cpp;geometry_msgs::geometry_msgs__rosidl_typesupport_introspection_cpp;geometry_msgs::geometry_msgs__rosidl_typesupport_cpp;geometry_msgs::geometry_msgs__rosidl_typesupport_introspection_c;std_msgs::std_msgs__rosidl_generator_c;std_msgs::std_msgs__rosidl_typesupport_introspection_c;std_msgs::std_msgs__rosidl_typesupport_c;std_msgs::std_msgs__rosidl_generator_cpp;std_msgs::std_msgs__rosidl_typesupport_introspection_cpp;std_msgs::std_msgs__rosidl_typesupport_cpp;std_msgs::std_msgs__rosidl_typesupport_introspection_c;builtin_interfaces::builtin_interfaces__rosidl_generator_c;builtin_interfaces::builtin_interfaces__rosidl_typesupport_introspection_c;builtin_interfaces::builtin_interfaces__rosidl_typesupport_c;builtin_interfaces::builtin_interfaces__rosidl_generator_cpp;builtin_interfaces::builtin_interfaces__rosidl_typesupport_introspection_cpp;builtin_interfaces::builtin_interfaces__rosidl_typesupport_cpp;builtin_interfaces::builtin_interfaces__rosidl_typesupport_introspection_c"
-)
-
-if(CMAKE_VERSION VERSION_LESS 2.8.12)
-  message(FATAL_ERROR "This file relies on consumers using CMake 2.8.12 or greater.")
-endif()
-
-# Load information for each installed configuration.
-get_filename_component(_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH)
-file(GLOB CONFIG_FILES "${_DIR}/unitree_go__rosidl_typesupport_introspection_cExport-*.cmake")
-foreach(f ${CONFIG_FILES})
-  include(${f})
-endforeach()
-
-# Cleanup temporary variables.
-set(_IMPORT_PREFIX)
-
-# Loop over all imported files and verify that they actually exist
-foreach(target ${_IMPORT_CHECK_TARGETS} )
-  foreach(file ${_IMPORT_CHECK_FILES_FOR_${target}} )
-    if(NOT EXISTS "${file}" )
-      message(FATAL_ERROR "The imported target \"${target}\" references the file
-   \"${file}\"
-but this file does not exist.  Possible reasons include:
-* The file was deleted, renamed, or moved to another location.
-* An install or uninstall procedure did not complete successfully.
-* The installation package was faulty and contained
-   \"${CMAKE_CURRENT_LIST_FILE}\"
-but not all the files it references.
-")
-    endif()
-  endforeach()
-  unset(_IMPORT_CHECK_FILES_FOR_${target})
-endforeach()
-unset(_IMPORT_CHECK_TARGETS)
-
-# Make sure the targets which have been exported in some other 
-# export set exist.
-unset(${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets)
-foreach(_target "unitree_go::unitree_go__rosidl_generator_c" )
-  if(NOT TARGET "${_target}" )
-    set(${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets "${${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets} ${_target}")
-  endif()
-endforeach()
-
-if(DEFINED ${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets)
-  if(CMAKE_FIND_PACKAGE_NAME)
-    set( ${CMAKE_FIND_PACKAGE_NAME}_FOUND FALSE)
-    set( ${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE "The following imported targets are referenced, but are missing: ${${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets}")
-  else()
-    message(FATAL_ERROR "The following imported targets are referenced, but are missing: ${${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets}")
-  endif()
-endif()
-unset(${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets)
-
-# Commands beyond this point should not need to know the version.
-set(CMAKE_IMPORT_FILE_VERSION)
-cmake_policy(POP)
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/unitree_go__rosidl_typesupport_introspection_cppExport-noconfig.cmake b/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/unitree_go__rosidl_typesupport_introspection_cppExport-noconfig.cmake
deleted file mode 100644
index 3cb5485..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/unitree_go__rosidl_typesupport_introspection_cppExport-noconfig.cmake
+++ /dev/null
@@ -1,19 +0,0 @@
-#----------------------------------------------------------------
-# Generated CMake target import file.
-#----------------------------------------------------------------
-
-# Commands may need to know the format version.
-set(CMAKE_IMPORT_FILE_VERSION 1)
-
-# Import target "unitree_go::unitree_go__rosidl_typesupport_introspection_cpp" for configuration ""
-set_property(TARGET unitree_go::unitree_go__rosidl_typesupport_introspection_cpp APPEND PROPERTY IMPORTED_CONFIGURATIONS NOCONFIG)
-set_target_properties(unitree_go::unitree_go__rosidl_typesupport_introspection_cpp PROPERTIES
-  IMPORTED_LOCATION_NOCONFIG "${_IMPORT_PREFIX}/lib/libunitree_go__rosidl_typesupport_introspection_cpp.so"
-  IMPORTED_SONAME_NOCONFIG "libunitree_go__rosidl_typesupport_introspection_cpp.so"
-  )
-
-list(APPEND _IMPORT_CHECK_TARGETS unitree_go::unitree_go__rosidl_typesupport_introspection_cpp )
-list(APPEND _IMPORT_CHECK_FILES_FOR_unitree_go::unitree_go__rosidl_typesupport_introspection_cpp "${_IMPORT_PREFIX}/lib/libunitree_go__rosidl_typesupport_introspection_cpp.so" )
-
-# Commands beyond this point should not need to know the version.
-set(CMAKE_IMPORT_FILE_VERSION)
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/unitree_go__rosidl_typesupport_introspection_cppExport.cmake b/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/unitree_go__rosidl_typesupport_introspection_cppExport.cmake
deleted file mode 100644
index 8fce41e..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/unitree_go__rosidl_typesupport_introspection_cppExport.cmake
+++ /dev/null
@@ -1,98 +0,0 @@
-# Generated by CMake
-
-if("${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION}" LESS 2.5)
-   message(FATAL_ERROR "CMake >= 2.6.0 required")
-endif()
-cmake_policy(PUSH)
-cmake_policy(VERSION 2.6)
-#----------------------------------------------------------------
-# Generated CMake target import file.
-#----------------------------------------------------------------
-
-# Commands may need to know the format version.
-set(CMAKE_IMPORT_FILE_VERSION 1)
-
-# Protect against multiple inclusion, which would fail when already imported targets are added once more.
-set(_targetsDefined)
-set(_targetsNotDefined)
-set(_expectedTargets)
-foreach(_expectedTarget unitree_go::unitree_go__rosidl_typesupport_introspection_cpp)
-  list(APPEND _expectedTargets ${_expectedTarget})
-  if(NOT TARGET ${_expectedTarget})
-    list(APPEND _targetsNotDefined ${_expectedTarget})
-  endif()
-  if(TARGET ${_expectedTarget})
-    list(APPEND _targetsDefined ${_expectedTarget})
-  endif()
-endforeach()
-if("${_targetsDefined}" STREQUAL "${_expectedTargets}")
-  unset(_targetsDefined)
-  unset(_targetsNotDefined)
-  unset(_expectedTargets)
-  set(CMAKE_IMPORT_FILE_VERSION)
-  cmake_policy(POP)
-  return()
-endif()
-if(NOT "${_targetsDefined}" STREQUAL "")
-  message(FATAL_ERROR "Some (but not all) targets in this export set were already defined.\nTargets Defined: ${_targetsDefined}\nTargets not yet defined: ${_targetsNotDefined}\n")
-endif()
-unset(_targetsDefined)
-unset(_targetsNotDefined)
-unset(_expectedTargets)
-
-
-# Compute the installation prefix relative to this file.
-get_filename_component(_IMPORT_PREFIX "${CMAKE_CURRENT_LIST_FILE}" PATH)
-get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
-get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
-get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
-if(_IMPORT_PREFIX STREQUAL "/")
-  set(_IMPORT_PREFIX "")
-endif()
-
-# Create imported target unitree_go::unitree_go__rosidl_typesupport_introspection_cpp
-add_library(unitree_go::unitree_go__rosidl_typesupport_introspection_cpp SHARED IMPORTED)
-
-set_target_properties(unitree_go::unitree_go__rosidl_typesupport_introspection_cpp PROPERTIES
-  INTERFACE_LINK_LIBRARIES "rosidl_runtime_c::rosidl_runtime_c;rosidl_typesupport_interface::rosidl_typesupport_interface;rosidl_typesupport_introspection_cpp::rosidl_typesupport_introspection_cpp;geometry_msgs::geometry_msgs__rosidl_generator_c;geometry_msgs::geometry_msgs__rosidl_typesupport_introspection_c;geometry_msgs::geometry_msgs__rosidl_typesupport_c;geometry_msgs::geometry_msgs__rosidl_generator_cpp;geometry_msgs::geometry_msgs__rosidl_typesupport_introspection_cpp;geometry_msgs::geometry_msgs__rosidl_typesupport_cpp;geometry_msgs::geometry_msgs__rosidl_typesupport_introspection_cpp;std_msgs::std_msgs__rosidl_generator_c;std_msgs::std_msgs__rosidl_typesupport_introspection_c;std_msgs::std_msgs__rosidl_typesupport_c;std_msgs::std_msgs__rosidl_generator_cpp;std_msgs::std_msgs__rosidl_typesupport_introspection_cpp;std_msgs::std_msgs__rosidl_typesupport_cpp;std_msgs::std_msgs__rosidl_typesupport_introspection_cpp;builtin_interfaces::builtin_interfaces__rosidl_generator_c;builtin_interfaces::builtin_interfaces__rosidl_typesupport_introspection_c;builtin_interfaces::builtin_interfaces__rosidl_typesupport_c;builtin_interfaces::builtin_interfaces__rosidl_generator_cpp;builtin_interfaces::builtin_interfaces__rosidl_typesupport_introspection_cpp;builtin_interfaces::builtin_interfaces__rosidl_typesupport_cpp;builtin_interfaces::builtin_interfaces__rosidl_typesupport_introspection_cpp"
-)
-
-if(CMAKE_VERSION VERSION_LESS 2.8.12)
-  message(FATAL_ERROR "This file relies on consumers using CMake 2.8.12 or greater.")
-endif()
-
-# Load information for each installed configuration.
-get_filename_component(_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH)
-file(GLOB CONFIG_FILES "${_DIR}/unitree_go__rosidl_typesupport_introspection_cppExport-*.cmake")
-foreach(f ${CONFIG_FILES})
-  include(${f})
-endforeach()
-
-# Cleanup temporary variables.
-set(_IMPORT_PREFIX)
-
-# Loop over all imported files and verify that they actually exist
-foreach(target ${_IMPORT_CHECK_TARGETS} )
-  foreach(file ${_IMPORT_CHECK_FILES_FOR_${target}} )
-    if(NOT EXISTS "${file}" )
-      message(FATAL_ERROR "The imported target \"${target}\" references the file
-   \"${file}\"
-but this file does not exist.  Possible reasons include:
-* The file was deleted, renamed, or moved to another location.
-* An install or uninstall procedure did not complete successfully.
-* The installation package was faulty and contained
-   \"${CMAKE_CURRENT_LIST_FILE}\"
-but not all the files it references.
-")
-    endif()
-  endforeach()
-  unset(_IMPORT_CHECK_FILES_FOR_${target})
-endforeach()
-unset(_IMPORT_CHECK_TARGETS)
-
-# This file does not depend on other imported targets which have
-# been exported from the same project but in a separate export set.
-
-# Commands beyond this point should not need to know the version.
-set(CMAKE_IMPORT_FILE_VERSION)
-cmake_policy(POP)
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/environment/ament_prefix_path.dsv b/deploy/robot_ws/install/unitree_go/share/unitree_go/environment/ament_prefix_path.dsv
deleted file mode 100644
index 79d4c95..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/environment/ament_prefix_path.dsv
+++ /dev/null
@@ -1 +0,0 @@
-prepend-non-duplicate;AMENT_PREFIX_PATH;
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/environment/ament_prefix_path.sh b/deploy/robot_ws/install/unitree_go/share/unitree_go/environment/ament_prefix_path.sh
deleted file mode 100644
index 02e441b..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/environment/ament_prefix_path.sh
+++ /dev/null
@@ -1,4 +0,0 @@
-# copied from
-# ament_cmake_core/cmake/environment_hooks/environment/ament_prefix_path.sh
-
-ament_prepend_unique_value AMENT_PREFIX_PATH "$AMENT_CURRENT_PREFIX"
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/environment/library_path.dsv b/deploy/robot_ws/install/unitree_go/share/unitree_go/environment/library_path.dsv
deleted file mode 100644
index 89bec93..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/environment/library_path.dsv
+++ /dev/null
@@ -1 +0,0 @@
-prepend-non-duplicate;LD_LIBRARY_PATH;lib
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/environment/library_path.sh b/deploy/robot_ws/install/unitree_go/share/unitree_go/environment/library_path.sh
deleted file mode 100644
index 292e518..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/environment/library_path.sh
+++ /dev/null
@@ -1,16 +0,0 @@
-# copied from ament_package/template/environment_hook/library_path.sh
-
-# detect if running on Darwin platform
-_UNAME=`uname -s`
-_IS_DARWIN=0
-if [ "$_UNAME" = "Darwin" ]; then
-  _IS_DARWIN=1
-fi
-unset _UNAME
-
-if [ $_IS_DARWIN -eq 0 ]; then
-  ament_prepend_unique_value LD_LIBRARY_PATH "$AMENT_CURRENT_PREFIX/lib"
-else
-  ament_prepend_unique_value DYLD_LIBRARY_PATH "$AMENT_CURRENT_PREFIX/lib"
-fi
-unset _IS_DARWIN
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/environment/path.dsv b/deploy/robot_ws/install/unitree_go/share/unitree_go/environment/path.dsv
deleted file mode 100644
index b94426a..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/environment/path.dsv
+++ /dev/null
@@ -1 +0,0 @@
-prepend-non-duplicate-if-exists;PATH;bin
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/environment/path.sh b/deploy/robot_ws/install/unitree_go/share/unitree_go/environment/path.sh
deleted file mode 100644
index e59b749..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/environment/path.sh
+++ /dev/null
@@ -1,5 +0,0 @@
-# copied from ament_cmake_core/cmake/environment_hooks/environment/path.sh
-
-if [ -d "$AMENT_CURRENT_PREFIX/bin" ]; then
-  ament_prepend_unique_value PATH "$AMENT_CURRENT_PREFIX/bin"
-fi
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/environment/pythonpath.dsv b/deploy/robot_ws/install/unitree_go/share/unitree_go/environment/pythonpath.dsv
deleted file mode 100644
index 84dbc4c..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/environment/pythonpath.dsv
+++ /dev/null
@@ -1 +0,0 @@
-prepend-non-duplicate;PYTHONPATH;lib/python3.8/site-packages
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/environment/pythonpath.sh b/deploy/robot_ws/install/unitree_go/share/unitree_go/environment/pythonpath.sh
deleted file mode 100644
index 7fe2b2f..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/environment/pythonpath.sh
+++ /dev/null
@@ -1,3 +0,0 @@
-# generated from ament_package/template/environment_hook/pythonpath.sh.in
-
-ament_prepend_unique_value PYTHONPATH "$AMENT_CURRENT_PREFIX/lib/python3.8/site-packages"
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/hook/cmake_prefix_path.dsv b/deploy/robot_ws/install/unitree_go/share/unitree_go/hook/cmake_prefix_path.dsv
deleted file mode 100644
index e119f32..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/hook/cmake_prefix_path.dsv
+++ /dev/null
@@ -1 +0,0 @@
-prepend-non-duplicate;CMAKE_PREFIX_PATH;
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/hook/cmake_prefix_path.ps1 b/deploy/robot_ws/install/unitree_go/share/unitree_go/hook/cmake_prefix_path.ps1
deleted file mode 100644
index d03facc..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/hook/cmake_prefix_path.ps1
+++ /dev/null
@@ -1,3 +0,0 @@
-# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em
-
-colcon_prepend_unique_value CMAKE_PREFIX_PATH "$env:COLCON_CURRENT_PREFIX"
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/hook/cmake_prefix_path.sh b/deploy/robot_ws/install/unitree_go/share/unitree_go/hook/cmake_prefix_path.sh
deleted file mode 100644
index a948e68..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/hook/cmake_prefix_path.sh
+++ /dev/null
@@ -1,3 +0,0 @@
-# generated from colcon_core/shell/template/hook_prepend_value.sh.em
-
-_colcon_prepend_unique_value CMAKE_PREFIX_PATH "$COLCON_CURRENT_PREFIX"
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/hook/ld_library_path_lib.dsv b/deploy/robot_ws/install/unitree_go/share/unitree_go/hook/ld_library_path_lib.dsv
deleted file mode 100644
index 89bec93..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/hook/ld_library_path_lib.dsv
+++ /dev/null
@@ -1 +0,0 @@
-prepend-non-duplicate;LD_LIBRARY_PATH;lib
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/hook/ld_library_path_lib.ps1 b/deploy/robot_ws/install/unitree_go/share/unitree_go/hook/ld_library_path_lib.ps1
deleted file mode 100644
index f6df601..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/hook/ld_library_path_lib.ps1
+++ /dev/null
@@ -1,3 +0,0 @@
-# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em
-
-colcon_prepend_unique_value LD_LIBRARY_PATH "$env:COLCON_CURRENT_PREFIX\lib"
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/hook/ld_library_path_lib.sh b/deploy/robot_ws/install/unitree_go/share/unitree_go/hook/ld_library_path_lib.sh
deleted file mode 100644
index ca3c102..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/hook/ld_library_path_lib.sh
+++ /dev/null
@@ -1,3 +0,0 @@
-# generated from colcon_core/shell/template/hook_prepend_value.sh.em
-
-_colcon_prepend_unique_value LD_LIBRARY_PATH "$COLCON_CURRENT_PREFIX/lib"
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/hook/pythonpath.dsv b/deploy/robot_ws/install/unitree_go/share/unitree_go/hook/pythonpath.dsv
deleted file mode 100644
index 84dbc4c..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/hook/pythonpath.dsv
+++ /dev/null
@@ -1 +0,0 @@
-prepend-non-duplicate;PYTHONPATH;lib/python3.8/site-packages
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/hook/pythonpath.ps1 b/deploy/robot_ws/install/unitree_go/share/unitree_go/hook/pythonpath.ps1
deleted file mode 100644
index 12877ef..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/hook/pythonpath.ps1
+++ /dev/null
@@ -1,3 +0,0 @@
-# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em
-
-colcon_prepend_unique_value PYTHONPATH "$env:COLCON_CURRENT_PREFIX\lib/python3.8/site-packages"
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/hook/pythonpath.sh b/deploy/robot_ws/install/unitree_go/share/unitree_go/hook/pythonpath.sh
deleted file mode 100644
index ed8efd9..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/hook/pythonpath.sh
+++ /dev/null
@@ -1,3 +0,0 @@
-# generated from colcon_core/shell/template/hook_prepend_value.sh.em
-
-_colcon_prepend_unique_value PYTHONPATH "$COLCON_CURRENT_PREFIX/lib/python3.8/site-packages"
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/local_setup.bash b/deploy/robot_ws/install/unitree_go/share/unitree_go/local_setup.bash
deleted file mode 100644
index 49782f2..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/local_setup.bash
+++ /dev/null
@@ -1,46 +0,0 @@
-# generated from ament_package/template/package_level/local_setup.bash.in
-
-# source local_setup.sh from same directory as this file
-_this_path=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" && pwd)
-# provide AMENT_CURRENT_PREFIX to shell script
-AMENT_CURRENT_PREFIX=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`/../.." && pwd)
-# store AMENT_CURRENT_PREFIX to restore it before each environment hook
-_package_local_setup_AMENT_CURRENT_PREFIX=$AMENT_CURRENT_PREFIX
-
-# trace output
-if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then
-  echo "# . \"$_this_path/local_setup.sh\""
-fi
-. "$_this_path/local_setup.sh"
-unset _this_path
-
-# unset AMENT_ENVIRONMENT_HOOKS
-# if not appending to them for return
-if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
-  unset AMENT_ENVIRONMENT_HOOKS
-fi
-
-# restore AMENT_CURRENT_PREFIX before evaluating the environment hooks
-AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
-# list all environment hooks of this package
-
-# source all shell-specific environment hooks of this package
-# if not returning them
-if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
-  _package_local_setup_IFS=$IFS
-  IFS=":"
-  for _hook in $AMENT_ENVIRONMENT_HOOKS; do
-    # restore AMENT_CURRENT_PREFIX for each environment hook
-    AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
-    # restore IFS before sourcing other files
-    IFS=$_package_local_setup_IFS
-    . "$_hook"
-  done
-  unset _hook
-  IFS=$_package_local_setup_IFS
-  unset _package_local_setup_IFS
-  unset AMENT_ENVIRONMENT_HOOKS
-fi
-
-unset _package_local_setup_AMENT_CURRENT_PREFIX
-unset AMENT_CURRENT_PREFIX
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/local_setup.dsv b/deploy/robot_ws/install/unitree_go/share/unitree_go/local_setup.dsv
deleted file mode 100644
index 03d396a..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/local_setup.dsv
+++ /dev/null
@@ -1,4 +0,0 @@
-source;share/unitree_go/environment/ament_prefix_path.sh
-source;share/unitree_go/environment/library_path.sh
-source;share/unitree_go/environment/path.sh
-source;share/unitree_go/environment/pythonpath.sh
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/local_setup.sh b/deploy/robot_ws/install/unitree_go/share/unitree_go/local_setup.sh
deleted file mode 100644
index ba3326b..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/local_setup.sh
+++ /dev/null
@@ -1,135 +0,0 @@
-# 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
-: ${AMENT_CURRENT_PREFIX:="/home/unitree/locomotion/Go2Py/deploy/robot_ws/install/unitree_go"}
-if [ ! -d "$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 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 "$AMENT_CURRENT_PREFIX/share/unitree_go/environment/ament_prefix_path.sh"
-ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/unitree_go/environment/library_path.sh"
-ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/unitree_go/environment/path.sh"
-ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/unitree_go/environment/pythonpath.sh"
-
-# source all shell-specific environment hooks of this package
-# if not returning them
-if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
-  _package_local_setup_IFS=$IFS
-  IFS=":"
-  if [ "$AMENT_SHELL" = "zsh" ]; then
-    ament_zsh_to_array AMENT_ENVIRONMENT_HOOKS
-  fi
-  for _hook in $AMENT_ENVIRONMENT_HOOKS; do
-    if [ -f "$_hook" ]; then
-      # restore IFS before sourcing other files
-      IFS=$_package_local_setup_IFS
-      # trace output
-      if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then
-        echo "# . \"$_hook\""
-      fi
-      . "$_hook"
-    fi
-  done
-  unset _hook
-  IFS=$_package_local_setup_IFS
-  unset _package_local_setup_IFS
-  unset AMENT_ENVIRONMENT_HOOKS
-fi
-
-# reset AMENT_CURRENT_PREFIX after each package
-# allowing to source multiple package-level setup files
-unset AMENT_CURRENT_PREFIX
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/local_setup.zsh b/deploy/robot_ws/install/unitree_go/share/unitree_go/local_setup.zsh
deleted file mode 100644
index fe161be..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/local_setup.zsh
+++ /dev/null
@@ -1,59 +0,0 @@
-# generated from ament_package/template/package_level/local_setup.zsh.in
-
-AMENT_SHELL=zsh
-
-# source local_setup.sh from same directory as this file
-_this_path=$(builtin cd -q "`dirname "${(%):-%N}"`" > /dev/null && pwd)
-# provide AMENT_CURRENT_PREFIX to shell script
-AMENT_CURRENT_PREFIX=$(builtin cd -q "`dirname "${(%):-%N}"`/../.." > /dev/null && pwd)
-# store AMENT_CURRENT_PREFIX to restore it before each environment hook
-_package_local_setup_AMENT_CURRENT_PREFIX=$AMENT_CURRENT_PREFIX
-
-# function to convert array-like strings into arrays
-# to wordaround SH_WORD_SPLIT not being set
-ament_zsh_to_array() {
-  local _listname=$1
-  local _dollar="$"
-  local _split="{="
-  local _to_array="(\"$_dollar$_split$_listname}\")"
-  eval $_listname=$_to_array
-}
-
-# trace output
-if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then
-  echo "# . \"$_this_path/local_setup.sh\""
-fi
-# the package-level local_setup file unsets AMENT_CURRENT_PREFIX
-. "$_this_path/local_setup.sh"
-unset _this_path
-
-# unset AMENT_ENVIRONMENT_HOOKS
-# if not appending to them for return
-if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
-  unset AMENT_ENVIRONMENT_HOOKS
-fi
-
-# restore AMENT_CURRENT_PREFIX before evaluating the environment hooks
-AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
-# list all environment hooks of this package
-
-# source all shell-specific environment hooks of this package
-# if not returning them
-if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
-  _package_local_setup_IFS=$IFS
-  IFS=":"
-  for _hook in $AMENT_ENVIRONMENT_HOOKS; do
-    # restore AMENT_CURRENT_PREFIX for each environment hook
-    AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
-    # restore IFS before sourcing other files
-    IFS=$_package_local_setup_IFS
-    . "$_hook"
-  done
-  unset _hook
-  IFS=$_package_local_setup_IFS
-  unset _package_local_setup_IFS
-  unset AMENT_ENVIRONMENT_HOOKS
-fi
-
-unset _package_local_setup_AMENT_CURRENT_PREFIX
-unset AMENT_CURRENT_PREFIX
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/AudioData.idl b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/AudioData.idl
deleted file mode 100644
index 31c88ae..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/AudioData.idl
+++ /dev/null
@@ -1,14 +0,0 @@
-// generated from rosidl_adapter/resource/msg.idl.em
-// with input from unitree_go/msg/AudioData.msg
-// generated code does not contain a copyright notice
-
-
-module unitree_go {
-  module msg {
-    struct AudioData {
-      uint64 time_frame;
-
-      sequence<uint8> data;
-    };
-  };
-};
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/AudioData.msg b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/AudioData.msg
deleted file mode 100644
index 6e889bc..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/AudioData.msg
+++ /dev/null
@@ -1,2 +0,0 @@
-uint64 time_frame
-uint8[] data
\ No newline at end of file
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/BmsCmd.idl b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/BmsCmd.idl
deleted file mode 100644
index c14a380..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/BmsCmd.idl
+++ /dev/null
@@ -1,15 +0,0 @@
-// generated from rosidl_adapter/resource/msg.idl.em
-// with input from unitree_go/msg/BmsCmd.msg
-// generated code does not contain a copyright notice
-
-
-module unitree_go {
-  module msg {
-    typedef uint8 uint8__3[3];
-    struct BmsCmd {
-      uint8 off;
-
-      uint8__3 reserve;
-    };
-  };
-};
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/BmsCmd.msg b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/BmsCmd.msg
deleted file mode 100644
index bdbf9c3..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/BmsCmd.msg
+++ /dev/null
@@ -1,2 +0,0 @@
-uint8 off
-uint8[3] reserve
\ No newline at end of file
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/BmsState.idl b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/BmsState.idl
deleted file mode 100644
index ccb75b5..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/BmsState.idl
+++ /dev/null
@@ -1,30 +0,0 @@
-// generated from rosidl_adapter/resource/msg.idl.em
-// with input from unitree_go/msg/BmsState.msg
-// generated code does not contain a copyright notice
-
-
-module unitree_go {
-  module msg {
-    typedef int8 int8__2[2];
-    typedef uint16 uint16__15[15];
-    struct BmsState {
-      uint8 version_high;
-
-      uint8 version_low;
-
-      uint8 status;
-
-      uint8 soc;
-
-      int32 current;
-
-      uint16 cycle;
-
-      int8__2 bq_ntc;
-
-      int8__2 mcu_ntc;
-
-      uint16__15 cell_vol;
-    };
-  };
-};
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/BmsState.msg b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/BmsState.msg
deleted file mode 100644
index 052e4d5..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/BmsState.msg
+++ /dev/null
@@ -1,9 +0,0 @@
-uint8 version_high
-uint8 version_low
-uint8 status
-uint8 soc
-int32 current
-uint16 cycle
-int8[2] bq_ntc
-int8[2] mcu_ntc
-uint16[15] cell_vol
\ No newline at end of file
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/Error.idl b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/Error.idl
deleted file mode 100644
index f732ed8..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/Error.idl
+++ /dev/null
@@ -1,14 +0,0 @@
-// generated from rosidl_adapter/resource/msg.idl.em
-// with input from unitree_go/msg/Error.msg
-// generated code does not contain a copyright notice
-
-
-module unitree_go {
-  module msg {
-    struct Error {
-      uint32 source;
-
-      uint32 state;
-    };
-  };
-};
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/Error.msg b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/Error.msg
deleted file mode 100644
index 4a5a631..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/Error.msg
+++ /dev/null
@@ -1,2 +0,0 @@
-uint32 source
-uint32 state
\ No newline at end of file
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/Go2FrontVideoData.idl b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/Go2FrontVideoData.idl
deleted file mode 100644
index 9377c7b..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/Go2FrontVideoData.idl
+++ /dev/null
@@ -1,18 +0,0 @@
-// generated from rosidl_adapter/resource/msg.idl.em
-// with input from unitree_go/msg/Go2FrontVideoData.msg
-// generated code does not contain a copyright notice
-
-
-module unitree_go {
-  module msg {
-    struct Go2FrontVideoData {
-      uint64 time_frame;
-
-      sequence<uint8> video720p;
-
-      sequence<uint8> video360p;
-
-      sequence<uint8> video180p;
-    };
-  };
-};
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/Go2FrontVideoData.msg b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/Go2FrontVideoData.msg
deleted file mode 100644
index 3c294f3..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/Go2FrontVideoData.msg
+++ /dev/null
@@ -1,4 +0,0 @@
-uint64 time_frame
-uint8[] video720p
-uint8[] video360p
-uint8[] video180p 
\ No newline at end of file
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/HeightMap.idl b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/HeightMap.idl
deleted file mode 100644
index 016e9a3..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/HeightMap.idl
+++ /dev/null
@@ -1,49 +0,0 @@
-// generated from rosidl_adapter/resource/msg.idl.em
-// with input from unitree_go/msg/HeightMap.msg
-// generated code does not contain a copyright notice
-
-
-module unitree_go {
-  module msg {
-    typedef float float__2[2];
-    @verbatim (language="comment", text=
-      " Header")
-    struct HeightMap {
-      @verbatim (language="comment", text=
-        " timestamp")
-      double stamp;
-
-      @verbatim (language="comment", text=
-        " world frame id")
-      string frame_id;
-
-      @verbatim (language="comment", text=
-        " Map info" "\n"
-        " The map resolution")
-      @unit (value="m/cell")
-      float resolution;
-
-      @verbatim (language="comment", text=
-        " Map width along x-axis")
-      @unit (value="cells")
-      uint32 width;
-
-      @verbatim (language="comment", text=
-        " Map height alonge y-axis")
-      @unit (value="cells")
-      uint32 height;
-
-      @verbatim (language="comment", text=
-        " Map frame origin xy-position, the xyz-axis direction of map frame is aligned with the world frame")
-      @unit (value="m")
-      float__2 origin;
-
-      @verbatim (language="comment", text=
-        " Map data, in x-major order, starting with [0,0], ending with [width, height]" "\n"
-        " For a cell whose 2d-array-index is [ix, iy]，" "\n"
-        "    its position in world frame is: [ix * resolution + origin[0], iy * resolution + origin[1]]" "\n"
-        "    its cell value is: data[width * iy + ix]")
-      sequence<float> data;
-    };
-  };
-};
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/HeightMap.msg b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/HeightMap.msg
deleted file mode 100644
index 4e6f3b2..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/HeightMap.msg
+++ /dev/null
@@ -1,15 +0,0 @@
-# Header
-float64 stamp         # timestamp
-string frame_id      # world frame id
-
-# Map info
-float32 resolution     # The map resolution [m/cell]
-uint32 width  # Map width along x-axis [cells]
-uint32 height # Map height alonge y-axis [cells]
-float32[2] origin      # Map frame origin xy-position [m], the xyz-axis direction of map frame is aligned with the world frame
-
-# Map data, in x-major order, starting with [0,0], ending with [width, height]
-# For a cell whose 2d-array-index is [ix, iy]，
-#    its position in world frame is: [ix * resolution + origin[0], iy * resolution + origin[1]]
-#    its cell value is: data[width * iy + ix]
-float32[] data
\ No newline at end of file
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/IMUState.idl b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/IMUState.idl
deleted file mode 100644
index b9004f9..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/IMUState.idl
+++ /dev/null
@@ -1,22 +0,0 @@
-// generated from rosidl_adapter/resource/msg.idl.em
-// with input from unitree_go/msg/IMUState.msg
-// generated code does not contain a copyright notice
-
-
-module unitree_go {
-  module msg {
-    typedef float float__4[4];
-    typedef float float__3[3];
-    struct IMUState {
-      float__4 quaternion;
-
-      float__3 gyroscope;
-
-      float__3 accelerometer;
-
-      float__3 rpy;
-
-      int8 temperature;
-    };
-  };
-};
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/IMUState.msg b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/IMUState.msg
deleted file mode 100644
index e065d04..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/IMUState.msg
+++ /dev/null
@@ -1,5 +0,0 @@
-float32[4] quaternion
-float32[3] gyroscope
-float32[3] accelerometer
-float32[3] rpy
-int8 temperature
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/InterfaceConfig.idl b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/InterfaceConfig.idl
deleted file mode 100644
index acdbd97..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/InterfaceConfig.idl
+++ /dev/null
@@ -1,17 +0,0 @@
-// generated from rosidl_adapter/resource/msg.idl.em
-// with input from unitree_go/msg/InterfaceConfig.msg
-// generated code does not contain a copyright notice
-
-
-module unitree_go {
-  module msg {
-    typedef uint8 uint8__2[2];
-    struct InterfaceConfig {
-      uint8 mode;
-
-      uint8 value;
-
-      uint8__2 reserve;
-    };
-  };
-};
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/InterfaceConfig.msg b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/InterfaceConfig.msg
deleted file mode 100644
index c43bd20..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/InterfaceConfig.msg
+++ /dev/null
@@ -1,3 +0,0 @@
-uint8 mode
-uint8 value
-uint8[2] reserve
\ No newline at end of file
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/LidarState.idl b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/LidarState.idl
deleted file mode 100644
index e81c1ff..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/LidarState.idl
+++ /dev/null
@@ -1,45 +0,0 @@
-// generated from rosidl_adapter/resource/msg.idl.em
-// with input from unitree_go/msg/LidarState.msg
-// generated code does not contain a copyright notice
-
-
-module unitree_go {
-  module msg {
-    typedef float float__3[3];
-    struct LidarState {
-      double stamp;
-
-      string firmware_version;
-
-      string software_version;
-
-      string sdk_version;
-
-      float sys_rotation_speed;
-
-      float com_rotation_speed;
-
-      uint8 error_state;
-
-      float cloud_frequency;
-
-      float cloud_packet_loss_rate;
-
-      uint32 cloud_size;
-
-      uint32 cloud_scan_num;
-
-      float imu_frequency;
-
-      float imu_packet_loss_rate;
-
-      float__3 imu_rpy;
-
-      double serial_recv_stamp;
-
-      uint32 serial_buffer_size;
-
-      uint32 serial_buffer_read;
-    };
-  };
-};
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/LidarState.msg b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/LidarState.msg
deleted file mode 100644
index d8b4eb2..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/LidarState.msg
+++ /dev/null
@@ -1,17 +0,0 @@
-float64 stamp
-string firmware_version
-string software_version
-string sdk_version
-float32 sys_rotation_speed
-float32 com_rotation_speed
-uint8 error_state
-float32 cloud_frequency
-float32 cloud_packet_loss_rate
-uint32 cloud_size
-uint32 cloud_scan_num
-float32 imu_frequency
-float32 imu_packet_loss_rate
-float32[3] imu_rpy
-float64 serial_recv_stamp
-uint32 serial_buffer_size
-uint32 serial_buffer_read
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/LowCmd.idl b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/LowCmd.idl
deleted file mode 100644
index 82d46a4..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/LowCmd.idl
+++ /dev/null
@@ -1,46 +0,0 @@
-// generated from rosidl_adapter/resource/msg.idl.em
-// with input from unitree_go/msg/LowCmd.msg
-// generated code does not contain a copyright notice
-
-#include "unitree_go/msg/BmsCmd.idl"
-#include "unitree_go/msg/MotorCmd.idl"
-
-module unitree_go {
-  module msg {
-    typedef uint8 uint8__2[2];
-    typedef uint32 uint32__2[2];
-    typedef unitree_go::msg::MotorCmd unitree_go__msg__MotorCmd;
-    typedef unitree_go__msg__MotorCmd unitree_go__msg__MotorCmd__20[20];
-    typedef uint8 uint8__40[40];
-    typedef uint8 uint8__12[12];
-    struct LowCmd {
-      uint8__2 head;
-
-      uint8 level_flag;
-
-      uint8 frame_reserve;
-
-      uint32__2 sn;
-
-      uint32__2 version;
-
-      uint16 bandwidth;
-
-      unitree_go__msg__MotorCmd__20 motor_cmd;
-
-      unitree_go::msg::BmsCmd bms_cmd;
-
-      uint8__40 wireless_remote;
-
-      uint8__12 led;
-
-      uint8__2 fan;
-
-      uint8 gpio;
-
-      uint32 reserve;
-
-      uint32 crc;
-    };
-  };
-};
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/LowCmd.msg b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/LowCmd.msg
deleted file mode 100644
index 464a31d..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/LowCmd.msg
+++ /dev/null
@@ -1,15 +0,0 @@
-uint8[2] head
-uint8 level_flag
-uint8 frame_reserve
-uint32[2] sn
-uint32[2] version
-uint16 bandwidth
-MotorCmd[20] motor_cmd
-BmsCmd bms_cmd
-uint8[40] wireless_remote
-uint8[12] led
-uint8[2] fan
-uint8 gpio
-uint32 reserve
-uint32 crc
-
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/LowState.idl b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/LowState.idl
deleted file mode 100644
index 65e99d3..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/LowState.idl
+++ /dev/null
@@ -1,64 +0,0 @@
-// generated from rosidl_adapter/resource/msg.idl.em
-// with input from unitree_go/msg/LowState.msg
-// generated code does not contain a copyright notice
-
-#include "unitree_go/msg/BmsState.idl"
-#include "unitree_go/msg/IMUState.idl"
-#include "unitree_go/msg/MotorState.idl"
-
-module unitree_go {
-  module msg {
-    typedef uint8 uint8__2[2];
-    typedef uint32 uint32__2[2];
-    typedef unitree_go::msg::MotorState unitree_go__msg__MotorState;
-    typedef unitree_go__msg__MotorState unitree_go__msg__MotorState__20[20];
-    typedef int16 int16__4[4];
-    typedef uint8 uint8__40[40];
-    typedef uint16 uint16__4[4];
-    struct LowState {
-      uint8__2 head;
-
-      uint8 level_flag;
-
-      uint8 frame_reserve;
-
-      uint32__2 sn;
-
-      uint32__2 version;
-
-      uint16 bandwidth;
-
-      unitree_go::msg::IMUState imu_state;
-
-      unitree_go__msg__MotorState__20 motor_state;
-
-      unitree_go::msg::BmsState bms_state;
-
-      int16__4 foot_force;
-
-      int16__4 foot_force_est;
-
-      uint32 tick;
-
-      uint8__40 wireless_remote;
-
-      uint8 bit_flag;
-
-      float adc_reel;
-
-      int8 temperature_ntc1;
-
-      int8 temperature_ntc2;
-
-      float power_v;
-
-      float power_a;
-
-      uint16__4 fan_frequency;
-
-      uint32 reserve;
-
-      uint32 crc;
-    };
-  };
-};
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/LowState.msg b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/LowState.msg
deleted file mode 100644
index ceaed32..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/LowState.msg
+++ /dev/null
@@ -1,22 +0,0 @@
-uint8[2] head
-uint8 level_flag
-uint8 frame_reserve
-uint32[2] sn
-uint32[2] version
-uint16 bandwidth
-IMUState imu_state
-MotorState[20] motor_state
-BmsState bms_state
-int16[4] foot_force
-int16[4] foot_force_est
-uint32 tick
-uint8[40] wireless_remote
-uint8 bit_flag
-float32 adc_reel
-int8 temperature_ntc1
-int8 temperature_ntc2
-float32 power_v
-float32 power_a
-uint16[4] fan_frequency
-uint32 reserve
-uint32 crc
\ No newline at end of file
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/MotorCmd.idl b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/MotorCmd.idl
deleted file mode 100644
index 8f698ff..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/MotorCmd.idl
+++ /dev/null
@@ -1,25 +0,0 @@
-// generated from rosidl_adapter/resource/msg.idl.em
-// with input from unitree_go/msg/MotorCmd.msg
-// generated code does not contain a copyright notice
-
-
-module unitree_go {
-  module msg {
-    typedef uint32 uint32__3[3];
-    struct MotorCmd {
-      uint8 mode;
-
-      float q;
-
-      float dq;
-
-      float tau;
-
-      float kp;
-
-      float kd;
-
-      uint32__3 reserve;
-    };
-  };
-};
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/MotorCmd.msg b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/MotorCmd.msg
deleted file mode 100644
index 67cd1bf..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/MotorCmd.msg
+++ /dev/null
@@ -1,7 +0,0 @@
-uint8 mode
-float32 q
-float32 dq
-float32 tau
-float32 kp
-float32 kd
-uint32[3] reserve
\ No newline at end of file
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/MotorState.idl b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/MotorState.idl
deleted file mode 100644
index 653ebc6..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/MotorState.idl
+++ /dev/null
@@ -1,33 +0,0 @@
-// generated from rosidl_adapter/resource/msg.idl.em
-// with input from unitree_go/msg/MotorState.msg
-// generated code does not contain a copyright notice
-
-
-module unitree_go {
-  module msg {
-    typedef uint32 uint32__2[2];
-    struct MotorState {
-      uint8 mode;
-
-      float q;
-
-      float dq;
-
-      float ddq;
-
-      float tau_est;
-
-      float q_raw;
-
-      float dq_raw;
-
-      float ddq_raw;
-
-      int8 temperature;
-
-      uint32 lost;
-
-      uint32__2 reserve;
-    };
-  };
-};
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/MotorState.msg b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/MotorState.msg
deleted file mode 100644
index 2e1a739..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/MotorState.msg
+++ /dev/null
@@ -1,11 +0,0 @@
-uint8 mode
-float32 q
-float32 dq
-float32 ddq
-float32 tau_est
-float32 q_raw
-float32 dq_raw
-float32 ddq_raw
-int8 temperature
-uint32 lost
-uint32[2] reserve
\ No newline at end of file
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/PathPoint.idl b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/PathPoint.idl
deleted file mode 100644
index 7e6e29f..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/PathPoint.idl
+++ /dev/null
@@ -1,24 +0,0 @@
-// generated from rosidl_adapter/resource/msg.idl.em
-// with input from unitree_go/msg/PathPoint.msg
-// generated code does not contain a copyright notice
-
-
-module unitree_go {
-  module msg {
-    struct PathPoint {
-      float t_from_start;
-
-      float x;
-
-      float y;
-
-      float yaw;
-
-      float vx;
-
-      float vy;
-
-      float vyaw;
-    };
-  };
-};
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/PathPoint.msg b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/PathPoint.msg
deleted file mode 100644
index 08b4945..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/PathPoint.msg
+++ /dev/null
@@ -1,7 +0,0 @@
-float32 t_from_start
-float32 x
-float32 y
-float32 yaw
-float32 vx
-float32 vy
-float32 vyaw
\ No newline at end of file
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/Req.idl b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/Req.idl
deleted file mode 100644
index ebbc611..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/Req.idl
+++ /dev/null
@@ -1,14 +0,0 @@
-// generated from rosidl_adapter/resource/msg.idl.em
-// with input from unitree_go/msg/Req.msg
-// generated code does not contain a copyright notice
-
-
-module unitree_go {
-  module msg {
-    struct Req {
-      string uuid;
-
-      string body;
-    };
-  };
-};
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/Req.msg b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/Req.msg
deleted file mode 100644
index af14a7d..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/Req.msg
+++ /dev/null
@@ -1,2 +0,0 @@
-string uuid
-string body
\ No newline at end of file
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/Res.idl b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/Res.idl
deleted file mode 100644
index 8d91e1c..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/Res.idl
+++ /dev/null
@@ -1,16 +0,0 @@
-// generated from rosidl_adapter/resource/msg.idl.em
-// with input from unitree_go/msg/Res.msg
-// generated code does not contain a copyright notice
-
-
-module unitree_go {
-  module msg {
-    struct Res {
-      string uuid;
-
-      sequence<uint8> data;
-
-      string body;
-    };
-  };
-};
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/Res.msg b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/Res.msg
deleted file mode 100644
index 8070258..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/Res.msg
+++ /dev/null
@@ -1,3 +0,0 @@
-string uuid
-uint8[] data
-string body
\ No newline at end of file
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/SportModeCmd.idl b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/SportModeCmd.idl
deleted file mode 100644
index 4b81956..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/SportModeCmd.idl
+++ /dev/null
@@ -1,38 +0,0 @@
-// generated from rosidl_adapter/resource/msg.idl.em
-// with input from unitree_go/msg/SportModeCmd.msg
-// generated code does not contain a copyright notice
-
-#include "unitree_go/msg/BmsCmd.idl"
-#include "unitree_go/msg/PathPoint.idl"
-
-module unitree_go {
-  module msg {
-    typedef float float__2[2];
-    typedef float float__3[3];
-    typedef unitree_go::msg::PathPoint unitree_go__msg__PathPoint;
-    typedef unitree_go__msg__PathPoint unitree_go__msg__PathPoint__30[30];
-    struct SportModeCmd {
-      uint8 mode;
-
-      uint8 gait_type;
-
-      uint8 speed_level;
-
-      float foot_raise_height;
-
-      float body_height;
-
-      float__2 position;
-
-      float__3 euler;
-
-      float__2 velocity;
-
-      float yaw_speed;
-
-      unitree_go::msg::BmsCmd bms_cmd;
-
-      unitree_go__msg__PathPoint__30 path_point;
-    };
-  };
-};
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/SportModeCmd.msg b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/SportModeCmd.msg
deleted file mode 100644
index e5ccb46..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/SportModeCmd.msg
+++ /dev/null
@@ -1,13 +0,0 @@
-uint8 mode
-uint8 gait_type
-uint8 speed_level
-float32 foot_raise_height
-float32 body_height
-float32[2] position
-float32[3] euler
-float32[2] velocity
-float32 yaw_speed
-BmsCmd bms_cmd
-PathPoint[30] path_point
-
-
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/SportModeState.idl b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/SportModeState.idl
deleted file mode 100644
index 9b90c9c..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/SportModeState.idl
+++ /dev/null
@@ -1,46 +0,0 @@
-// generated from rosidl_adapter/resource/msg.idl.em
-// with input from unitree_go/msg/SportModeState.msg
-// generated code does not contain a copyright notice
-
-#include "unitree_go/msg/IMUState.idl"
-#include "unitree_go/msg/TimeSpec.idl"
-
-module unitree_go {
-  module msg {
-    typedef float float__3[3];
-    typedef float float__4[4];
-    typedef int16 int16__4[4];
-    typedef float float__12[12];
-    struct SportModeState {
-      unitree_go::msg::TimeSpec stamp;
-
-      uint32 error_code;
-
-      unitree_go::msg::IMUState imu_state;
-
-      uint8 mode;
-
-      float progress;
-
-      uint8 gait_type;
-
-      float foot_raise_height;
-
-      float__3 position;
-
-      float body_height;
-
-      float__3 velocity;
-
-      float yaw_speed;
-
-      float__4 range_obstacle;
-
-      int16__4 foot_force;
-
-      float__12 foot_position_body;
-
-      float__12 foot_speed_body;
-    };
-  };
-};
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/SportModeState.msg b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/SportModeState.msg
deleted file mode 100644
index 7a6c1e6..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/SportModeState.msg
+++ /dev/null
@@ -1,17 +0,0 @@
-TimeSpec stamp
-uint32 error_code
-IMUState imu_state
-uint8 mode
-float32 progress
-uint8 gait_type
-float32 foot_raise_height
-float32[3] position
-float32 body_height
-float32[3] velocity
-float32 yaw_speed
-float32[4] range_obstacle
-int16[4] foot_force
-float32[12] foot_position_body
-float32[12] foot_speed_body
-
-
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/TimeSpec.idl b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/TimeSpec.idl
deleted file mode 100644
index 5d4c972..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/TimeSpec.idl
+++ /dev/null
@@ -1,19 +0,0 @@
-// generated from rosidl_adapter/resource/msg.idl.em
-// with input from unitree_go/msg/TimeSpec.msg
-// generated code does not contain a copyright notice
-
-
-module unitree_go {
-  module msg {
-    @verbatim (language="comment", text=
-      " Time indicates a specific point in time, relative to a clock's 0 point." "\n"
-      " The seconds component, valid over all int32 values.")
-    struct TimeSpec {
-      int32 sec;
-
-      @verbatim (language="comment", text=
-        " The nanoseconds component, valid in the range [0, 10e9).")
-      uint32 nanosec;
-    };
-  };
-};
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/TimeSpec.msg b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/TimeSpec.msg
deleted file mode 100644
index 188b3c1..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/TimeSpec.msg
+++ /dev/null
@@ -1,5 +0,0 @@
-# Time indicates a specific point in time, relative to a clock's 0 point.
-# The seconds component, valid over all int32 values.
-int32 sec
-# The nanoseconds component, valid in the range [0, 10e9).
-uint32 nanosec
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/UwbState.idl b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/UwbState.idl
deleted file mode 100644
index e32c0c0..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/UwbState.idl
+++ /dev/null
@@ -1,46 +0,0 @@
-// generated from rosidl_adapter/resource/msg.idl.em
-// with input from unitree_go/msg/UwbState.msg
-// generated code does not contain a copyright notice
-
-
-module unitree_go {
-  module msg {
-    typedef uint8 uint8__2[2];
-    typedef float float__2[2];
-    struct UwbState {
-      uint8__2 version;
-
-      uint8 channel;
-
-      uint8 joy_mode;
-
-      float orientation_est;
-
-      float pitch_est;
-
-      float distance_est;
-
-      float yaw_est;
-
-      float tag_roll;
-
-      float tag_pitch;
-
-      float tag_yaw;
-
-      float base_roll;
-
-      float base_pitch;
-
-      float base_yaw;
-
-      float__2 joystick;
-
-      uint8 error_state;
-
-      uint8 buttons;
-
-      uint8 enabled_from_app;
-    };
-  };
-};
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/UwbState.msg b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/UwbState.msg
deleted file mode 100644
index ed1da3a..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/UwbState.msg
+++ /dev/null
@@ -1,19 +0,0 @@
-uint8[2] version
-uint8 channel
-uint8 joy_mode
-float32 orientation_est
-float32 pitch_est
-float32 distance_est
-float32 yaw_est
-float32 tag_roll
-float32 tag_pitch
-float32 tag_yaw
-float32 base_roll
-float32 base_pitch
-float32 base_yaw
-float32[2] joystick
-uint8 error_state
-uint8 buttons
-uint8 enabled_from_app
-
-
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/UwbSwitch.idl b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/UwbSwitch.idl
deleted file mode 100644
index 815c2d9..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/UwbSwitch.idl
+++ /dev/null
@@ -1,12 +0,0 @@
-// generated from rosidl_adapter/resource/msg.idl.em
-// with input from unitree_go/msg/UwbSwitch.msg
-// generated code does not contain a copyright notice
-
-
-module unitree_go {
-  module msg {
-    struct UwbSwitch {
-      uint8 enabled;
-    };
-  };
-};
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/UwbSwitch.msg b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/UwbSwitch.msg
deleted file mode 100644
index db8ec91..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/UwbSwitch.msg
+++ /dev/null
@@ -1 +0,0 @@
-uint8 enabled
\ No newline at end of file
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/WirelessController.idl b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/WirelessController.idl
deleted file mode 100644
index 4cfbe6c..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/WirelessController.idl
+++ /dev/null
@@ -1,20 +0,0 @@
-// generated from rosidl_adapter/resource/msg.idl.em
-// with input from unitree_go/msg/WirelessController.msg
-// generated code does not contain a copyright notice
-
-
-module unitree_go {
-  module msg {
-    struct WirelessController {
-      float lx;
-
-      float ly;
-
-      float rx;
-
-      float ry;
-
-      uint16 keys;
-    };
-  };
-};
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/WirelessController.msg b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/WirelessController.msg
deleted file mode 100644
index 12965ff..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/WirelessController.msg
+++ /dev/null
@@ -1,5 +0,0 @@
-float32 lx
-float32 ly
-float32 rx
-float32 ry
-uint16 keys
\ No newline at end of file
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/dds_connext/AudioData_.idl b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/dds_connext/AudioData_.idl
deleted file mode 100644
index d2ab5ec..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/dds_connext/AudioData_.idl
+++ /dev/null
@@ -1,31 +0,0 @@
-// generated from rosidl_generator_dds_idl/resource/idl.idl.em
-// with input from unitree_go:msg/AudioData.idl
-// generated code does not contain a copyright notice
-
-#ifndef __unitree_go__msg__audio_data__idl__
-#define __unitree_go__msg__audio_data__idl__
-
-
-module unitree_go {
-
-module msg {
-
-module dds_ {
-
-
-struct AudioData_ {
-unsigned long long time_frame_;
-sequence<octet> data_;
-
-
-};
-
-
-};  // module dds_
-
-};  // module msg
-
-};  // module unitree_go
-
-
-#endif  // __unitree_go__msg__audio_data__idl__
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/dds_connext/BmsCmd_.idl b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/dds_connext/BmsCmd_.idl
deleted file mode 100644
index 10c312e..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/dds_connext/BmsCmd_.idl
+++ /dev/null
@@ -1,31 +0,0 @@
-// generated from rosidl_generator_dds_idl/resource/idl.idl.em
-// with input from unitree_go:msg/BmsCmd.idl
-// generated code does not contain a copyright notice
-
-#ifndef __unitree_go__msg__bms_cmd__idl__
-#define __unitree_go__msg__bms_cmd__idl__
-
-
-module unitree_go {
-
-module msg {
-
-module dds_ {
-
-
-struct BmsCmd_ {
-octet off_;
-octet reserve_[3];
-
-
-};
-
-
-};  // module dds_
-
-};  // module msg
-
-};  // module unitree_go
-
-
-#endif  // __unitree_go__msg__bms_cmd__idl__
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/dds_connext/BmsState_.idl b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/dds_connext/BmsState_.idl
deleted file mode 100644
index b68a6a2..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/dds_connext/BmsState_.idl
+++ /dev/null
@@ -1,40 +0,0 @@
-// generated from rosidl_generator_dds_idl/resource/idl.idl.em
-// with input from unitree_go:msg/BmsState.idl
-// generated code does not contain a copyright notice
-
-#ifndef __unitree_go__msg__bms_state__idl__
-#define __unitree_go__msg__bms_state__idl__
-
-
-module unitree_go {
-
-module msg {
-
-module dds_ {
-
-
-struct BmsState_ {
-octet version_high_;
-octet version_low_;
-octet status_;
-octet soc_;
-long current_;
-unsigned short cycle_;
-octet bq_ntc_[2];
-
-octet mcu_ntc_[2];
-
-unsigned short cell_vol_[15];
-
-
-};
-
-
-};  // module dds_
-
-};  // module msg
-
-};  // module unitree_go
-
-
-#endif  // __unitree_go__msg__bms_state__idl__
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/dds_connext/Error_.idl b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/dds_connext/Error_.idl
deleted file mode 100644
index 813785b..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/dds_connext/Error_.idl
+++ /dev/null
@@ -1,30 +0,0 @@
-// generated from rosidl_generator_dds_idl/resource/idl.idl.em
-// with input from unitree_go:msg/Error.idl
-// generated code does not contain a copyright notice
-
-#ifndef __unitree_go__msg__error__idl__
-#define __unitree_go__msg__error__idl__
-
-
-module unitree_go {
-
-module msg {
-
-module dds_ {
-
-
-struct Error_ {
-unsigned long source_;
-unsigned long state_;
-
-};
-
-
-};  // module dds_
-
-};  // module msg
-
-};  // module unitree_go
-
-
-#endif  // __unitree_go__msg__error__idl__
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/dds_connext/Go2FrontVideoData_.idl b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/dds_connext/Go2FrontVideoData_.idl
deleted file mode 100644
index fae906d..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/dds_connext/Go2FrontVideoData_.idl
+++ /dev/null
@@ -1,35 +0,0 @@
-// generated from rosidl_generator_dds_idl/resource/idl.idl.em
-// with input from unitree_go:msg/Go2FrontVideoData.idl
-// generated code does not contain a copyright notice
-
-#ifndef __unitree_go__msg__go2_front_video_data__idl__
-#define __unitree_go__msg__go2_front_video_data__idl__
-
-
-module unitree_go {
-
-module msg {
-
-module dds_ {
-
-
-struct Go2FrontVideoData_ {
-unsigned long long time_frame_;
-sequence<octet> video720p_;
-
-sequence<octet> video360p_;
-
-sequence<octet> video180p_;
-
-
-};
-
-
-};  // module dds_
-
-};  // module msg
-
-};  // module unitree_go
-
-
-#endif  // __unitree_go__msg__go2_front_video_data__idl__
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/dds_connext/HeightMap_.idl b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/dds_connext/HeightMap_.idl
deleted file mode 100644
index 793833f..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/dds_connext/HeightMap_.idl
+++ /dev/null
@@ -1,37 +0,0 @@
-// generated from rosidl_generator_dds_idl/resource/idl.idl.em
-// with input from unitree_go:msg/HeightMap.idl
-// generated code does not contain a copyright notice
-
-#ifndef __unitree_go__msg__height_map__idl__
-#define __unitree_go__msg__height_map__idl__
-
-
-module unitree_go {
-
-module msg {
-
-module dds_ {
-
-
-struct HeightMap_ {
-double stamp_;
-string frame_id_;
-float resolution_;
-unsigned long width_;
-unsigned long height_;
-float origin_[2];
-
-sequence<float> data_;
-
-
-};
-
-
-};  // module dds_
-
-};  // module msg
-
-};  // module unitree_go
-
-
-#endif  // __unitree_go__msg__height_map__idl__
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/dds_connext/IMUState_.idl b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/dds_connext/IMUState_.idl
deleted file mode 100644
index 5728487..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/dds_connext/IMUState_.idl
+++ /dev/null
@@ -1,37 +0,0 @@
-// generated from rosidl_generator_dds_idl/resource/idl.idl.em
-// with input from unitree_go:msg/IMUState.idl
-// generated code does not contain a copyright notice
-
-#ifndef __unitree_go__msg__imu_state__idl__
-#define __unitree_go__msg__imu_state__idl__
-
-
-module unitree_go {
-
-module msg {
-
-module dds_ {
-
-
-struct IMUState_ {
-float quaternion_[4];
-
-float gyroscope_[3];
-
-float accelerometer_[3];
-
-float rpy_[3];
-
-octet temperature_;
-
-};
-
-
-};  // module dds_
-
-};  // module msg
-
-};  // module unitree_go
-
-
-#endif  // __unitree_go__msg__imu_state__idl__
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/dds_connext/InterfaceConfig_.idl b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/dds_connext/InterfaceConfig_.idl
deleted file mode 100644
index 1644752..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/dds_connext/InterfaceConfig_.idl
+++ /dev/null
@@ -1,32 +0,0 @@
-// generated from rosidl_generator_dds_idl/resource/idl.idl.em
-// with input from unitree_go:msg/InterfaceConfig.idl
-// generated code does not contain a copyright notice
-
-#ifndef __unitree_go__msg__interface_config__idl__
-#define __unitree_go__msg__interface_config__idl__
-
-
-module unitree_go {
-
-module msg {
-
-module dds_ {
-
-
-struct InterfaceConfig_ {
-octet mode_;
-octet value_;
-octet reserve_[2];
-
-
-};
-
-
-};  // module dds_
-
-};  // module msg
-
-};  // module unitree_go
-
-
-#endif  // __unitree_go__msg__interface_config__idl__
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/dds_connext/LidarState_.idl b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/dds_connext/LidarState_.idl
deleted file mode 100644
index 6ae1481..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/dds_connext/LidarState_.idl
+++ /dev/null
@@ -1,46 +0,0 @@
-// generated from rosidl_generator_dds_idl/resource/idl.idl.em
-// with input from unitree_go:msg/LidarState.idl
-// generated code does not contain a copyright notice
-
-#ifndef __unitree_go__msg__lidar_state__idl__
-#define __unitree_go__msg__lidar_state__idl__
-
-
-module unitree_go {
-
-module msg {
-
-module dds_ {
-
-
-struct LidarState_ {
-double stamp_;
-string firmware_version_;
-string software_version_;
-string sdk_version_;
-float sys_rotation_speed_;
-float com_rotation_speed_;
-octet error_state_;
-float cloud_frequency_;
-float cloud_packet_loss_rate_;
-unsigned long cloud_size_;
-unsigned long cloud_scan_num_;
-float imu_frequency_;
-float imu_packet_loss_rate_;
-float imu_rpy_[3];
-
-double serial_recv_stamp_;
-unsigned long serial_buffer_size_;
-unsigned long serial_buffer_read_;
-
-};
-
-
-};  // module dds_
-
-};  // module msg
-
-};  // module unitree_go
-
-
-#endif  // __unitree_go__msg__lidar_state__idl__
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/dds_connext/LowCmd_.idl b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/dds_connext/LowCmd_.idl
deleted file mode 100644
index 935655d..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/dds_connext/LowCmd_.idl
+++ /dev/null
@@ -1,51 +0,0 @@
-// generated from rosidl_generator_dds_idl/resource/idl.idl.em
-// with input from unitree_go:msg/LowCmd.idl
-// generated code does not contain a copyright notice
-#include "unitree_go/msg/dds_connext/BmsCmd_.idl"
-#include "unitree_go/msg/dds_connext/MotorCmd_.idl"
-
-#ifndef __unitree_go__msg__low_cmd__idl__
-#define __unitree_go__msg__low_cmd__idl__
-
-
-module unitree_go {
-
-module msg {
-
-module dds_ {
-
-
-struct LowCmd_ {
-octet head_[2];
-
-octet level_flag_;
-octet frame_reserve_;
-unsigned long sn_[2];
-
-unsigned long version_[2];
-
-unsigned short bandwidth_;
-unitree_go::msg::dds_::MotorCmd_ motor_cmd_[20];
-
-unitree_go::msg::dds_::BmsCmd_ bms_cmd_;
-octet wireless_remote_[40];
-
-octet led_[12];
-
-octet fan_[2];
-
-octet gpio_;
-unsigned long reserve_;
-unsigned long crc_;
-
-};
-
-
-};  // module dds_
-
-};  // module msg
-
-};  // module unitree_go
-
-
-#endif  // __unitree_go__msg__low_cmd__idl__
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/dds_connext/LowState_.idl b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/dds_connext/LowState_.idl
deleted file mode 100644
index e07295c..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/dds_connext/LowState_.idl
+++ /dev/null
@@ -1,61 +0,0 @@
-// generated from rosidl_generator_dds_idl/resource/idl.idl.em
-// with input from unitree_go:msg/LowState.idl
-// generated code does not contain a copyright notice
-#include "unitree_go/msg/dds_connext/BmsState_.idl"
-#include "unitree_go/msg/dds_connext/IMUState_.idl"
-#include "unitree_go/msg/dds_connext/MotorState_.idl"
-
-#ifndef __unitree_go__msg__low_state__idl__
-#define __unitree_go__msg__low_state__idl__
-
-
-module unitree_go {
-
-module msg {
-
-module dds_ {
-
-
-struct LowState_ {
-octet head_[2];
-
-octet level_flag_;
-octet frame_reserve_;
-unsigned long sn_[2];
-
-unsigned long version_[2];
-
-unsigned short bandwidth_;
-unitree_go::msg::dds_::IMUState_ imu_state_;
-unitree_go::msg::dds_::MotorState_ motor_state_[20];
-
-unitree_go::msg::dds_::BmsState_ bms_state_;
-short foot_force_[4];
-
-short foot_force_est_[4];
-
-unsigned long tick_;
-octet wireless_remote_[40];
-
-octet bit_flag_;
-float adc_reel_;
-octet temperature_ntc1_;
-octet temperature_ntc2_;
-float power_v_;
-float power_a_;
-unsigned short fan_frequency_[4];
-
-unsigned long reserve_;
-unsigned long crc_;
-
-};
-
-
-};  // module dds_
-
-};  // module msg
-
-};  // module unitree_go
-
-
-#endif  // __unitree_go__msg__low_state__idl__
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/dds_connext/MotorCmd_.idl b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/dds_connext/MotorCmd_.idl
deleted file mode 100644
index acbd929..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/dds_connext/MotorCmd_.idl
+++ /dev/null
@@ -1,36 +0,0 @@
-// generated from rosidl_generator_dds_idl/resource/idl.idl.em
-// with input from unitree_go:msg/MotorCmd.idl
-// generated code does not contain a copyright notice
-
-#ifndef __unitree_go__msg__motor_cmd__idl__
-#define __unitree_go__msg__motor_cmd__idl__
-
-
-module unitree_go {
-
-module msg {
-
-module dds_ {
-
-
-struct MotorCmd_ {
-octet mode_;
-float q_;
-float dq_;
-float tau_;
-float kp_;
-float kd_;
-unsigned long reserve_[3];
-
-
-};
-
-
-};  // module dds_
-
-};  // module msg
-
-};  // module unitree_go
-
-
-#endif  // __unitree_go__msg__motor_cmd__idl__
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/dds_connext/MotorState_.idl b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/dds_connext/MotorState_.idl
deleted file mode 100644
index 0766406..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/dds_connext/MotorState_.idl
+++ /dev/null
@@ -1,40 +0,0 @@
-// generated from rosidl_generator_dds_idl/resource/idl.idl.em
-// with input from unitree_go:msg/MotorState.idl
-// generated code does not contain a copyright notice
-
-#ifndef __unitree_go__msg__motor_state__idl__
-#define __unitree_go__msg__motor_state__idl__
-
-
-module unitree_go {
-
-module msg {
-
-module dds_ {
-
-
-struct MotorState_ {
-octet mode_;
-float q_;
-float dq_;
-float ddq_;
-float tau_est_;
-float q_raw_;
-float dq_raw_;
-float ddq_raw_;
-octet temperature_;
-unsigned long lost_;
-unsigned long reserve_[2];
-
-
-};
-
-
-};  // module dds_
-
-};  // module msg
-
-};  // module unitree_go
-
-
-#endif  // __unitree_go__msg__motor_state__idl__
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/dds_connext/PathPoint_.idl b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/dds_connext/PathPoint_.idl
deleted file mode 100644
index a85bac7..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/dds_connext/PathPoint_.idl
+++ /dev/null
@@ -1,35 +0,0 @@
-// generated from rosidl_generator_dds_idl/resource/idl.idl.em
-// with input from unitree_go:msg/PathPoint.idl
-// generated code does not contain a copyright notice
-
-#ifndef __unitree_go__msg__path_point__idl__
-#define __unitree_go__msg__path_point__idl__
-
-
-module unitree_go {
-
-module msg {
-
-module dds_ {
-
-
-struct PathPoint_ {
-float t_from_start_;
-float x_;
-float y_;
-float yaw_;
-float vx_;
-float vy_;
-float vyaw_;
-
-};
-
-
-};  // module dds_
-
-};  // module msg
-
-};  // module unitree_go
-
-
-#endif  // __unitree_go__msg__path_point__idl__
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/dds_connext/Req_.idl b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/dds_connext/Req_.idl
deleted file mode 100644
index 10bbcaa..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/dds_connext/Req_.idl
+++ /dev/null
@@ -1,30 +0,0 @@
-// generated from rosidl_generator_dds_idl/resource/idl.idl.em
-// with input from unitree_go:msg/Req.idl
-// generated code does not contain a copyright notice
-
-#ifndef __unitree_go__msg__req__idl__
-#define __unitree_go__msg__req__idl__
-
-
-module unitree_go {
-
-module msg {
-
-module dds_ {
-
-
-struct Req_ {
-string uuid_;
-string body_;
-
-};
-
-
-};  // module dds_
-
-};  // module msg
-
-};  // module unitree_go
-
-
-#endif  // __unitree_go__msg__req__idl__
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/dds_connext/Res_.idl b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/dds_connext/Res_.idl
deleted file mode 100644
index 6bd68ce..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/dds_connext/Res_.idl
+++ /dev/null
@@ -1,32 +0,0 @@
-// generated from rosidl_generator_dds_idl/resource/idl.idl.em
-// with input from unitree_go:msg/Res.idl
-// generated code does not contain a copyright notice
-
-#ifndef __unitree_go__msg__res__idl__
-#define __unitree_go__msg__res__idl__
-
-
-module unitree_go {
-
-module msg {
-
-module dds_ {
-
-
-struct Res_ {
-string uuid_;
-sequence<octet> data_;
-
-string body_;
-
-};
-
-
-};  // module dds_
-
-};  // module msg
-
-};  // module unitree_go
-
-
-#endif  // __unitree_go__msg__res__idl__
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/dds_connext/SportModeCmd_.idl b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/dds_connext/SportModeCmd_.idl
deleted file mode 100644
index d52c30d..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/dds_connext/SportModeCmd_.idl
+++ /dev/null
@@ -1,45 +0,0 @@
-// generated from rosidl_generator_dds_idl/resource/idl.idl.em
-// with input from unitree_go:msg/SportModeCmd.idl
-// generated code does not contain a copyright notice
-#include "unitree_go/msg/dds_connext/BmsCmd_.idl"
-#include "unitree_go/msg/dds_connext/PathPoint_.idl"
-
-#ifndef __unitree_go__msg__sport_mode_cmd__idl__
-#define __unitree_go__msg__sport_mode_cmd__idl__
-
-
-module unitree_go {
-
-module msg {
-
-module dds_ {
-
-
-struct SportModeCmd_ {
-octet mode_;
-octet gait_type_;
-octet speed_level_;
-float foot_raise_height_;
-float body_height_;
-float position_[2];
-
-float euler_[3];
-
-float velocity_[2];
-
-float yaw_speed_;
-unitree_go::msg::dds_::BmsCmd_ bms_cmd_;
-unitree_go::msg::dds_::PathPoint_ path_point_[30];
-
-
-};
-
-
-};  // module dds_
-
-};  // module msg
-
-};  // module unitree_go
-
-
-#endif  // __unitree_go__msg__sport_mode_cmd__idl__
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/dds_connext/SportModeState_.idl b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/dds_connext/SportModeState_.idl
deleted file mode 100644
index e746045..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/dds_connext/SportModeState_.idl
+++ /dev/null
@@ -1,51 +0,0 @@
-// generated from rosidl_generator_dds_idl/resource/idl.idl.em
-// with input from unitree_go:msg/SportModeState.idl
-// generated code does not contain a copyright notice
-#include "unitree_go/msg/dds_connext/IMUState_.idl"
-#include "unitree_go/msg/dds_connext/TimeSpec_.idl"
-
-#ifndef __unitree_go__msg__sport_mode_state__idl__
-#define __unitree_go__msg__sport_mode_state__idl__
-
-
-module unitree_go {
-
-module msg {
-
-module dds_ {
-
-
-struct SportModeState_ {
-unitree_go::msg::dds_::TimeSpec_ stamp_;
-unsigned long error_code_;
-unitree_go::msg::dds_::IMUState_ imu_state_;
-octet mode_;
-float progress_;
-octet gait_type_;
-float foot_raise_height_;
-float position_[3];
-
-float body_height_;
-float velocity_[3];
-
-float yaw_speed_;
-float range_obstacle_[4];
-
-short foot_force_[4];
-
-float foot_position_body_[12];
-
-float foot_speed_body_[12];
-
-
-};
-
-
-};  // module dds_
-
-};  // module msg
-
-};  // module unitree_go
-
-
-#endif  // __unitree_go__msg__sport_mode_state__idl__
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/dds_connext/TimeSpec_.idl b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/dds_connext/TimeSpec_.idl
deleted file mode 100644
index d0278a1..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/dds_connext/TimeSpec_.idl
+++ /dev/null
@@ -1,30 +0,0 @@
-// generated from rosidl_generator_dds_idl/resource/idl.idl.em
-// with input from unitree_go:msg/TimeSpec.idl
-// generated code does not contain a copyright notice
-
-#ifndef __unitree_go__msg__time_spec__idl__
-#define __unitree_go__msg__time_spec__idl__
-
-
-module unitree_go {
-
-module msg {
-
-module dds_ {
-
-
-struct TimeSpec_ {
-long sec_;
-unsigned long nanosec_;
-
-};
-
-
-};  // module dds_
-
-};  // module msg
-
-};  // module unitree_go
-
-
-#endif  // __unitree_go__msg__time_spec__idl__
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/dds_connext/UwbState_.idl b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/dds_connext/UwbState_.idl
deleted file mode 100644
index 5b77fed..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/dds_connext/UwbState_.idl
+++ /dev/null
@@ -1,47 +0,0 @@
-// generated from rosidl_generator_dds_idl/resource/idl.idl.em
-// with input from unitree_go:msg/UwbState.idl
-// generated code does not contain a copyright notice
-
-#ifndef __unitree_go__msg__uwb_state__idl__
-#define __unitree_go__msg__uwb_state__idl__
-
-
-module unitree_go {
-
-module msg {
-
-module dds_ {
-
-
-struct UwbState_ {
-octet version_[2];
-
-octet channel_;
-octet joy_mode_;
-float orientation_est_;
-float pitch_est_;
-float distance_est_;
-float yaw_est_;
-float tag_roll_;
-float tag_pitch_;
-float tag_yaw_;
-float base_roll_;
-float base_pitch_;
-float base_yaw_;
-float joystick_[2];
-
-octet error_state_;
-octet buttons_;
-octet enabled_from_app_;
-
-};
-
-
-};  // module dds_
-
-};  // module msg
-
-};  // module unitree_go
-
-
-#endif  // __unitree_go__msg__uwb_state__idl__
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/dds_connext/UwbSwitch_.idl b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/dds_connext/UwbSwitch_.idl
deleted file mode 100644
index 29e8f20..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/dds_connext/UwbSwitch_.idl
+++ /dev/null
@@ -1,29 +0,0 @@
-// generated from rosidl_generator_dds_idl/resource/idl.idl.em
-// with input from unitree_go:msg/UwbSwitch.idl
-// generated code does not contain a copyright notice
-
-#ifndef __unitree_go__msg__uwb_switch__idl__
-#define __unitree_go__msg__uwb_switch__idl__
-
-
-module unitree_go {
-
-module msg {
-
-module dds_ {
-
-
-struct UwbSwitch_ {
-octet enabled_;
-
-};
-
-
-};  // module dds_
-
-};  // module msg
-
-};  // module unitree_go
-
-
-#endif  // __unitree_go__msg__uwb_switch__idl__
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/dds_connext/WirelessController_.idl b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/dds_connext/WirelessController_.idl
deleted file mode 100644
index f7ae454..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/dds_connext/WirelessController_.idl
+++ /dev/null
@@ -1,33 +0,0 @@
-// generated from rosidl_generator_dds_idl/resource/idl.idl.em
-// with input from unitree_go:msg/WirelessController.idl
-// generated code does not contain a copyright notice
-
-#ifndef __unitree_go__msg__wireless_controller__idl__
-#define __unitree_go__msg__wireless_controller__idl__
-
-
-module unitree_go {
-
-module msg {
-
-module dds_ {
-
-
-struct WirelessController_ {
-float lx_;
-float ly_;
-float rx_;
-float ry_;
-unsigned short keys_;
-
-};
-
-
-};  // module dds_
-
-};  // module msg
-
-};  // module unitree_go
-
-
-#endif  // __unitree_go__msg__wireless_controller__idl__
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/package.bash b/deploy/robot_ws/install/unitree_go/share/unitree_go/package.bash
deleted file mode 100644
index 0d83431..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/package.bash
+++ /dev/null
@@ -1,39 +0,0 @@
-# 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/unitree_go/package.sh"
-
-# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced scripts
-COLCON_CURRENT_PREFIX="$_colcon_package_bash_COLCON_CURRENT_PREFIX"
-
-# source bash hooks
-_colcon_package_bash_source_script "$COLCON_CURRENT_PREFIX/share/unitree_go/local_setup.bash"
-
-unset COLCON_CURRENT_PREFIX
-
-unset _colcon_package_bash_source_script
-unset _colcon_package_bash_COLCON_CURRENT_PREFIX
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/package.dsv b/deploy/robot_ws/install/unitree_go/share/unitree_go/package.dsv
deleted file mode 100644
index 43ce51e..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/package.dsv
+++ /dev/null
@@ -1,14 +0,0 @@
-source;share/unitree_go/hook/cmake_prefix_path.ps1
-source;share/unitree_go/hook/cmake_prefix_path.dsv
-source;share/unitree_go/hook/cmake_prefix_path.sh
-source;share/unitree_go/hook/ld_library_path_lib.ps1
-source;share/unitree_go/hook/ld_library_path_lib.dsv
-source;share/unitree_go/hook/ld_library_path_lib.sh
-source;share/unitree_go/hook/pythonpath.ps1
-source;share/unitree_go/hook/pythonpath.dsv
-source;share/unitree_go/hook/pythonpath.sh
-source;share/unitree_go/local_setup.bash
-source;share/unitree_go/local_setup.dsv
-source;share/unitree_go/local_setup.ps1
-source;share/unitree_go/local_setup.sh
-source;share/unitree_go/local_setup.zsh
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/package.ps1 b/deploy/robot_ws/install/unitree_go/share/unitree_go/package.ps1
deleted file mode 100644
index 5d026e2..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/package.ps1
+++ /dev/null
@@ -1,118 +0,0 @@
-# generated from colcon_powershell/shell/template/package.ps1.em
-
-# function to append a value to a variable
-# which uses colons as separators
-# duplicates as well as leading separators are avoided
-# first argument: the name of the result variable
-# second argument: the value to be prepended
-function colcon_append_unique_value {
-  param (
-    $_listname,
-    $_value
-  )
-
-  # get values from variable
-  if (Test-Path Env:$_listname) {
-    $_values=(Get-Item env:$_listname).Value
-  } else {
-    $_values=""
-  }
-  $_duplicate=""
-  # start with no values
-  $_all_values=""
-  # iterate over existing values in the variable
-  if ($_values) {
-    $_values.Split(";") | ForEach {
-      # not an empty string
-      if ($_) {
-        # not a duplicate of _value
-        if ($_ -eq $_value) {
-          $_duplicate="1"
-        }
-        if ($_all_values) {
-          $_all_values="${_all_values};$_"
-        } else {
-          $_all_values="$_"
-        }
-      }
-    }
-  }
-  # append only non-duplicates
-  if (!$_duplicate) {
-    # avoid leading separator
-    if ($_all_values) {
-      $_all_values="${_all_values};${_value}"
-    } else {
-      $_all_values="${_value}"
-    }
-  }
-
-  # export the updated variable
-  Set-Item env:\$_listname -Value "$_all_values"
-}
-
-# function to prepend a value to a variable
-# which uses colons as separators
-# duplicates as well as trailing separators are avoided
-# first argument: the name of the result variable
-# second argument: the value to be prepended
-function colcon_prepend_unique_value {
-  param (
-    $_listname,
-    $_value
-  )
-
-  # get values from variable
-  if (Test-Path Env:$_listname) {
-    $_values=(Get-Item env:$_listname).Value
-  } else {
-    $_values=""
-  }
-  # start with the new value
-  $_all_values="$_value"
-  # iterate over existing values in the variable
-  if ($_values) {
-    $_values.Split(";") | ForEach {
-      # not an empty string
-      if ($_) {
-        # not a duplicate of _value
-        if ($_ -ne $_value) {
-          # keep non-duplicate values
-          $_all_values="${_all_values};$_"
-        }
-      }
-    }
-  }
-  # export the updated variable
-  Set-Item env:\$_listname -Value "$_all_values"
-}
-
-# function to source another script with conditional trace output
-# first argument: the path of the script
-# additional arguments: arguments to the script
-function colcon_package_source_powershell_script {
-  param (
-    $_colcon_package_source_powershell_script
-  )
-  # source script with conditional trace output
-  if (Test-Path $_colcon_package_source_powershell_script) {
-    if ($env:COLCON_TRACE) {
-      echo ". '$_colcon_package_source_powershell_script'"
-    }
-    . "$_colcon_package_source_powershell_script"
-  } else {
-    Write-Error "not found: '$_colcon_package_source_powershell_script'"
-  }
-}
-
-
-# a powershell script is able to determine its own path
-# the prefix is two levels up from the package specific share directory
-$env:COLCON_CURRENT_PREFIX=(Get-Item $PSCommandPath).Directory.Parent.Parent.FullName
-
-colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX\share/unitree_go/hook/cmake_prefix_path.ps1"
-colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX\share/unitree_go/hook/ld_library_path_lib.ps1"
-colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX\share/unitree_go/hook/pythonpath.ps1"
-colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX\share/unitree_go/local_setup.ps1"
-
-Remove-Item Env:\COLCON_CURRENT_PREFIX
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/package.sh b/deploy/robot_ws/install/unitree_go/share/unitree_go/package.sh
deleted file mode 100644
index 15b9264..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/package.sh
+++ /dev/null
@@ -1,89 +0,0 @@
-# generated from colcon_core/shell/template/package.sh.em
-
-# This script extends the environment for this package.
-
-# function to prepend a value to a variable
-# which uses colons as separators
-# duplicates as well as trailing separators are avoided
-# first argument: the name of the result variable
-# second argument: the value to be prepended
-_colcon_prepend_unique_value() {
-  # arguments
-  _listname="$1"
-  _value="$2"
-
-  # get values from variable
-  eval _values=\"\$$_listname\"
-  # backup the field separator
-  _colcon_prepend_unique_value_IFS=$IFS
-  IFS=":"
-  # start with the new value
-  _all_values="$_value"
-  # workaround SH_WORD_SPLIT not being set in zsh
-  if [ "$(command -v colcon_zsh_convert_to_array)" ]; then
-    colcon_zsh_convert_to_array _values
-  fi
-  # iterate over existing values in the variable
-  for _item in $_values; do
-    # ignore empty strings
-    if [ -z "$_item" ]; then
-      continue
-    fi
-    # ignore duplicates of _value
-    if [ "$_item" = "$_value" ]; then
-      continue
-    fi
-    # keep non-duplicate values
-    _all_values="$_all_values:$_item"
-  done
-  unset _item
-  # restore the field separator
-  IFS=$_colcon_prepend_unique_value_IFS
-  unset _colcon_prepend_unique_value_IFS
-  # export the updated variable
-  eval export $_listname=\"$_all_values\"
-  unset _all_values
-  unset _values
-
-  unset _value
-  unset _listname
-}
-
-# since a plain shell script can't determine its own path when being sourced
-# either use the provided COLCON_CURRENT_PREFIX
-# or fall back to the build time prefix (if it exists)
-_colcon_package_sh_COLCON_CURRENT_PREFIX="/home/unitree/locomotion/Go2Py/deploy/robot_ws/install/unitree_go"
-if [ -z "$COLCON_CURRENT_PREFIX" ]; then
-  if [ ! -d "$_colcon_package_sh_COLCON_CURRENT_PREFIX" ]; then
-    echo "The build time path \"$_colcon_package_sh_COLCON_CURRENT_PREFIX\" doesn't exist. Either source a script for a different shell or set the environment variable \"COLCON_CURRENT_PREFIX\" explicitly." 1>&2
-    unset _colcon_package_sh_COLCON_CURRENT_PREFIX
-    return 1
-  fi
-  COLCON_CURRENT_PREFIX="$_colcon_package_sh_COLCON_CURRENT_PREFIX"
-fi
-unset _colcon_package_sh_COLCON_CURRENT_PREFIX
-
-# function to source another script with conditional trace output
-# first argument: the path of the script
-# additional arguments: arguments to the script
-_colcon_package_sh_source_script() {
-  if [ -f "$1" ]; then
-    if [ -n "$COLCON_TRACE" ]; then
-      echo "# . \"$1\""
-    fi
-    . "$@"
-  else
-    echo "not found: \"$1\"" 1>&2
-  fi
-}
-
-# source sh hooks
-_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/unitree_go/hook/cmake_prefix_path.sh"
-_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/unitree_go/hook/ld_library_path_lib.sh"
-_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/unitree_go/hook/pythonpath.sh"
-_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/unitree_go/local_setup.sh"
-
-unset _colcon_package_sh_source_script
-unset COLCON_CURRENT_PREFIX
-
-# do not unset _colcon_prepend_unique_value since it might be used by non-primary shell hooks
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/package.xml b/deploy/robot_ws/install/unitree_go/share/unitree_go/package.xml
deleted file mode 100644
index 1a26d14..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/package.xml
+++ /dev/null
@@ -1,23 +0,0 @@
-<?xml version="1.0"?>
-<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
-<package format="3">
-  <name>unitree_go</name>
-  <version>0.0.0</version>
-  <description>TODO: Package description</description>
-  <maintainer email="czk@todo.todo">czk</maintainer>
-  <license>TODO: License declaration</license>
-  
-  <build_depend>rosidl_default_generators</build_depend>
-  <exec_depend>rosidl_default_runtime</exec_depend>
-  <member_of_group>rosidl_interface_packages</member_of_group>
-  <buildtool_depend>ament_cmake</buildtool_depend>
-
-  <depend>geometry_msgs</depend>
-
-  <test_depend>ament_lint_auto</test_depend>
-  <test_depend>ament_lint_common</test_depend>
-
-  <export>
-    <build_type>ament_cmake</build_type>
-  </export>
-</package>
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/package.zsh b/deploy/robot_ws/install/unitree_go/share/unitree_go/package.zsh
deleted file mode 100644
index e8c5370..0000000
--- a/deploy/robot_ws/install/unitree_go/share/unitree_go/package.zsh
+++ /dev/null
@@ -1,50 +0,0 @@
-# generated from colcon_zsh/shell/template/package.zsh.em
-
-# This script extends the environment for this package.
-
-# a zsh script is able to determine its own path if necessary
-if [ -z "$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 "$_colcon_package_zsh_COLCON_CURRENT_PREFIX/share/unitree_go/package.sh"
-unset convert_zsh_to_array
-
-# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced scripts
-COLCON_CURRENT_PREFIX="$_colcon_package_zsh_COLCON_CURRENT_PREFIX"
-
-# source zsh hooks
-_colcon_package_zsh_source_script "$COLCON_CURRENT_PREFIX/share/unitree_go/local_setup.zsh"
-
-unset COLCON_CURRENT_PREFIX
-
-unset _colcon_package_zsh_source_script
-unset _colcon_package_zsh_COLCON_CURRENT_PREFIX
diff --git a/deploy/robot_ws/log/COLCON_IGNORE b/deploy/robot_ws/log/COLCON_IGNORE
deleted file mode 100644
index e69de29..0000000
diff --git a/deploy/robot_ws/log/latest b/deploy/robot_ws/log/latest
deleted file mode 120000
index b57d247..0000000
--- a/deploy/robot_ws/log/latest
+++ /dev/null
@@ -1 +0,0 @@
-latest_build
\ No newline at end of file
diff --git a/deploy/robot_ws/log/latest_build b/deploy/robot_ws/log/latest_build
deleted file mode 120000
index 15ea434..0000000
--- a/deploy/robot_ws/log/latest_build
+++ /dev/null
@@ -1 +0,0 @@
-build_2024-02-09_01-52-38
\ No newline at end of file
diff --git a/deploy/robot_ws/src/go2py_node/src/bridge.cpp b/deploy/robot_ws/src/go2py_node/src/bridge.cpp
index 8ac57b4..5c9607f 100644
--- a/deploy/robot_ws/src/go2py_node/src/bridge.cpp
+++ b/deploy/robot_ws/src/go2py_node/src/bridge.cpp
@@ -42,7 +42,11 @@ class Custom: public rclcpp::Node
             //Go2 lowlevel interface
             init_lowcmd();
             lowstate_suber = this->create_subscription<unitree_go::msg::LowState>(
-            "lowstate", 10, std::bind(&Custom::lowstate_callback, this, std::placeholders::_1));
+            "lowstate", 1, std::bind(&Custom::lowstate_callback, this, std::placeholders::_1));
+            
+            lowcmd_suber = this->create_subscription<unitree_go::msg::LowCmd>(
+            "/go2/lowcmd", 1, std::bind(&Custom::lowcmd_callback, this, std::placeholders::_1));
+
             lowcmd_puber = this->create_publisher<unitree_go::msg::LowCmd>("/lowcmd", 10);
 
         }
@@ -67,7 +71,9 @@ class Custom: public rclcpp::Node
         
         // Lowlevel interface
         void lowstate_callback(unitree_go::msg::LowState::SharedPtr data);
+        void lowcmd_callback(unitree_go::msg::LowCmd::SharedPtr data);
         rclcpp::Subscription<unitree_go::msg::LowState>::SharedPtr lowstate_suber;
+        rclcpp::Subscription<unitree_go::msg::LowCmd>::SharedPtr lowcmd_suber;
         // A struct to store the highlevel states for later use
         rclcpp::Publisher<unitree_go::msg::LowCmd>::SharedPtr lowcmd_puber;
         unitree_go::msg::LowCmd lowcmd_msg;
@@ -220,33 +226,23 @@ void Custom::twistCmdCallback(const geometry_msgs::msg::TwistStamped::SharedPtr
 {
     auto stamp_now = std::chrono::high_resolution_clock::now();
     last_highcmd_stamp = std::chrono::duration_cast<std::chrono::microseconds>(stamp_now.time_since_epoch()).count();
-    // reset = 0; 
     sport_req.Move(highreq, msg->twist.linear.x, msg->twist.linear.y, msg->twist.angular.z);
     // Publish request messages with desired body velocity
     highreq_puber->publish(highreq);
 }
 
-void lowcmd_callback(const unitree_go::msg::LowCmd::SharedPtr msg)
+void Custom::lowcmd_callback(unitree_go::msg::LowCmd::SharedPtr data)
 {
-    // lowcmd_msg = *msg;
-    // lowcmd_puber->publish(lowcmd_msg);
-        // Toque controle, set RL_2 toque
-        // cmd_msg.motor_cmd[RL_2].q = PosStopF; // Set to stop position(rad)
-        // cmd_msg.motor_cmd[RL_2].kp = 0;
-        // cmd_msg.motor_cmd[RL_2].dq = VelStopF; // Set to stop angular velocity(rad/s)
-        // cmd_msg.motor_cmd[RL_2].kd = 0;
-        // cmd_msg.motor_cmd[RL_2].tau = 1; // target toque is set to 1N.m
-
-        // // Poinstion(rad) control, set RL_0 rad
-        // cmd_msg.motor_cmd[RL_0].q = 0;   // Taregt angular(rad)
-        // cmd_msg.motor_cmd[RL_0].kp = 10; // Poinstion(rad) control kp gain
-        // cmd_msg.motor_cmd[RL_0].dq = 0;  // Taregt angular velocity(rad/ss)
-        // cmd_msg.motor_cmd[RL_0].kd = 1;  // Poinstion(rad) control kd gain
-        // cmd_msg.motor_cmd[RL_0].tau = 0; // Feedforward toque 1N.m
-
-        // get_crc(cmd_msg); //Check motor cmd crc
-
-        // cmd_puber->publish(cmd_msg); //Publish lowcmd message
+    for(int i=0; i<12; i++)
+    {
+        lowcmd_msg.motor_cmd[i].q =   data->motor_cmd[i].q;   // Taregt angular(rad)
+        lowcmd_msg.motor_cmd[i].kp =  data->motor_cmd[i].kp;  // Poinstion(rad) control kp gain
+        lowcmd_msg.motor_cmd[i].dq =  data->motor_cmd[i].dq;  // Taregt angular velocity(rad/ss)
+        lowcmd_msg.motor_cmd[i].kd =  data->motor_cmd[i].kd;  // Poinstion(rad) control kd gain
+        lowcmd_msg.motor_cmd[i].tau = data->motor_cmd[i].tau; // Feedforward toque 1N.m
+        get_crc(lowcmd_msg); //Compute the CRC and load it into the message
+        lowcmd_puber->publish(lowcmd_msg); //Publish lowcmd message
+    }
 }
 
 int main(int argc, char **argv)
diff --git a/deploy/robot_ws/install/COLCON_IGNORE b/draft.ipynb
similarity index 100%
rename from deploy/robot_ws/install/COLCON_IGNORE
rename to draft.ipynb
diff --git a/examples/highlevel_ros2_interface.ipynb b/examples/highlevel_ros2_interface.ipynb
index 826e523..7c30b2d 100644
--- a/examples/highlevel_ros2_interface.ipynb
+++ b/examples/highlevel_ros2_interface.ipynb
@@ -12,21 +12,12 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 1,
+   "execution_count": null,
    "metadata": {},
-   "outputs": [
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "pygame 2.5.2 (SDL 2.28.2, Python 3.8.18)\n",
-      "Hello from the pygame community. https://www.pygame.org/contribute.html\n"
-     ]
-    }
-   ],
+   "outputs": [],
    "source": [
     "from Go2Py.joy import Logitech3DPro\n",
-    "# joy = Logitech3DPro(joy_id=0)"
+    "# joy = Logitech3DPro(joy_id=0) "
    ]
   },
   {
@@ -40,7 +31,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 2,
+   "execution_count": null,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -53,46 +44,6 @@
     "ros2_exec_manager.start()"
    ]
   },
-  {
-   "cell_type": "code",
-   "execution_count": 4,
-   "metadata": {},
-   "outputs": [
-    {
-     "ename": "AttributeError",
-     "evalue": "'float' object has no attribute 'nanosec'",
-     "output_type": "error",
-     "traceback": [
-      "\u001b[0;31m---------------------------------------------------------------------------\u001b[0m",
-      "\u001b[0;31mAttributeError\u001b[0m                            Traceback (most recent call last)",
-      "Cell \u001b[0;32mIn[4], line 2\u001b[0m\n\u001b[1;32m      1\u001b[0m \u001b[38;5;66;03m# robot.getIMU()\u001b[39;00m\n\u001b[0;32m----> 2\u001b[0m \u001b[43mrobot\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43mgetOdometry\u001b[49m\u001b[43m(\u001b[49m\u001b[43m)\u001b[49m\u001b[43m[\u001b[49m\u001b[38;5;124;43m'\u001b[39;49m\u001b[38;5;124;43mstamp_nanosec\u001b[39;49m\u001b[38;5;124;43m'\u001b[39;49m\u001b[43m]\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43mnanosec\u001b[49m\n",
-      "\u001b[0;31mAttributeError\u001b[0m: 'float' object has no attribute 'nanosec'"
-     ]
-    }
-   ],
-   "source": [
-    "# robot.getIMU()\n",
-    "robot.getOdometry()['stamp_nanosec'].nanosec"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 48,
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "from nav_msgs.msg import Odometry "
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 21,
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "robot.setCommands(0, 0, 0.1)"
-   ]
-  },
   {
    "cell_type": "markdown",
    "metadata": {},